Method and apparatus for controlling toothbrush, toothbrush, and computer-readable storage medium

Abstract

A method and apparatus for controlling a toothbrush (100), a toothbrush (100), and a computer-readable storage medium. The toothbrush (100) comprises a brush head (110) and a handle (120). A motor is arranged in the handle (120). The motor comprises a rotor (130). The method comprises: acquiring oral health data and / or real-time tooth brushing data (S210); determining, according to the oral health data and / or the real-time tooth brushing data, a target motion range corresponding to the rotor of the motor (S220); and controlling the rotor to perform reciprocating motion in a circumferential direction within the target motion range so as to drive the brush head to perform a tooth brushing operation (S230).

Description

Toothbrush control method, device, toothbrush and computer-readable storage medium Technical Field

[0001] The present application relates to the field of oral cleaning technology, and in particular to a toothbrush control method, device, toothbrush and computer-readable storage medium. Background Art

[0002] Electric toothbrushes are gaining popularity due to their excellent cleaning effects and gum protection. An electric toothbrush consists of a brush head and a handle. The handle is typically equipped with a motor that controls the movement of the motor to drive the brush head for brushing, achieving the function of electric brushing.

[0003] At present, users are prone to knocking and knocking their teeth when brushing their teeth with electric toothbrushes, which seriously affects their oral health and user experience.

[0004] Summary of the Invention

[0005] The embodiments of the present application disclose a toothbrush control method, a toothbrush control device, a toothbrush, and a computer-readable storage medium.

[0006] The present application discloses a method for controlling a toothbrush, wherein the toothbrush includes a brush head and a handle, wherein the handle is provided with a motor, and the motor includes a rotor. The method includes:

[0007] Acquiring oral health data and / or real-time tooth brushing data;

[0008] determining a target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time teeth brushing data;

[0009] The rotor is controlled to perform reciprocating motion along the circumferential direction within the target motion range to drive the brush head to perform a teeth brushing operation.

[0010] The present application discloses a control device for a toothbrush, wherein the toothbrush includes a brush head and a handle, wherein the handle is provided with a motor, wherein the motor includes a rotor, and the device includes:

[0011] A data acquisition module, for acquiring oral health data and / or real-time toothbrushing data;

[0012] a range determination module, configured to determine a target motion range corresponding to the rotor of the motor based on the oral health data and / or the real-time teeth brushing data;

[0013] The control module is used to control the rotor of the motor to perform reciprocating motion along the circumferential direction within the target motion range, so as to drive the brush head to perform a tooth brushing operation.

[0014] An embodiment of the present application discloses a toothbrush, comprising a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor implements the method described above.

[0015] 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 method described above is implemented.

[0016] The details of one or more embodiments of the present application are set forth in the following drawings and description. Other features and advantages of the present application will be apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] FIG1A is an application scenario diagram of a method for controlling a toothbrush according to an embodiment;

[0019] FIG1B is a schematic structural diagram of a motor in one embodiment;

[0020] FIG2 is a flow chart of a method for controlling a toothbrush according to one embodiment;

[0021] FIG3A is a schematic diagram of a target motion range corresponding to a rotor of a motor in one embodiment;

[0022] FIG3B is a schematic diagram of a rotor oscillating back and forth with a reference position as the zero axis in accordance with an embodiment;

[0023] FIG3C is a schematic diagram showing a change in the reference position of a rotor in one embodiment;

[0024] FIG4 is a flow chart of determining a target motion range corresponding to a motor rotor based on oral health data in one embodiment;

[0025] FIG5 is a flow chart of determining a target motion range corresponding to a motor rotor based on real-time tooth brushing data in one embodiment;

[0026] FIG6 is a schematic diagram of a tooth surface in one embodiment;

[0027] FIG7 is a flow chart of determining a target motion range corresponding to a motor rotor based on oral health data and real-time tooth brushing data in one embodiment;

[0028] FIG8 is a flow chart of a method for controlling a toothbrush according to another embodiment;

[0029] FIG9 is a flow chart of a method for controlling a toothbrush according to another embodiment;

[0030] FIG10 is a block diagram of a control device of a toothbrush according to one embodiment;

[0031] FIG11 is a block diagram of the structure of a toothbrush in one embodiment. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] It is understood that the term "plurality" used in this application refers to two or more than two. The term "and / or" used in this application refers to one solution or any combination of multiple solutions.

[0035] The motor in an electric toothbrush typically uses physical limits to restrict the rotation range of the rotor. This is achieved by adding a limiter structure to the motor. Because the maximum rotation angle of the brush plate is affected by the limiter structure, and the physical limiter is fixed, the maximum rotation angle of the brush head is typically fixed, affecting the cleaning effect of the toothbrush.

[0036] Currently, to improve the cleaning effect of electric toothbrushes, electric toothbrushes can use electronic limiters to restrict the rotation range of the motor's rotor, thereby achieving an adjustable maximum rotation angle of the brush head. However, due to electronic limiters, the brush head rotates at a large angle during use, which can easily cause teeth to knock or bang, seriously affecting the user's oral health and user experience.

[0037] Figure 1A is an application scenario diagram of a toothbrush control method according to an embodiment. As shown in Figure 1A , the toothbrush control method disclosed in the embodiment of the present application can be applied to a toothbrush 100 , which may include a brush head 110 and a handle 120 , wherein the brush head 110 and the handle 120 are detachably connected.

[0038] The handle 120 may be provided with a motor. When the toothbrush 100 is in operation, the motor may be in operation and drive the brush head 110 to move, thereby achieving an oral cleaning effect. In an embodiment of the present application, the toothbrush 100 may obtain oral health data and / or real-time brushing data, and determine a target motion range corresponding to the motor rotor based on the oral health data and / or real-time brushing data. The toothbrush 100 may then control the rotor to reciprocate circumferentially within the target motion range to drive the brush head 110 to perform a brushing operation.

[0039] For example, FIG1B is a schematic diagram of the structure of a motor in one embodiment. As shown in FIG1B , the motor may include a rotor 130, a stator module 140, and a control module 150. The rotor 130 includes a central axis 131, and the central axis 131 can be detachably connected to the brush head 110; the stator module 140 can cooperate with the rotor 130 magnetically to drive the rotor 130 to rotate, and the stator module 140 may include a permanent magnet or an electromagnet. In an embodiment of the present application, the motor does not adopt a physical limiting structure, but adopts an electronic limiter, and flexibly controls and adjusts the range of motion of the rotor 130 by means of software, so as to achieve an adjustable maximum rotation angle of the brush head 110, so as to reduce the occurrence of teeth knocking and knocking during use of the toothbrush 100, and can make the cleaning of the toothbrush 100 more comprehensive, thereby improving the cleaning effect of the toothbrush 100.

[0040] The control module 150 can control the rotor 130 to reciprocate in the circumferential direction based on the target range of motion. In some embodiments, the control module 150 can control the rotor 130 to oscillate back and forth with a reference position as the zero axis, and control the rotor 130 to rotate to change the reference position, thereby increasing the circumferential swing amplitude of the rotor 130. Furthermore, the control module 150 can control the central axis 131 to oscillate back and forth with a reference position as the zero axis, and control the central axis 131 to rotate to change the reference position, based on the target range of motion. During the movement of the central axis 131, it can drive the brush head 110 to move, thereby providing oral care.

[0041] The control module 150 can limit the circumferential rotation range of the rotor 130 based on the target motion range, thereby limiting the maximum rotation angle of the brush head 110. By adjusting the target motion range of the rotor 130, the toothbrush 100 can adjust the maximum rotation angle of the brush head 110, effectively reducing tooth knocking and knocking during use.

[0042] Control module 150 may include a position detection element 151 and a controller 152. Position detection element 151 may be used to detect the current position of rotor 130. Controller 152 may determine whether the current position of rotor 130 is within a limit range corresponding to a target range of motion. If the current position of rotor 130 is not within the limit range, controller 152 may control rotor 130 to return to the limit range. Position detection element 151 may include, but is not limited to, a Hall effect element, an optical element, or other element with position detection capabilities.

[0043] Furthermore, the position detection element 151 can also be used to detect the rotation angle and swing angle of the rotor 130. The controller 152 can accurately control the reciprocating motion of the rotor 130 in the circumferential direction based on the rotation angle and swing angle of the rotor 130 fed back by the position detection element 151.

[0044] As shown in FIG2 , in one embodiment, a method for controlling a toothbrush is provided, which can be applied to the above-mentioned toothbrush. The method may include the following steps:

[0045] Step 210: Acquire oral health data and / or real-time tooth brushing data.

[0046] Oral health data may refer to data used to characterize the health of a user's oral cavity. Optionally, the oral health data may include, but is not limited to, one or more of gum health, caries information, plaque residue, oral disease information, and the like.

[0047] The gum health level may refer to the health of the user's gums, which may be categorized into multiple levels, such as, but not limited to, very healthy, generally healthy, averagely healthy, and unhealthy. Alternatively, the user's gum health level may be determined based on, for example, the color of the user's gums, whether the gums bleed, and so on. For example, if the gums are pink and not bleeding, the corresponding gum health level may be very healthy; if the gums are light red and not bleeding, the corresponding gum health level may be averagely healthy; if the gums are red but not bleeding, the corresponding gum health level may be averagely healthy; and if the gums are dark red and bleeding, the corresponding gum health level may be unhealthy, and so on. The specific method for determining the health of the user's gums may be based on more detailed gum information.

