Motor control method for oral care device and related apparatus thereof

Abstract

A motor control method for an oral care device and a related apparatus thereof. The oral care device comprises a motor (120). The motor (120) comprises a mover (301). The motor control method comprises: acquiring a driving signal, controlling, on the basis of the driving signal, the reciprocating vibration of the mover (301) relative to a reference axis, and controlling the position of the reference axis to change, so as to increase the coverage range of the vibration, wherein the vibration includes linear vibration or rotary vibration, and the driving signal is a predetermined signal. The coverage range of the vibration of the mover (301) is significantly improved. As a result, the oral cleaning effect is improved.

Description

Motor control method of oral care device and related apparatus thereof

[0001] Related applications

[0002] This application claims priority to Chinese Patent Application No. 202410862901.5, entitled "Motor control method of oral care device and related apparatus thereof", filed on June 28, 2024, Chinese Patent Application No. 202410862859.7, entitled "Motor control method of oral care device and related apparatus thereof", filed on June 28, 2024, and Chinese Patent Application No. 202510729582.5, entitled "Motor control method of oral care device and related apparatus thereof", filed on May 30, 2025, the contents of which are hereby incorporated by reference in their entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of oral cleaning, and in particular, to a motor control method of an oral care device and related apparatus thereof. BACKGROUND

[0004] Electric toothbrushes have become a common tool for improving tooth cleaning efficiency and overall oral health. However, electric toothbrushes usually drive a vibrator to produce vibrations through a sonic motor to achieve cleaning of teeth and oral cavity. However, the vibration amplitude of the electric toothbrush in the related art is small, and the vibration coverage of the electric toothbrush is small, so the user needs to frequently move the toothbrush position to cover the entire tooth surface, which is prone to the problem of missed brushing, thereby reducing the overall cleaning effect. SUMMARY

[0005] Embodiments of the present application provide a motor control method of an oral care device and related apparatus thereof, which significantly increases the vibration coverage of the vibrator by controlling the position change of the vibrator vibration reference axis, thereby improving the oral cleaning effect. The above technical solution is as follows:

[0006] In a first aspect, embodiments of the present application provide a motor control method of an oral care device, the oral care device comprising a motor, the motor comprising a vibrator, the method comprising: obtaining a driving signal; controlling the vibrator to reciprocate relative to a reference axis based on the driving signal, and controlling the position of the reference axis to change, so as to increase the coverage of the vibration; the vibration comprising linear vibration or rotational vibration; wherein the driving signal is a pre-set signal.

[0007] In a second aspect, embodiments of the present application provide an oral care device, the oral care device comprising a motor, the oral care device controlling the motor to move by using the motor control method of the first aspect or any one of the possible motor control methods of the first aspect.

[0008] In a third aspect, an embodiment of the present application provides a motor control device of an oral care device, the oral care device comprising a motor, the motor comprising a mover, the device comprising: an obtaining module configured to obtain a driving signal; a control module configured to control the mover to reciprocate relative to a reference axis based on the driving signal, and control a position of the reference axis to change so as to increase a coverage range of the vibration; the vibration comprising linear vibration or rotational vibration; wherein the driving signal is a pre-set signal.

[0009] In a fourth aspect, an embodiment of the present application provides an oral care device, comprising: a processor and a memory; the processor is connected to the memory; the memory is configured to store executable program codes; the processor runs a program corresponding to the executable program codes by reading the executable program codes stored in the memory, so as to execute the method provided in the first aspect or any possible implementation manner of the first aspect.

[0010] In a fifth aspect, an embodiment of the present application provides a computer storage medium, the computer storage medium storing a plurality of instructions, the instructions being adapted to be loaded by a processor and executed to perform the method provided in the first aspect or any possible implementation manner of the first aspect.

[0011] In the embodiment of the present application, the pre-set driving signal is obtained; the mover is controlled to reciprocate relative to the reference axis based on the driving signal, and the position of the reference axis is controlled to change so as to increase the coverage range of the vibration; in this way, the mover can reciprocate relative to the reference axis with a small swing, reducing the stimulation to the tooth-sensitive user, and the position of the reference axis can be controlled to change, so that the coverage range of the vibration of the mover is significantly increased, more tooth surface areas are covered, the frequency of manual movement of the toothbrush by the user is reduced, each time of tooth brushing can more comprehensively cover the oral cavity area, and efficient cleaning effect is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0013] FIG. 1 is a structural schematic diagram of an oral care device according to an example embodiment of the present application;

[0014] FIG. 2 is a flowchart of a motor control method of an oral care device according to an example embodiment of the present application;

[0015] Fig. 3 is a schematic diagram of different vibration modes of a motor rotor according to an example embodiment of the present application;

[0016] Fig. 4 is a schematic diagram of a reference axis position during different vibration processes according to an example embodiment of the present application;

[0017] Fig. 5 is a schematic diagram of a motor rotor vibration range and a sweep vibration range according to an example embodiment of the present application;

[0018] Fig. 6 is a waveform diagram of a driving signal according to an example embodiment of the present application;