[0048] Dental caries information can be used to indicate whether a user has dental caries in their mouth. For example, the dental caries information may include, but is not limited to, the number of dental caries present in the mouth, the location of the dental caries, and other information. The greater the number of dental caries present in the mouth, the less healthy the oral cavity.

[0049] The amount of dental plaque residue may refer to the amount of dental plaque remaining in the user's mouth. The more dental plaque residue there is, the unhealthier the oral cavity is.

[0050] Oral disease information is used to characterize whether the user has an oral disease. For example, oral disease information may include but is not limited to the name of the disease in the user's mouth (such as oral ulcers, periodontitis, etc.), the oral location of the disease in the user's mouth, etc.

[0051] In some embodiments, the toothbrush can obtain the user's oral health data before starting the brushing operation. Optionally, the user can enter and update the oral health data on the terminal device according to the actual oral health situation. Before starting the brushing operation, the toothbrush can establish a communication connection with the terminal device (such as a Bluetooth connection, etc.), and the terminal device can send the user's latest oral health data to the toothbrush. Optionally, before starting the brushing operation, the toothbrush can also collect the user's oral information through its own sensors, and obtain the user's oral health data by analyzing the oral information. For example, a camera can be provided on the brush head of the toothbrush. Before starting the brushing operation, the user can place the brush head of the toothbrush in the mouth. The toothbrush can collect multiple oral images of the user through the camera, and the toothbrush can analyze the oral images to obtain the user's oral health data.

[0052] Real-time brushing data may refer to brushing data acquired in real time during the toothbrush brushing process. Optionally, the real-time brushing data may include, but is not limited to, one or more of the real-time brushing position of the brush head, real-time brushing pressure, real-time brushing mode, and real-time motion status of the toothbrush when the toothbrush is in operation.

[0053] The working state refers to the state in which the toothbrush controls the motor to operate and perform the brushing operation. When the toothbrush is in the working state, the real-time brushing position of the brush head may refer to the real-time position of the brush head in the oral cavity. The real-time brushing position may be the specific position of the brush head in the oral cavity, for example, the specific position of the tooth corresponding to the brush head in the oral cavity, the specific tooth surface corresponding to the tooth of the brush head, etc. The tooth surface located by the brush head can be determined based on the real-time brushing position of the brush head, and the oral cavity area and / or tooth area of ​​the brush head can also be determined based on the real-time brushing position of the brush head.

[0054] Real-time brushing pressure refers to the real-time pressure felt by the brush head in the mouth while the toothbrush is in operation. By collecting real-time brushing pressure during brushing, the toothbrush can detect whether overpressure occurs during brushing, whether the bristles of the brush head are leaving the tooth surface, and other conditions.

[0055] The real-time brushing mode may refer to the brushing mode that the toothbrush runs in the working state. A toothbrush can usually be configured with multiple different brushing modes. For example, a toothbrush can be configured with whitening mode, cleaning mode, soothing mode, strong mode and other brushing modes. Different brushing modes may correspond to different motor operating parameters, thereby achieving different oral cleaning and care effects. The motor operating parameters may include but are not limited to the swing parameters and / or rotation parameters of the rotor, the running time and other parameters. The swing parameters may refer to the parameters that control the rotor to swing back and forth with the reference position as the reference zero axis, and the rotation parameters refer to the parameters that control the rotor to rotate to change the parameter position. The user can select any brushing mode according to actual needs, or the toothbrush can select a brushing mode according to the user's oral condition. When the toothbrush enters the working state, it can run the selected brushing mode and control the motor operation according to the motor operating parameters corresponding to the selected brushing mode to drive the brush head to perform the brushing operation.

[0056] Real-time motion status refers to the real-time movement of the toothbrush while it is in operation. The real-time motion status may include information such as the real-time speed and direction of the toothbrush. By collecting the real-time motion status during brushing, the toothbrush can detect whether the brush head has switched oral regions and can also assist in determining the real-time brushing position of the brush head based on the real-time motion status.

[0057] In some embodiments, the toothbrush may include a detection device, which may include one or more of a posture sensor, a camera, a motion sensor, a pressure sensor, a photoelectric sensor, and the like. When the toothbrush is in operation, real-time brushing data can be acquired through the detection device. For example, while the toothbrush is brushing, the camera can capture oral images of the oral cavity. The toothbrush can then identify and analyze the captured oral images to determine the real-time brushing position of the brush head. For another example, while the toothbrush is brushing, the pressure sensor can capture real-time brushing pressure. For another example, while the toothbrush is brushing, the posture sensor and motion sensor (such as an accelerometer or a velocity sensor) can capture motion information of the toothbrush to determine its real-time motion state. For another example, while the toothbrush is brushing, the photoelectric sensor can detect the coverage of the tooth surface by the brush head's bristles, thereby assisting in determining the tooth surface on which the brush head is located. This can also help generate brushing data corresponding to the brushing session (such as tooth surface coverage and cleaning rate) after the brushing session is completed. The detection device can accurately obtain real-time brushing data of the toothbrush during the brushing process, which can help more accurately determine the target motion range corresponding to the motor's rotor, further reducing the possibility of the toothbrush hitting or knocking teeth during the brushing process.

[0058] Step 220 : Determine a target motion range corresponding to the rotor of the motor based on the oral health data and / or the real-time teeth brushing data.

[0059] In some embodiments, the toothbrush can determine the target motion range corresponding to the motor rotor based on the oral health data. In the case where the oral health data indicates that the user's oral cavity is relatively healthy, it means that the user's oral cavity is relatively low in sensitivity. When the rotation angle of the brush head is large, it is less likely to cause teeth to be knocked or gums to be damaged. Therefore, a larger target motion range can be determined, so that the brush head of the toothbrush can cover the tooth surface as much as possible during the brushing process, thereby improving the cleaning efficiency. In the case where the oral health data indicates that the user's oral cavity is relatively unhealthy, it means that the user's oral cavity is relatively sensitive. When the rotation angle of the brush head is large, it is more likely to cause teeth to be knocked or gums to be damaged. Therefore, a smaller target motion range can be determined, so that the brush head of the toothbrush can avoid causing oral damage during the brushing process.

[0060] Optionally, before the toothbrush enters operation, it can determine a target range of motion for the motor rotor based on oral health data, and control the motor rotor to move based on the target range of motion to drive the brush head to perform a brushing operation. During the toothbrush brushing operation, the target range of motion for the motor rotor can remain unchanged.

[0061] In some embodiments, the toothbrush can determine the target motion range corresponding to the motor's rotor based on real-time brushing data. During the toothbrush's brushing operation, the toothbrush can determine the target motion range corresponding to the motor's rotor based on the acquired real-time brushing data. If the real-time brushing data indicates that the brush head is currently in an area where teeth are more likely to be knocked (such as tooth surfaces and / or tooth areas where teeth are more likely to be knocked), a smaller target motion range can be determined, thereby reducing knocking and knocking of teeth during brushing and protecting the user's oral health. If the real-time brushing data indicates that the brush head is currently in an area where teeth are less likely to be knocked, a larger target motion range can be determined, thereby increasing the brush head's coverage of the tooth surface during brushing and improving cleaning efficiency and cleaning results.

[0062] Optionally, the cleaning requirements corresponding to the oral region or tooth region where the brush head is currently located can be determined based on the real-time brushing data, and a target motion range that is adapted to the cleaning requirements can be determined. For example, if it is determined based on the real-time brushing data that the brush head is in an area such as a tooth alveolus or pit and fissure, a smaller target motion range can be set so that the rotor of the motor moves within a smaller target motion range, thereby driving the brush head to perform brushing operations at a smaller rotation angle, making it easier to clean areas such as the tooth alveolus or pit and fissure; for another example, if it is determined based on the real-time brushing data that the brush head is on the outer surface of the tooth, a larger target motion range can be determined, thereby increasing the coverage of the tooth surface by the brush head during the brushing process, thereby improving the cleaning efficiency and cleaning effect of the toothbrush.

[0063] In some embodiments, the toothbrush can determine the target motion range of the motor rotor based on oral health data and real-time brushing data. Optionally, the toothbrush can determine the target motion range of the motor rotor based on oral health data before entering the operating state, and adjust the target motion range based on real-time brushing data during the brushing process. By combining the user's oral health status and real-time brushing progress, this can further effectively reduce tooth knocking and knocking during brushing, while ensuring the cleaning effect of the toothbrush.

[0064] Step 230: Control the rotor to perform reciprocating motion in the circumferential direction within the target motion range to drive the brush head to perform the tooth brushing operation.

[0065] When the toothbrush is in operation, the rotor can be controlled to reciprocate circumferentially within a target motion range. The target motion range may refer to the range of reciprocating circumferential motion of the rotor when the motor is in operation. Optionally, the target motion range can be defined using a deflection angle relative to the zero position with a reference to the zero position. The zero position can be the midpoint of the target motion range. For example, if the zero position corresponds to 0 degrees and the target motion range is -10 degrees to 10 degrees, the rotor can reciprocate circumferentially between a position 10 degrees counterclockwise relative to the zero position and a position 10 degrees clockwise relative to the zero position.

[0066] For example, FIG3A is a schematic diagram illustrating a target motion range corresponding to a motor rotor in one embodiment. As shown in FIG3A , the target motion range may include a first extreme position 320 and a second extreme position 330. The zero position 310 may be the midpoint between the first extreme position 320 and the second extreme position 330. The motor rotor may reciprocate within the target motion range.

[0067] In some embodiments, the reciprocating motion of the rotor in the circumferential direction can be divided into swinging and rotation. When the toothbrush is in working state, the rotor in the motor can be controlled to swing back and forth in the circumferential direction with the reference position as the reference zero axis. Swinging mainly refers to the reciprocating motion of the rotor in the circumferential direction with the reference zero axis as the center. Rotation can adjust the reference position of the rotor for reciprocating swinging, so as to realize the brushing operation of vibrating and sweeping the brush head at the same time. Among them, the reciprocating swinging motion of the rotor with the reference position as the reference zero axis can drive the brush head to vibrate. Switching the reference position of the reciprocating swing of the rotor can drive the brush head to swing significantly, thereby increasing the cleaning range of the brush head and realizing the sweeping vibration function of the brush head.

[0068] For example, FIG3B is a schematic diagram of a rotor oscillating back and forth with a reference position as the zero axis in one embodiment. As shown in FIG3B , if the rotor oscillates back and forth with zero position 310 as the zero axis, the range covered during the oscillation is oscillation range 340, and the rotor position fluctuates between positions 342 and 344. The rotor oscillates back and forth with zero position 310 as the zero axis, which can be understood as the rotor oscillating clockwise around the zero axis with zero position 310 as the zero axis to position 344, then oscillating counterclockwise from position 344 to position 342, and then oscillating clockwise from position 342 to zero position 310. This process can be considered a single oscillation. The rotor can oscillate back and forth multiple times within a oscillation cycle, and the reference position remains unchanged within a oscillation cycle.

[0069] The reference position can be changed by controlling the rotor to rotate. For example, FIG3C is a schematic diagram illustrating a change in the reference position of the rotor in one embodiment. As shown in FIG3C , the rotor can be controlled to rotate to switch the reference position from zero position 310 to position 350. The rotor can then oscillate back and forth using position 350 as the reference zero axis. The range covered during this oscillation is a oscillation range 360, and the position of the rotor can vary between positions 362 and 364. For example, the rotor can oscillate from position 350 to position 362, then from position 362 to position 364, and then from position 364 to position 350, and so on for multiple reciprocating oscillations.

[0070] In some embodiments, the rotor can be controlled to swing back and forth based on the reference position as the zero axis based on the swing parameter according to the target exercise range, and the rotor can be controlled to rotate based on the rotation parameter to change the reference position.

[0071] Optionally, the swing parameters may include but are not limited to one or more of a swing direction, a swing angle, a swing frequency, a duration corresponding to a swing cycle, etc.; wherein the swing direction may include a clockwise swing direction and a counterclockwise swing direction of the rotor in the circumferential direction, etc., and the clockwise swing direction and the counterclockwise swing direction are opposite directions; the swing angle refers to the angle corresponding to a single reciprocating swing of the rotor in the circumferential direction. Taking Figure 3B as an example, the swing angle may refer to the angle between position 342 and position 344. The swing angle can also be understood as the swing amplitude corresponding to a single swing cycle; the swing frequency may refer to the number of times the rotor swings back and forth in one swing cycle.

[0072] 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, where the clockwise rotation direction and the counterclockwise rotation direction are opposite directions. The rotation angle refers to the angle corresponding to each reference position switch of the rotor. Taking FIG3C as an example, assuming that the reference position of the rotor switches from zero position 310 to position 350, the rotation angle may be the angle between position 350 and zero position 310. 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, etc., but is not limited thereto. The rotation frequency may affect the duration corresponding to a swing cycle. The duration corresponding to a swing cycle may be the unit time divided by the rotation frequency. For example, if the rotation frequency is 10 times / second, the duration corresponding to a swing cycle may be 0.1 seconds, etc.

[0073] In some embodiments, the rotational frequency of the rotor may be lower than the oscillation frequency. Since the reciprocating oscillation of the rotor is primarily used to clean teeth, a higher oscillation frequency can improve the cleaning effect. The rotational frequency of the rotor is used to change the cleaning range of the brush head. Therefore, the rotational frequency can be relatively low, so that each range can have sufficient cleaning time to ensure a cleaning effect. For example, the rotational frequency can be 5 times / second, 8 times / second, 10 times / second, etc., and the oscillation frequency can be 200 Hz (Hertz), 300 Hz, 500 Hz, 650 Hz, etc., but is not limited to this. The oscillation frequency can be an order of magnitude higher than the rotational frequency.

[0074] The toothbrush can control the rotor to oscillate and rotate within a determined target motion range. A reference position range corresponding to the rotor's reference position can be determined based on the target motion range, and the rotor can be controlled to switch reference positions within the reference position range. The reference position range is smaller than the target motion range.

[0075] As an embodiment, the target motion range may include a first extreme position and a second extreme position, the zero point position may be the midpoint between the first extreme position and the second extreme position, and the reference position range may include a first extreme reference position and a second extreme reference position, with the midpoint between the first extreme reference position and the second extreme reference position also being the zero point position. The first extreme reference position and the second extreme reference position may be determined based on the first extreme position and the second extreme position. Furthermore, the first extreme reference position may be between the first extreme position and the second extreme position, with the position difference between the first extreme position and the first extreme reference position being equal to 1 / 2 of the swing angle; the second extreme reference position may be between the first extreme position and the second extreme position, with the position difference between the second extreme position and the second extreme reference position being equal to 1 / 2 of the swing angle. This allows for precise control of the reciprocating motion of the motor within the target motion range, ensuring that the position of the motor's rotor remains within the target motion range during operation, achieving precise control of the rotor's motion, further reducing tooth knocking and knocking during use, and improving cleaning effectiveness.

[0076] In an embodiment of the present application, the toothbrush obtains oral health data and / or real-time toothbrush data, determines the target motion range corresponding to the motor's rotor based on the oral health data and / or real-time brushing data, and controls the rotor to perform reciprocating motion in the circumferential direction within the target motion range to drive the brush head to perform brushing operations. The toothbrush can determine the target motion range of the rotor of the adapted motor based on the oral health data and / or real-time toothbrush data, and adaptively adjust the target motion range of the motor's rotor so that the determined target motion range is more in line with the actual situation of the user's oral cavity, thereby flexibly adjusting the maximum rotation angle of the brush head, which can effectively reduce the occurrence of teeth knocking, knocking, etc. during the use of the toothbrush, thereby ensuring the user's oral health and improving the user's usage experience.

[0077] As shown in FIG4 , in one embodiment, the step of determining the target motion range corresponding to the rotor of the motor according to the oral health data may include the following steps:

[0078] Step 402 : Determine a sensitivity level and / or a cleanliness level based on oral health data.

[0079] The sensitivity level can be used to represent the sensitivity of the user's oral cavity. Optionally, a higher sensitivity level can indicate a higher sensitivity of the user's oral cavity. The cleanliness level can be used to indicate the degree to which the user's oral cavity needs to be cleaned. Optionally, a higher cleanliness level indicates that the user's oral cavity is more seriously unclean and requires a higher degree of cleaning.

[0080] In some embodiments, the toothbrush can determine the sensitivity level based on one or more information including gum health, caries information, and oral disease information. Optionally, multiple sensitivity levels can be pre-set, and a correspondence between information including gum health, caries information, and oral disease information and each sensitivity level can be established. For example, the sensitivity level includes three levels: insensitive, mildly sensitive, and severely sensitive. Among them, the gum health level corresponding to insensitivity can be very healthy, the caries information can be no caries, and the oral disease information can be no disease; the gum health level corresponding to mild sensitivity can be generally healthy or ordinary healthy, the caries information can be no caries, and the oral disease information can be no disease or mild oral ulcers; the gum health level corresponding to severe sensitivity can be unhealthy, the caries information can be the presence of more than one caries, and the oral disease information can be the presence of periodontitis or severe oral ulcers.

[0081] In some embodiments, the toothbrush can determine the cleaning level based on information such as the amount of dental plaque residue. The less dental plaque residue, the cleaner the user's mouth, and the corresponding cleaning level can be lower. Optionally, multiple cleaning levels can be pre-set, and a range of dental plaque residue corresponding to each cleaning level can be set. After obtaining the user's dental plaque residue, the dental plaque residue range to which the dental plaque residue belongs can be determined, and the cleaning level corresponding to the dental plaque residue range to which the dental plaque residue belongs can be determined.

[0082] It should be noted that other methods may also be used to determine the sensitivity level and the cleaning level, for example, big data analysis or neural network analysis, etc., and this embodiment of the present application does not limit this.

[0083] Step 404 : determining a target motion range corresponding to the rotor of the motor according to the sensitivity level and / or the cleanliness level; wherein the target motion range is negatively correlated with the sensitivity level, and positively correlated with the cleanliness level.