[0019] Fig. 7 is a schematic diagram of pulses of each vibration signal in a driving signal according to an example embodiment of the present application;

[0020] Fig. 8 is a waveform diagram of another driving signal according to an example embodiment of the present application;

[0021] Fig. 9 is a schematic diagram of a waveform of a driving signal after filtering and sampling according to an example embodiment of the present application;

[0022] Fig. 10 is a schematic diagram of a reference axis position during different vibration processes according to an example embodiment of the present application;

[0023] Fig. 11 is a waveform diagram of another driving signal according to an example embodiment of the present application;

[0024] Fig. 12 is a schematic diagram of a motor rotor during different vibration processes according to an example embodiment of the present application;

[0025] Fig. 13 is a schematic diagram of a reference axis position during different vibration processes according to an example embodiment of the present application;

[0026] Fig. 14 is a schematic diagram of a reference axis position during different vibration processes according to an example embodiment of the present application;

[0027] Fig. 15 is a schematic diagram of a system in which an oral care device is communicatively connected to a terminal according to an example embodiment of the present application;

[0028] Fig. 16 is a schematic diagram of a motor control device of an oral care device according to an example embodiment of the present application;

[0029] Fig. 17 is a schematic diagram of an oral care device according to an example embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings.

[0031] The terms "first", "second", "third", etc. in the specification and claims of the present application and in the above drawings are set forth to distinguish different objects, rather than to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0032] Next, please refer to FIG. 1, which exemplarily shows a structural schematic diagram of an oral care device provided by an embodiment of the present application. As shown in FIG. 1, the oral care device includes a care member 110, a motor 120 and a control unit 130. The oral care device can be a device capable of oral cleaning, including but not limited to an electric toothbrush, etc. For ease of illustration, the following embodiments take an electric toothbrush as an example for illustration. Among them:

[0033] The care member 110 can be a toothbrush head, which is provided with bristles for direct contact with teeth and oral cavity, and can remove plaque and food residues. The design of the bristles usually takes into account the shape and arrangement of the teeth in order to better clean each face of the teeth. The care member 110 can be oscillated with a certain swing amplitude by the vibration of the motor 120, so as to decompose the toothpaste on the care member 110 into fine foam to achieve deep cleaning of the tooth gaps.

[0034] The motor 120 is arranged to vibrate according to the driving signal input by the control unit 130, to synchronously drive the care member 110 to oscillate with a certain swing amplitude, so as to clean the teeth and oral cavity. The motor 120 can be a sonic motor, which can generate vibration according to a preset driving signal to achieve open-loop control.

[0035] The control unit 130 can be a microcontroller unit (MCU), also known as a single-chip microcomputer or a single-chip microprocessor. It is a chip-level computer that integrates a central processing unit (CPU) with a frequency and specification, memory, counters, USB, A / D conversion, UART, PLC, DMA and other peripheral interfaces, even LCD drive circuit on a single chip, to form a chip-level computer for different application scenarios to make different combinations of control.

[0036] Specifically, the control unit 130 is connected with the motor 120, and the control unit 130 can send a driving signal (such as a PWM wave) to the motor 120 to control the H-bridge circuit to output a current, so as to drive the moving element of the acoustic motor 120 to reciprocate relative to the reference axis according to the driving signal, and change the position of the reference axis to increase the coverage of the vibration.

[0037] Optionally, the oral care device shown in FIG. 1 can also be, but is not limited to, provided with an indicator light, one or more keys, a speaker, a display screen, etc.

[0038] Next, in combination with FIG. 1, an electric motor control method of an oral care device provided by an example embodiment of the present application is introduced. Specifically, refer to FIG. 2, which exemplarily shows a flowchart of the electric motor control method of the oral care device provided by the embodiment of the present application. As shown in FIG. 2, the method includes the following steps:

[0039] S201, obtaining a driving signal.

[0040] S202, controlling the moving element to reciprocate relative to the reference axis based on the driving signal, and controlling the position of the reference axis to change to increase the coverage of the vibration.

[0041] Specifically, the driving signal is a pre-set signal, which is a signal used to control the motor and can include parameters such as frequency and duty cycle. The motor of the oral care device is controlled by open loop, and the moving element generates vibration through the pre-set signal. In the embodiment, the driving signal is not the only signal, and can be adjusted or set according to the gear, mode or other ways, so that the oral care device can be applied to more application scenarios.

[0042] Optionally, the implementation process of S202, controlling the moving element to reciprocate relative to the reference axis based on the driving signal, and controlling the position of the reference axis to change to increase the coverage of the vibration, can include but is not limited to: controlling the moving element to move in a first direction based on a high level of the vibration signal, and controlling the moving element to move in a direction opposite to the first direction based on a low level and / or a reverse high level of the vibration signal, to reciprocate relative to the reference axis; the vibration includes linear vibration or rotational vibration; controlling the moving element to vibrate based on the sweeping signal, and changing the position of the reference axis to form sweeping to increase the coverage of the vibration.