[0084] When the cleaning level is fixed, the target motion range may be negatively correlated with the sensitivity level. The higher the sensitivity level, the more sensitive the user's oral cavity is. If the rotation angle of the brush head is larger, it is easy to damage the oral cavity. For example, if the rotation angle of the brush head is too large, it is easy to damage the gums. Therefore, a smaller target motion range may be corresponding to reduce the maximum rotation angle of the brush head to protect the user's oral cavity.

[0085] With a fixed sensitivity level, the target motion range is positively correlated with the cleaning level. A higher cleaning level indicates a greater need for oral cleaning, and a larger target motion range corresponds to this, increasing the area covered by the brush head's bristles and improving cleaning effectiveness.

[0086] In some embodiments, the toothbrush can separately determine the first range of motion corresponding to the sensitivity level and the second range of motion corresponding to the cleaning level, and compare the first range of motion with the second range of motion. The smaller of the two ranges of motion can be determined as the target range of motion corresponding to the motor rotor. Alternatively, the toothbrush can separately determine the first range of motion corresponding to the sensitivity level and the second range of motion corresponding to the cleaning level, and average the first range of motion and the second range of motion to obtain the target range of motion corresponding to the motor rotor. Alternatively, the user can set the importance coefficients corresponding to the sensitivity level and the cleaning level according to their own needs, and perform weighted sum calculation on the first range of motion and the second range of motion based on the importance coefficients corresponding to the sensitivity level and the cleaning level to obtain the target range of motion corresponding to the motor rotor.

[0087] In the embodiment of the present application, the sensitivity and cleaning needs of the oral cavity can be comprehensively considered to adapt the corresponding target motion range for the rotor of the motor, while taking into account the user's oral health and cleaning effect, thereby improving the user's experience.

[0088] In some embodiments, the step of determining the target motion range corresponding to the rotor of the motor based on oral health data may include: inputting the oral health data into a pre-trained neural network, and analyzing the oral health data through the neural network to determine the target motion range corresponding to the rotor of the motor; wherein the neural network is trained based on multiple sample data, and each sample data includes sample oral health data and the corresponding motor motion range.

[0089] A large amount of sample data can be collected in advance, and each sample data may include sample oral health data and the corresponding motor motion range. The motor motion range corresponding to the sample oral health data can be determined through experiments, and is less likely to cause teeth knocking, knocking, etc., and at the same time has a motor motion range with a certain cleaning ability. The sample data can be input into the neural network to be trained, and the neural network to be trained can extract the data features of the sample oral health data, and analyze the extracted data features to obtain a predicted motion range, and then compare the predicted motion range with the motor motion range corresponding to the sample oral health data, calculate the error between the two, and adjust the parameters in the neural network according to the error until the neural network converges and the neural network training is completed. The trained neural network has the ability to determine the adapted target motion range based on the oral health data. It should be noted that the training process can be carried out on a cloud server or on other electronic devices.

[0090] The toothbrush can store the trained neural network. After obtaining the user's oral health data, the toothbrush can input the oral health data into the pre-trained neural network, extract the data features of the oral health data through the neural network, and analyze the extracted data features to determine the target motion range corresponding to the motor's rotor.

[0091] In an embodiment of the present application, the target motion range corresponding to the motor's rotor can be determined based on oral health data through artificial intelligence, which can make the determined target motion range more accurate, further effectively reduce the occurrence of teeth knocking and knocking during the use of the toothbrush, and ensure the oral cleaning effect.

[0092] As shown in FIG5 , in some embodiments, the step of determining the target motion range corresponding to the rotor of the motor according to the real-time tooth brushing data may include the following steps:

[0093] Step 502 , judging whether the brush head switches to an oral region based on the real-time brushing data, if so, executing step 504 , if not, executing step 506 .

[0094] Oral area switching of the brush head may refer to the brush head moving from one oral area to another, and the oral areas may include but are not limited to the tooth area, the tongue area, etc. When the toothbrush is in operation, the toothbrush may obtain real-time brushing data and determine whether the brush head has switched oral areas based on the real-time brushing data.

[0095] In some embodiments, real-time toothbrushing data may include real-time motion status, which may include but is not limited to real-time movement speed, movement direction, etc. Whether the brush head has switched oral regions can be determined based on the real-time motion status. For example, when it is detected that the real-time movement speed of the toothbrush is greater than a first speed threshold, it indicates that the user is actively controlling the toothbrush to move a large distance, and there is a high probability of switching oral regions. In this case, it can be determined that the brush head has switched oral regions. When it is detected that the real-time movement speed of the toothbrush is less than or equal to the first speed threshold, it can be determined that the brush head has not switched oral regions.

[0096] In some embodiments, the real-time brushing data includes real-time brushing pressure, and whether the brush head has switched oral regions can be determined based on the real-time brushing pressure. For example, when the real-time brushing pressure of the toothbrush is detected to be less than a first pressure threshold, it indicates that the bristles are away from the tooth surface, and there is a high probability of switching oral regions, and the brush head can be determined to have switched oral regions. When the real-time brushing pressure of the toothbrush is detected to be greater than or equal to the first pressure threshold, it indicates that the bristles are in contact with the tooth surface and the tooth surface is being brushed, and the brush head can be determined to have not switched oral regions.

[0097] In some embodiments, the real-time brushing data includes the real-time brushing position, and whether the brush head switches to the oral region can be determined based on the real-time brushing position. For example, multiple continuous real-time brushing positions can be obtained, and the position change information of the brush head, such as the position change distance, the position change speed, etc., can be determined based on the multiple continuous real-time brushing positions, and whether the oral region switching is performed can be determined based on the position change information; if the position change information indicates that the brushing position has changed significantly (for example, the position change distance is greater than the distance threshold, or the position change speed is greater than the second speed threshold, etc.), it can be determined that the brush head has switched to the oral region; if the position change information indicates that the brushing position has changed slightly (for example, the position change distance is not greater than the distance threshold, or the position change speed is not greater than the second speed threshold, etc.), it can be determined that the brush head has not switched to the oral region.

[0098] It should be noted that the toothbrush can also combine multiple real-time brushing data to jointly determine whether the brush head switches the oral area. For example, it can jointly determine whether the brush head switches the oral area based on the real-time movement status and real-time brushing pressure, but it is not limited to this.

[0099] Step 504 : determining a target motion range corresponding to the motor rotor during the process of switching the brush head to an oral region.

[0100] Because teeth are more likely to knock or bang when the brush head switches between oral areas, the target motion range of the motor rotor can be reduced. When the brush head switches between oral areas, the target motion range of the motor rotor is smaller than when the brush head is in any oral area. This reduces the chances of teeth knocking or banging during movement, ensuring oral health and improving the user experience.

[0101] Step 506: Determine the target tooth surface where the brush head is currently located based on the real-time brushing position of the brush head.

[0102] Step 508: Determine a target motion range corresponding to the target tooth surface.

[0103] When the brush head is not switching between oral regions, the bristles of the brush head contact and brush the tooth surfaces to clean the user's teeth. During the brushing process, the toothbrush can determine the target tooth surface currently on the brush head based on its real-time brushing position. Different target motion ranges can be corresponding to different tooth surfaces.

[0104] In some embodiments, the target tooth surface can be any of an occlusal surface, an outer surface, and an inner surface, wherein the occlusal surface refers to the surface of the teeth that occlude, the outer surface refers to the surface of the teeth that is close to the lips, and the inner surface refers to the surface of the teeth that is close to the tongue. For example, FIG6 is a schematic diagram of a tooth surface in one embodiment. As shown in FIG6 , the occlusal surface 610 of the tooth is the surface of the tooth that occludes, the outer surface 620 of the tooth is the surface of the tooth that is close to the lips, and the inner surface 630 of the tooth is the surface of the tooth that is close to the tongue.

[0105] The target motion range corresponding to the occlusal surface may be smaller than or equal to the target motion range corresponding to the inner surface, and the target motion range corresponding to the inner surface is smaller than the target motion range corresponding to the outer surface.

[0106] Because different users' mouths open and close differently when the brush head is on the occlusal surface, it is more likely to cause tooth snagging when the brush head is on the occlusal surface. Therefore, the motor rotor can be configured with a smaller target motion range, thereby reducing the rotation angle of the brush head and its range of motion, thereby reducing the risk of tooth snagging. Furthermore, the smaller rotation angle of the brush head allows for easier cleaning of the pits and fissures of the occlusal surface, thereby improving cleaning effectiveness. Tooth snagging is also more likely to occur when the brush head is on the medial surface, but the probability of this is lower than when the brush head is on the occlusal surface. Therefore, the target motion range for the medial surface can be greater than or equal to the target motion range for the occlusal surface, while taking into account both tooth snagging and cleaning needs. When the brush head is on the lateral surface, tooth snagging is less likely to occur. Therefore, the motor rotor can be configured with a larger target motion range, thereby increasing the rotation angle of the brush head and the cleaning coverage of the bristles, thereby improving cleaning efficiency and effectiveness.

[0107] In some embodiments, if the toothbrush is currently located in a non-tooth surface area based on the real-time brushing position of the brush head, a target motion range corresponding to the non-tooth surface area can be determined. The target motion range corresponding to the non-tooth surface area is less than or equal to the target motion range corresponding to the target tooth surface.

[0108] When the toothbrush is in the non-tooth surface area, the brush head may be switching to the oral area, or the brush head may be cleaning the user's tongue area, etc. Since the problem of knocking teeth is easy to occur when the brush head is switching to the oral area, and the brush head is cleaning the user's tongue area, in order to avoid excessive stimulation to the tongue, it is necessary to reduce the target motion range of the motor's rotor, thereby reducing the rotation angle of the brush head to avoid knocking teeth, or to avoid stimulation to the user's tongue.

[0109] In some embodiments, during the toothbrush brushing operation, it can be determined whether the real-time brushing pressure is greater than a second pressure threshold (the second pressure threshold is greater than the above-mentioned first pressure threshold). When the real-time brushing pressure is greater than the second pressure threshold, it indicates that overpressure has occurred. The target motion range of the rotor can be reduced, thereby reducing the rotation angle of the brush head to avoid damage to the user's oral cavity and ensure the user's oral health.

[0110] In an embodiment of the present application, the toothbrush can determine the target motion range corresponding to the motor's rotor based on real-time brushing data, and adjust the target motion range corresponding to the rotor according to the specific circumstances during the brushing process. This can effectively reduce the occurrence of teeth knocking and knocking during the use of the toothbrush, thereby ensuring the user's oral health, while taking into account the cleaning effect of the toothbrush and improving the user's experience.

[0111] As shown in FIG7 , in one embodiment, the step of determining the target motion range corresponding to the rotor of the motor based on oral health data and real-time tooth brushing data may include the following steps:

[0112] Step 702: Determine the target oral area where the toothbrush is currently located based on the real-time brushing position.

[0113] Step 704 : Determine a target motion range corresponding to the rotor of the motor based on the oral health data corresponding to the target oral area.

[0114] In some embodiments, the oral health data includes oral health data corresponding to multiple oral regions. For example, the oral health data includes one or more data such as gum health, caries information, plaque residue, oral disease information, etc. corresponding to multiple oral regions. During the toothbrush brushing operation, the toothbrush can obtain the real-time brushing position of the brush head, determine the target oral region where the toothbrush is currently located, and determine the target motion range corresponding to the motor rotor based on the oral health data corresponding to the target oral region. It should be noted that the method of determining the target motion range corresponding to the motor rotor based on the oral health data corresponding to the target oral region may be similar to the method of determining the target motion range corresponding to the motor rotor based on the oral health data described in the above embodiments, and will not be repeated here.

[0115] In other embodiments, before the toothbrush performs a brushing operation, a target motion range corresponding to each oral region may be determined based on the oral health data corresponding to each oral region. During the brushing operation, the target oral region currently located by the toothbrush may be determined based on the real-time brushing position, and based on the target motion range corresponding to the target oral region, the rotor may be controlled to perform reciprocating circumferential motion within the target motion range to drive the brush head to perform the brushing operation.

[0116] According to the oral health data corresponding to each oral area, the target motion range of the motor's rotor is determined. Different target motion ranges of the rotor can be adapted to oral areas with different health conditions, so that the rotation range of the brush head can be flexibly adjusted. The brush head moves at a smaller rotation angle in more sensitive and unhealthy oral areas, and moves at a larger rotation angle in oral areas that need more cleaning or are relatively healthy, thereby improving the oral cleaning and care effects.

[0117] In some embodiments, before a toothbrush performs a brushing operation, the motor rotor may be controlled to perform a target motion range based on oral health data, and then the rotor may be controlled to perform a circumferential reciprocating motion within the target motion range to drive the brush head to perform the brushing operation. During the brushing operation, the target motion range may be adjusted based on the real-time brushing data of the toothbrush, and the rotor may be controlled to perform a circumferential reciprocating motion within the adjusted target motion range to drive the brush head to perform the brushing operation.

[0118] The toothbrush can first determine the target motion range corresponding to the motor's rotor based on the oral health data, and control the rotor to reciprocate circumferentially within the target motion range. At the same time, the target motion range of the rotor can be adjusted based on the real-time brushing data of the toothbrush. For example, when the real-time brushing data detects that the brush head switches to an oral region, the target motion range of the rotor can be reduced; or, when the real-time brushing data detects that the brush head is on the occlusal surface, the target motion range of the rotor can be reduced; or, when the real-time brushing data detects that the brush head is on the outer side, the target motion range determined based on the oral health data can be restored (i.e., the target motion range of the rotor can be left unchanged).

[0119] In an embodiment of the present application, the toothbrush can integrate oral health data and real-time brushing data to jointly determine the target motion range corresponding to the motor's rotor, and adaptively adjust the target motion range of the motor's rotor so that the rotor's motion range is more in line with the actual situation of the user's oral cavity. This can effectively reduce the occurrence of knocking and knocking teeth during the use of the toothbrush, thereby ensuring the user's oral health and improving the user's usage experience.

[0120] In addition to determining the target motion range of the motor rotor based on oral health data and real-time brushing data, the toothbrush can also comprehensively consider the user's satisfaction with the brushing process and further adjust the target motion range of the rotor to better meet the user's actual needs. As shown in Figure 8, in another embodiment, a toothbrush control method is provided, which can be applied to the above-mentioned toothbrush. The method may include the following steps:

[0121] Step 802: Obtain one or more historical experience data.

[0122] Historical experience data may refer to user experience data collected after a toothbrush has been used for historical brushing operations. Historical experience data may include, but is not limited to, historical range of motion, historical oral health data corresponding to the historical range of motion, and / or historical real-time brushing data, and user satisfaction corresponding to the historical range of motion.

[0123] Among them, the historical motion range may refer to the target motion range of the rotor corresponding to the historical brushing process corresponding to the historical experience data. During the historical brushing process corresponding to the historical experience data, the toothbrush can control the rotor of the motor to perform reciprocating motion in the circumferential direction according to the historical motion range.

[0124] The historical oral health data and / or historical real-time brushing data corresponding to the historical movement range may refer to the historical oral health data and / or historical real-time brushing data corresponding to the historical brushing process corresponding to the historical experience data, and the historical movement range is determined based on the historical oral health data and / or historical real-time brushing data.

[0125] The experience satisfaction corresponding to the historical motion range may refer to the user's satisfaction with the historical brushing process corresponding to the historical experience data. Optionally, the experience satisfaction may be represented by a satisfaction score. For example, the higher the satisfaction score, the more satisfied the user is with the brushing process, and the higher the experience satisfaction; the lower the satisfaction score, the less satisfied the user is with the brushing process, and the lower the experience satisfaction. Furthermore, in addition to the satisfaction score, the experience satisfaction may also include other experience data, such as whether there is tooth knocking during the brushing process, whether the user is satisfied with the cleaning effect of the brushing process, and whether there is any discomfort such as stinging during the brushing process. By collecting the user's experience satisfaction with each brushing process, the toothbrush can analyze whether the target motion range of the motor rotor determined during the brushing process is appropriate, thereby helping to adjust and improve the target motion range of the rotor.

[0126] Step 804 : determining an initial motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time teeth brushing data.

[0127] Step 806: Adjust the initial motion range according to one or more historical experience data to determine a target motion range.

[0128] When the toothbrush needs to perform the current brushing process, the toothbrush can determine the initial motion range corresponding to the motor rotor based on the oral health data and / or the real-time brushing data. It should be noted that the method for determining the initial motion range corresponding to the motor rotor based on the oral health data and / or the real-time brushing data can be similar to the method for determining the target motion range corresponding to the motor rotor based on the oral health data and / or the real-time brushing data described in the above embodiments, and will not be repeated here.

[0129] In some embodiments, the toothbrush can compare the initial motion range determined this time, the oral health data and / or real-time brushing data of this time with one or more historical experience data, and find the historical oral health data and / or historical real-time brushing data, and the historical experience data similar to the oral health data and / or real-time brushing data of this time as the target historical experience data. The historical motion range and experience satisfaction contained in each target historical experience data can be obtained, and the historical motion range contained in each target historical experience data can be compared with the initial motion range determined this time. If the historical motion range is the same as or very close to the initial motion range determined this time (for example, the range difference between the two is less than the difference threshold), it can be determined whether the initial motion range needs to be adjusted based on the experience satisfaction corresponding to the historical motion range.

[0130] Optionally, if there is a historical motion range in the historical experience data of a certain target that is the same as or very close to the initial motion range determined this time, and the experience satisfaction corresponding to the historical motion range is good (for example, the satisfaction score is greater than the first score threshold), then there is no need to adjust the initial motion range, and the initial motion range can be determined as the target motion range. If there is a historical motion range in the historical experience data of a certain target that is the same as or very close to the initial motion range determined this time, and the experience satisfaction corresponding to the historical motion range is poor (for example, the satisfaction score is less than the second score threshold, and the second score threshold is less than or equal to the first score threshold), then the initial motion range can be adjusted to determine the target motion range. Furthermore, the initial motion range can be adjusted according to the experience data corresponding to the historical motion range. For example, if the user feedback indicates that there is tooth grinding, the initial motion range can be reduced; or, if the user feedback indicates that the cleaning effect is poor, the initial motion range can be increased, etc., but is not limited to this.

[0131] As another implementation method, after determining the target historical experience data, the target historical motion range with a better experience satisfaction (for example, the satisfaction score is greater than the first score threshold) can be found from the target historical experience data, and the target historical motion range and the initial motion range can be averaged, or weighted summed, etc., to obtain the target motion range corresponding to the rotor of the motor.

[0132] By screening out target historical experience data that is similar to the initial motion range determined this time, the oral health data and / or the real-time brushing data, and adjusting the initial motion range according to the historical motion range and the corresponding experience satisfaction contained in the target historical experience data, the target motion range of the motor rotor determined is made more in line with the actual needs of the user, thereby ensuring the user's experience satisfaction during the brushing process.

[0133] Step 808: Control the rotor of the motor to perform reciprocating motion in the circumferential direction within the target motion range to drive the brush head to perform the tooth brushing operation.

[0134] The description of step 808 can refer to the relevant descriptions in the above embodiments, and will not be repeated here.

[0135] Step 810, when the toothbrush completes a brushing process, collects the experience satisfaction of the brushing process, and stores the oral health data and / or real-time brushing data, target motion range and collected experience satisfaction correspondingly as new historical experience data.

[0136] When the toothbrush completes a brushing process, for example, the brushing operation time reaches the target brushing time, the user actively exits the working state, etc., the toothbrush completes a brushing process and can collect the user's experience satisfaction with the brushing process, and store the oral health data and / or real-time brushing data, target motion range and collected experience satisfaction correspondingly as new historical experience data, so that the toothbrush can facilitate the adjustment of the target motion range of the motor rotor in subsequent brushing processes.

[0137] In an embodiment of the present application, after the toothbrush determines the initial motion range corresponding to the motor's rotor based on oral health data and / or real-time brushing data, the initial motion range can be adjusted according to one or more historical experience data to determine the target motion range. Taking into account the user's satisfaction with the brushing process, the target motion range of the rotor can be further adjusted so that the determined target motion range of the motor's rotor is more in line with the user's actual needs, thereby ensuring the user's experience satisfaction during the brushing process.

[0138] In addition to determining the target motion range of the motor rotor based on oral health data and / or real-time toothbrushing data, the toothbrush can also determine the corresponding swing parameters of the motor rotor based on oral health data and / or real-time toothbrushing data. As shown in FIG9 , in another embodiment, a toothbrush control method is provided, which can be applied to the above-mentioned toothbrush. The method may include the following steps:

[0139] Step 902: Acquire oral health data and / or real-time tooth brushing data.

[0140] Step 904 : Determine a target motion range corresponding to the rotor of the motor based on the oral health data and / or the real-time teeth brushing data.

[0141] The description of steps 902 to 904 can refer to the relevant descriptions in the above embodiments, and will not be repeated here.

[0142] Step 906 : Determine the swing parameters corresponding to the rotor of the motor according to the oral health data and / or the real-time teeth brushing data.

[0143] In some embodiments, the toothbrush can determine the corresponding swing parameters of the motor rotor based on oral health data. For example, if the oral health data indicates that the user's oral cavity is relatively healthy, the corresponding swing angle and swing frequency of the motor rotor can be larger, thereby improving cleaning efficiency and cleaning effect. If the oral health data indicates that the user's oral cavity is relatively unhealthy, indicating that the user's oral cavity is highly sensitive, the corresponding swing angle and swing frequency of the motor rotor can be smaller, thereby reducing damage and irritation to the oral cavity and protecting the user's oral health.

[0144] In some embodiments, the toothbrush can determine the corresponding oscillation parameters of the motor rotor based on real-time brushing data. Alternatively, the corresponding oscillation parameters of the motor rotor, such as the corresponding oscillation frequency of the motor rotor, can be determined based on the real-time brushing position of the brush head during operation.

[0145] As an implementation, the target tooth surface currently located by the brush head can be determined based on the real-time brushing position, and the oscillation frequency corresponding to the target tooth surface can be determined. When the brush head is located on different target tooth surfaces, the rotor can correspond to different oscillation frequencies. The target tooth surface can be any of the occlusal surface, the lateral surface, and the medial surface. The oscillation frequency corresponding to the occlusal surface is greater than that corresponding to the lateral surface, and the oscillation frequency corresponding to the occlusal surface is greater than that corresponding to the medial surface.

[0146] When the brush head is on the occlusal surface, the rotor can correspond to a larger swing frequency, so that the rotor can reciprocate with the reference position as the zero axis at a higher frequency, thereby better cleaning the pits and fissures of dental plaque on the occlusal surface and improving the cleaning effect. Optionally, when the brush head is determined to be on the occlusal surface based on the real-time brushing position, the rotor is controlled to reciprocate with the reference position as the zero axis based on the swing parameters corresponding to the occlusal surface, and the reference position is kept unchanged. When the brush head is on the occlusal surface, the rotor can only perform reciprocating swing motion with the reference position as the zero axis without rotating, which can further reduce the probability of tooth knocking on the occlusal surface and protect the user's oral health.

[0147] As another embodiment, the target tooth area where the brush head is currently located can be determined based on the real-time brushing position, and the oscillation frequency corresponding to the target tooth area can be determined.

[0148] The teeth in the oral cavity can be divided into multiple tooth areas, for example, including but not limited to the molar area, incisor area, front tooth area, etc. Different tooth areas have different requirements for cleaning. Therefore, for different tooth areas, the rotor of the motor may correspond to different target motion ranges. For example, the saliva flow in the molar area is less than the saliva flow in the incisor area. The molar area is more prone to plaque and has a higher demand for cleaning. Therefore, the target motion range corresponding to the molar area may be larger than the target motion range corresponding to the incisor area. During the toothbrush brushing operation, the toothbrush can determine the target tooth area where the brush head is currently located based on the real-time brushing position of the brush head, and determine the oscillation frequency corresponding to the target tooth area, so that the rotor can be controlled to oscillate back and forth according to the oscillation frequency with the reference position as the reference zero axis.

[0149] Step 908 : According to the target motion range, the rotor is controlled to oscillate back and forth based on the swing parameter with the reference position as the reference zero axis, and the rotor is controlled to rotate based on the rotation parameter to change the reference position.

[0150] The description of step 908 can refer to the relevant description in the above embodiment, and will not be repeated here.

[0151] In some embodiments, the motor may include a position detection element, and the toothbrush may determine the limit range corresponding to the target motion range; determine the current position of the rotor through the position detection element; if the current position is not within the limit range, control the rotor to reset toward the limit range.

[0152] The limit range can be used to limit the circumferential position range of the rotor. The limit range can be greater than or equal to the target motion range. The limit range and the target motion range can be the same range or two different ranges. During toothbrush brushing, the rotor may sometimes exceed the limit range due to external forces, causing the toothbrush to fail to operate normally, affecting the stability and safety of the toothbrush, and also affecting the oral cleaning and care effects of the toothbrush. Therefore, in an embodiment of the present application, when the toothbrush detects that the current position of the rotor is not within the limit range, that is, when it detects that the current position of the rotor is outside the limit range, the rotor can be controlled to reset toward the limit range.

[0153] In some embodiments, the limit range may include a first position and a second position. The first position and the second position may be understood as extreme position points. If the current position of the rotor exceeds the first position or the second position, that is, the current position of the rotor is not between the first position and the second position, it means that the current position of the rotor exceeds the limit range and needs to be reset. The zero position may be the midpoint between the first position and the second position. It should be noted that the zero position may also be the first position or the second position. The above-mentioned first position and second position may be set according to actual needs. They may be fixed positions or may change dynamically according to needs. The range size of the limit range (i.e., the position difference between the first position and the second position) may be set according to actual needs. The range size of the limit range may be a fixed size or may change dynamically according to needs. The embodiments of the present application do not limit this.

[0154] Optionally, controlling the rotor to reset toward the limit range may be controlling the rotor to reset toward the zero position.

[0155] In some embodiments, the toothbrush may include a reset component. When the toothbrush detects that the current position of the rotor is not within the limit range, the toothbrush can control the reset component to generate a reset force to drive the rotor to reset toward the limit range. Optionally, the reset component may include a magnetic reset part. For example, the magnetic reset part may include a permanent magnet and an electromagnet. The permanent magnet may be provided on the stator module, and the electromagnet may be provided on the rotor. When the motor is installed, when it is detected that the current position of the rotor is not within the limit range, electric energy is provided to the electromagnet. A magnetic force is generated between the electromagnet and the permanent magnet, thereby driving the rotor to rotate toward the limit range to complete the reset. It should be noted that the toothbrush may also use other methods to control the rotor reset, and is not limited to the above-mentioned method.

[0156] Optionally, when it is detected that the rotor's current position is not within the limit range, the rotor can be controlled to pause its reciprocating motion and reset toward the limit range. Once the rotor has successfully reset, i.e., its position after reset is within the limit range, the rotor can be controlled to continue its circumferential reciprocating motion. This can prevent damage to the oral cavity caused by the rotor's reciprocating motion even when a large external force is applied, thereby protecting the user's oral health.

[0157] In an embodiment of the present application, the toothbrush can determine the current position of the rotor in the motor through a position detection element. If the current position of the rotor is not within the limit range corresponding to the target motion range, the rotor is controlled to reset toward the limit range. When the position of the rotor exceeds the limit range, the rotor can be reset to ensure that the position of the rotor is within the limit range. This can avoid the situation where the toothbrush cannot work normally due to the motor exceeding the limit range, improve the stability and safety of the toothbrush, and ensure the normal operation of the toothbrush.

[0158] In an embodiment of the present application, the toothbrush can determine the swing parameters corresponding to the motor rotor based on oral health data and / or real-time brushing data, and can determine the swing parameters of the adapted rotor based on the actual conditions of the oral cavity (such as health level, sensitivity level, cleaning needs, etc.), which can effectively improve the cleaning effect of the toothbrush.

[0159] As shown in FIG. 10 , in one embodiment, a toothbrush control device 1000 is provided, which is applied to the above-mentioned toothbrush. The toothbrush control device 1000 may include: a data acquisition module 1010 , a range determination module 1020 , and a control module 1030 .

[0160] The data acquisition module 1010 is used to acquire oral health data and / or real-time tooth brushing data.

[0161] The range determination module 1020 is configured to determine a target motion range corresponding to the rotor of the motor based on oral health data and / or real-time tooth brushing data.

[0162] The control module 1030 is used to control the rotor of the motor to perform reciprocating motion in the circumferential direction within a target motion range, so as to drive the brush head to perform a tooth brushing operation.

[0163] In one embodiment, the oral health data includes one or more of gum health, caries information, plaque residue, and oral disease information.

[0164] In one embodiment, the range determination module 1020 is also used to determine the sensitivity level and / or the cleanliness level based on the oral health data; determine the target motion range corresponding to the rotor of the motor based on the sensitivity level and / or the cleanliness level; wherein the target motion range is negatively correlated with the sensitivity level, and the target motion range is positively correlated with the cleanliness level.

[0165] In one embodiment, the range determination module 1020 is also used to input oral health data into a pre-trained neural network, and analyze the oral health data through the neural network to determine the target motion range corresponding to the rotor of the motor; wherein the neural network is trained based on multiple sample data, and each sample data includes sample oral health data and the corresponding motor motion range.

[0166] In one embodiment, the real-time brushing data includes one or more of the real-time brushing position of the brush head, the real-time brushing pressure, the real-time brushing mode, and the real-time motion state of the toothbrush when the toothbrush is in working state.

[0167] In one embodiment, the range determination module 1020 is also used to determine the target motion range corresponding to the motor's rotor during the process of the brush head switching the oral area when it is detected that the brush head is switching the oral area based on real-time brushing data; during the process of the brush head switching the oral area, the target motion range corresponding to the motor's rotor is smaller than the target motion range corresponding to the motor's rotor when the brush head is in any oral area.

[0168] In one embodiment, the real-time brushing data includes the real-time brushing position of the brush head; the range determination module 1020 is also used to determine the target tooth surface where the brush head is currently located based on the real-time brushing position; and determine the target motion range corresponding to the target tooth surface.

[0169] In one embodiment, the target tooth surface is any one of the occlusal surface, the lateral surface and the medial surface. The occlusal surface refers to the surface of the teeth for biting, the lateral surface refers to the surface of the teeth close to the lips, and the medial surface refers to the surface of the teeth close to the tongue; the target motion range corresponding to the occlusal surface is less than or equal to the target motion range corresponding to the medial surface, and the target motion range corresponding to the medial surface is less than the target motion range corresponding to the lateral surface.

[0170] In one embodiment, the range determination module 1020 is also used to determine the target motion range corresponding to the non-tooth surface area if it is determined based on the real-time brushing position that the toothbrush is currently in the non-tooth surface area; the target motion range corresponding to the non-tooth surface area is less than or equal to the target motion range corresponding to the target tooth surface.

[0171] In one embodiment, the oral health data includes oral health data corresponding to multiple oral areas; the real-time brushing data includes the real-time brushing position of the brush head in the working state; the range determination module 1020 is also used to determine the target oral area where the toothbrush is currently located based on the real-time brushing position; and determine the target motion range corresponding to the rotor of the motor based on the oral health data corresponding to the target oral area.

[0172] In one embodiment, the range determination module 1020 is further configured to determine a target motion range corresponding to the rotor of the motor according to the oral health data.

[0173] The control module 1030 is further configured to control the rotor to perform reciprocating motion along the circumferential direction within a target motion range.

[0174] The range determination module 1020 is further configured to adjust the target motion range according to the real-time brushing data of the toothbrush.

[0175] The control module 1030 is further used to control the rotor to perform reciprocating motion in the circumferential direction within the adjusted target motion range, so as to drive the brush head to perform the tooth brushing operation.

[0176] In one embodiment, the toothbrush control device 1000 further includes a historical data acquisition module and a storage module.

[0177] The historical data acquisition module is used to obtain one or more historical experience data, the historical experience data including historical movement range, historical oral health data corresponding to the historical movement range and / or historical real-time brushing data, and experience satisfaction corresponding to the historical movement range.

[0178] The range determination module 1020 is further used to determine the initial motion range corresponding to the rotor of the motor based on oral health data and / or real-time brushing data; and to adjust the initial motion range based on one or more historical experience data to determine the target motion range.

[0179] The storage module is used to collect the experience satisfaction of the brushing process when the toothbrush completes a brushing process; and store the oral health data and / or real-time brushing data, target movement range and collected experience satisfaction in correspondence as new historical experience data.

[0180] In one embodiment, the control module 1030 is further configured to control the rotor to oscillate back and forth about a reference position as a zero axis based on the swing parameter according to the target motion range, and to control the rotor to rotate based on the rotation parameter to change the reference position.

[0181] In one embodiment, the toothbrush control device 1000 further includes a parameter determination module.

[0182] The parameter determination module is used to determine the swing parameters corresponding to the rotor of the motor based on oral health data and / or real-time brushing data.

[0183] In one embodiment, the real-time brushing data includes the real-time brushing position of the brush head in the working state; the parameter determination module is also used to determine the target tooth surface where the brush head is currently located according to the real-time brushing position, and determine the oscillation frequency corresponding to the target tooth surface; or, according to the real-time brushing position, determine the target tooth area where the brush head is currently located, and determine the oscillation frequency corresponding to the target tooth area.

[0184] In one embodiment, the target tooth surface is any one of the occlusal surface, the lateral surface and the medial surface, the occlusal surface refers to the surface of the teeth for biting, the lateral surface refers to the surface of the teeth close to the lips, and the medial surface refers to the surface of the teeth close to the tongue; the oscillation frequency corresponding to the occlusal surface is greater than the oscillation frequency corresponding to the lateral surface, and the oscillation frequency corresponding to the occlusal surface is greater than the oscillation frequency corresponding to the medial surface.

[0185] In one embodiment, the control module 1030 is also used to control the rotor to swing back and forth with the reference position as the reference zero axis based on the swing parameters corresponding to the occlusal surface when it is determined that the brush head is on the occlusal surface according to the real-time brushing position, and to keep the reference position unchanged.

[0186] In one embodiment, the toothbrush control device 1000 further includes a position limiting module, a position detection module and a reset module.

[0187] The limit module is used to determine the limit range corresponding to the target motion range; the limit range is greater than or equal to the target motion range.

[0188] The position detection module is used to determine the current position of the rotor through a position detection element.

[0189] The reset module is used to control the rotor to reset towards the limit range if the current position is not within the limit range.

[0190] In one embodiment, the toothbrush further includes a detection device, which includes one or more of a posture sensor, a camera device, a motion sensor, a pressure sensor, and a photoelectric sensor.

[0191] The data acquisition module 1010 is also used to acquire real-time toothbrushing data through a detection device when the toothbrush is in working state.

[0192] In an embodiment of the present application, the toothbrush obtains oral health data and / or real-time toothbrush data, determines the target motion range corresponding to the motor's rotor based on the oral health data and / or real-time brushing data, and controls the rotor to perform reciprocating motion in the circumferential direction within the target motion range to drive the brush head to perform brushing operations. The toothbrush can determine the target motion range of the rotor of the adapted motor based on the oral health data and / or real-time toothbrush data, and adaptively adjust the target motion range of the motor's rotor so that the determined target motion range is more in line with the actual situation of the user's oral cavity, thereby flexibly adjusting the maximum rotation angle of the brush head, which can effectively reduce the occurrence of teeth knocking, knocking, etc. during the use of the toothbrush, thereby ensuring the user's oral health and improving the user's usage experience.

[0193] FIG11 is a block diagram of a toothbrush according to one embodiment. As shown in FIG11 , toothbrush 1100 may include one or more of the following components: a processor 1110 and a memory 1120 coupled to processor 1110. Memory 1120 may store one or more computer programs, which, when executed by one or more processors 1110, may implement the methods described in the above embodiments.

[0194] The processor 1110 may include one or more processing cores. The processor 1110 utilizes various interfaces and circuits to connect the various components within the toothbrush 1100. It executes instructions, programs, code sets, or instruction sets stored in the memory 1120, as well as accesses data stored in the memory 1120, to perform various functions of the toothbrush 1100 and process data. Optionally, the processor 1110 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 1110 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem handles wireless communications. It is understood that the modem may not be integrated into the processor 1110 and may be implemented separately via a communication chip.

[0195] The memory 1120 may include a random access memory (RAM) or a read-only memory (ROM). The memory 1120 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 1120 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described above, and the like. The data storage area may also store data created by the toothbrush 1100 during use.

[0196] It can be understood that the toothbrush 1100 may include more or fewer structural elements than those in the above structural block diagram, for example, including a display device, a power module, physical buttons, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, a sensor, etc., and is not limited here.

[0197] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the methods described in the above embodiments.

[0198] An embodiment of the present application discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program can be executed by a processor to implement the methods described in the above embodiments.

[0199] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a non-volatile computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a ROM, or the like.

[0200] As used herein, any reference to memory, storage, database, or other medium may include nonvolatile and / or volatile memory. Suitable nonvolatile memory may include ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as external cache memory. By way of illustration and not limitation, RAM may be in various forms, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus DRAM (RDRAM), and direct RAMbus dynamic RAM (DRDRAM).

[0201] 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.

[0202] 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.

[0203] 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.

[0204] 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.

[0205] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0206] The above describes in detail the toothbrush control method, device, toothbrush, and computer-readable storage medium 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 intended only to facilitate understanding of the method and core concept of the present application. Furthermore, those skilled in the art will appreciate that variations in the specific implementation methods and scope of application may occur based on the concepts of the present application. In summary, the contents of this specification should not be construed as limiting the present application.

Claims

1. A control method for a toothbrush, wherein, The toothbrush includes a brush head and a handle, and a motor is provided in the handle. The motor includes a rotor. The method includes: Obtaining oral health data and / or real-time brushing data; Determining a target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data; Controlling the rotor to perform a reciprocating motion in the circumferential direction within the target motion range to drive the brush head to perform a brushing operation.

2. The method according to claim 1, wherein, The oral health data includes one or more of the degree of gum health, caries information, dental plaque residue amount, and oral disease information.

3. The method according to claim 2, wherein, Determining the target motion range corresponding to the rotor of the motor according to the oral health data includes: Determining a sensitivity level and / or a cleaning level according to the oral health data; Determining the target motion range corresponding to the rotor of the motor according to the sensitivity level and / or the cleaning level; wherein, the target motion range is negatively correlated with the sensitivity level, and the target motion range is positively correlated with the cleaning level.

4. The method according to claim 2, wherein Determining the target motion range corresponding to the rotor of the motor according to the oral health data includes: Inputting the oral health data into a pre-trained neural network, and analyzing the oral health data through the neural network to determine the target motion range corresponding to the rotor of the motor; wherein, the neural network is trained according to a plurality of sample data, and each sample data includes sample oral health data and the corresponding motor motion range.

5. The method according to claim 1, wherein, The real-time brushing data includes one or more of the real-time brushing position, real-time brushing pressure, real-time brushing mode, and real-time motion state of the brush head when the toothbrush is in a working state.

6. The method according to claim 5, wherein, Determining the target motion range corresponding to the rotor of the motor according to the real-time brushing data includes: When it is detected according to the real-time brushing data that the brush head performs an oral area switch, determining the target motion range corresponding to the rotor of the motor during the process of the brush head performing the oral area switch; During the process of the brush head performing the oral area switch, the target motion range corresponding to the rotor of the motor is smaller than the target motion range corresponding to the rotor of the motor when the brush head is in any oral area.

7. The method according to claim 5, wherein, The real-time brushing data includes the real-time brushing position of the brush head; Determining the target motion range corresponding to the rotor of the motor according to the real-time brushing data includes: Determining the target tooth surface where the brush head is currently located according to the real-time brushing position; Determining the target motion range corresponding to the target tooth surface.

8. The method according to claim 7, wherein, The target tooth surface is any one of the occlusal surface, the outer side surface, and the inner side surface. The occlusal surface refers to the surface where the teeth bite. The outer side surface refers to the surface of the teeth close to the lips. The inner side surface refers to the surface of the teeth close to the tongue; the target motion range corresponding to the occlusal surface is less than or equal to the target motion range corresponding to the inner side surface, and the target motion range corresponding to the inner side surface is less than the target motion range corresponding to the outer side surface.

9. The method according to claim 7, wherein, Determining the target motion range corresponding to the rotor of the motor according to the real-time brushing data further includes: If it is determined that the toothbrush is currently in a non-tooth surface area according to the real-time brushing position, determine a target movement range corresponding to the non-tooth surface area; the target movement range corresponding to the non-tooth surface area is less than or equal to the target movement range corresponding to the target tooth surface.

10. The method according to claim 5, wherein, The oral health data includes oral health data corresponding to multiple oral areas respectively; the real-time brushing data includes the real-time brushing position where the brush head is located in the working state. Determining a target movement range corresponding to the rotor of the motor according to the oral health data and the real-time brushing data includes: Determine the target oral area where the toothbrush is currently located according to the real-time brushing position. Determine a target movement range corresponding to the rotor of the motor according to the oral health data corresponding to the target oral area.

11. The method according to claim 1, wherein, The method further includes: Determine a target movement range corresponding to the rotor of the motor according to the oral health data. Control the rotor to perform a reciprocating movement in the circumferential direction within the target movement range. Adjust the target movement range according to the real-time brushing data of the toothbrush, and control the rotor to perform a reciprocating movement in the circumferential direction within the adjusted target movement range to drive the brush head to perform a brushing operation.

12. The method according to any one of claims 1 to 11, wherein, Before determining the target movement range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data, the method further includes: Obtain one or more historical experience data, where the historical experience data includes a historical movement range, the historical oral health data and / or historical real-time brushing data corresponding to the historical movement range, and the experience satisfaction corresponding to the historical movement range. Determining the target movement range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data includes: Determine an initial movement range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data. Adjust the initial movement range according to the one or more historical experience data to determine the target movement range.

13. The method according to claim 12, wherein, After controlling the rotor of the motor to perform a reciprocating movement in the circumferential direction within the target movement range, the method further includes: When the toothbrush completes a brushing process, collect the experience satisfaction for the brushing process. Correspondingly store the oral health data and / or the real-time brushing data, the target movement range, and the collected experience satisfaction as new historical experience data.

14. The method according to any one of claims 1 to 11, wherein, Controlling the rotor of the motor to perform a reciprocating movement in the circumferential direction within the target movement range includes: According to the target movement range, control the rotor to perform a reciprocating swing with the reference position as the reference zero axis based on the swing parameter, and control the rotor to rotate based on the rotation parameter to change the reference position.

15. The method according to claim 14, wherein, Before controlling the rotor to perform a reciprocating swing with the reference position as the reference zero axis based on the swing parameter according to the target movement range, and controlling the rotor to rotate based on the rotation parameter to change the reference position, the method further includes: Determine the swing parameter corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data.

16. The method according to claim 15, wherein, The real-time brushing data includes the real-time brushing position of the brush head in the working state; the swing parameter includes the swing frequency; determining the swing parameter corresponding to the rotor of the motor according to the real-time brushing data includes: Determining the target tooth surface where the brush head is currently located according to the real-time brushing position, and determining the swing frequency corresponding to the target tooth surface; or, Determining the target tooth area where the brush head is currently located according to the real-time brushing position, and determining the swing frequency corresponding to the target tooth area.

17. The method according to claim 16, wherein The target tooth surface is any one of the occlusal surface, the outer side surface and the inner side surface. The occlusal surface refers to the surface where the teeth bite. The outer side surface refers to the surface of the teeth close to the lips. The inner side surface refers to the surface of the teeth close to the tongue; the swing frequency corresponding to the occlusal surface is greater than the swing frequency corresponding to the outer side surface, and the swing frequency corresponding to the occlusal surface is greater than the swing frequency corresponding to the inner side surface.

18. The method according to claim 16, wherein The method further includes: When it is determined that the brush head is in the occlusal surface according to the real-time brushing position, controlling the rotor to reciprocate with the reference position as the reference zero axis based on the swing parameter corresponding to the occlusal surface, and keeping the reference position unchanged.

19. The method according to any one of claims 1 to 11, wherein, The motor further includes a position detection element. After controlling the rotor of the motor to reciprocate circumferentially within the target motion range, the method further includes: Determining the limit range corresponding to the target motion range; the limit range is greater than or equal to the target motion range; Determining the current position of the rotor through the position detection element; If the current position is not within the limit range, controlling the rotor to reset towards the limit range.

20. The method according to any one of claims 1 to 11, wherein The toothbrush further includes a detection device, and the detection device includes one or more of an attitude sensor, a camera device, a motion sensor, a pressure sensor, and a photoelectric sensor; Obtaining real-time brushing data includes: When the toothbrush is in the working state, obtaining real-time brushing data through the detection device.

21. A control device for a toothbrush, wherein, The toothbrush includes a brush head and a handle. A motor is arranged in the handle, and the motor includes a rotor. The device includes: A data acquisition module for acquiring oral health data and / or real-time brushing data; A range determination module for determining the target motion range corresponding to the rotor of the motor according to the oral health data and / or the real-time brushing data; A control module for controlling the rotor of the motor to reciprocate circumferentially within the target motion range to drive the brush head to perform a brushing operation.

22. A toothbrush, wherein, Including a memory and a processor. A computer program is stored in the memory. When the computer program is executed by the processor, the processor implements the method according to any one of claims 1 to 20.

23. A computer-readable storage medium having a computer program stored thereon, wherein, When the computer program is executed by the processor, it implements the method according to any one of claims 1 to 20.

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