[0043] The driving signal includes a plurality of sweeping signals, each sweeping signal includes a plurality of vibration signals, the vibration signal is a basic signal for driving the mover to vibrate, and the mover is controlled to vibrate once by controlling the vibration signal. The sweeping signal is composed of a plurality of vibration signals, which is used to control the overall motion mode of the mover, and the position of the reference axis is changed by combining different vibration signals to achieve the sweeping effect. Based on the sweeping signal control, the motor not only performs periodic vibration with small amplitude, but also performs sweeping vibration with large range as the position of the reference axis changes.

[0044] In the embodiment, the driving signal can control the mover to reciprocate relative to the reference axis, which can include linear vibration or rotary vibration. Linear vibration refers to the vibration form of the mover reciprocating in a straight line, which usually reciprocates up and down or left and right in a fixed path, and does not involve rotation or curve motion. The frequency (number of reciprocating movements per second) and amplitude (distance moved by the mover) of the vibration can be controlled by the driving signal. Rotary vibration refers to the reciprocating motion of the mover rotating left and right around the axis, which involves angle change, and the mover rotates back and forth within a certain range, and the frequency (number of reciprocating rotations per second) and rotation angle (angle range of the mover rotation) of the vibration can be controlled by the driving signal. In the embodiment of the application, the reciprocating vibration of the mover can drive the corresponding care piece (such as a brush head) to vibrate left and right, thereby achieving cleaning of the oral cavity. For example, as shown in FIG. 3, (a) of FIG. 3 shows linear vibration, and the mover 301 (such as a motor shaft) can drive the care piece (such as a brush head) to vibrate through linear extension and contraction vibration. (b) and (c) of FIG. 3 show rotary vibration, and the mover 301 drives the care piece to vibrate through rotary vibration; wherein (c) of FIG. 3 is a top view of (b), and 302 of FIG. 3 is a connecting line from the rotation axis of the mover 301 to a selected fixed edge, so as to show and illustrate the position or rotation direction of the mover in subsequent embodiment figures. In the embodiment of the application, rotary vibration will be mainly used as an example for illustration, and the specific implementation process of linear vibration can be the same as or similar to that of rotary vibration, which will not be described here.

[0045] The reference axis position can be the vibration center position of the one-time reciprocating vibration of the mover. For example, as shown in FIG. 4, the mover 401 is controlled to rotate in one direction by the driving signal, and then reverses in the opposite direction, thus completing one-time reciprocating vibration, wherein the reference axis of the reciprocating vibration of the mover 401 can be defined as the vibration center 402 of the mover, and the vibration amplitude of the mover can be defined as the angle of the overlapping area (the gray part in FIG. 4) of the forward rotation and reverse rotation of the mover, and the center position is the vibration center 402 of the mover. As shown in (a) of FIG. 4, when the forward rotation angle a and the reverse rotation angle b of the mover 401 in one-time reciprocating vibration are consistent, the mover 401 rotates from the starting position to a certain angle (a), and then reverses to the starting position, and the vibration center 402 of this vibration is the center position of the forward rotation or reverse rotation of the mover. As shown in (b) of FIG. 4, when the forward rotation angle a and the reverse rotation angle b of the mover 401 in one-time reciprocating vibration are inconsistent, the mover 401 rotates from the starting position to a certain angle (a), and may not reverse to the position (a > b), and does not reverse to the starting position, and the vibration center 402 of this vibration is the center position of the reverse rotation of the mover. As shown in (c) of FIG. 4, when the forward rotation angle a and the reverse rotation angle b of the mover 401 in one-time reciprocating vibration are inconsistent, the mover 401 rotates from the starting position to a certain angle (a), and may reverse excessively (a < b), and does not reverse to the starting position, and the vibration center 402 of this vibration is the center position of the forward rotation of the mover. It should be noted that the above examples are only for the convenience of describing the vibration behavior of the motor, and are not limiting, and those skilled in the art can use other description methods to describe the vibration behavior of the motor or define the reference axis based on the contents of the present embodiment.

[0046] The present embodiment can control the reference axis position of the vibration of the mover of the motor to change based on the sweeping signal, so that the mover is offset in any direction (left or right) to form a sweeping vibration. For example, the sweeping signal includes a plurality of vibration signals, and the mover of the motor can reciprocate based on the vibration signals, and while the mover maintains reciprocating vibration, the reference axis position of the vibration is changed by the combination of the vibration signals, so that the mover changes the vibration direction, such as initially vibrating in the range of 5-8° from the reference axis, and changing to vibrate in the range of 7-10° from the reference axis, and with the change of the reference axis position, a large-angle and large-range (such as -30-30°) sweeping vibration is realized. As shown in FIG. 5, 501 is the vibration range of the mover, and 502 is the sweeping vibration range of the mover. The mover can continuously vibrate with a small amplitude in the sweeping vibration range, which can reduce the stimulation to sensitive users, and at the same time, the sweeping vibration can significantly increase the coverage range of the vibration of the mover, cover more tooth surface area, reduce the frequency of manual movement of the toothbrush by the user, so that each time of brushing can more comprehensively cover the oral cavity area, and ensure efficient cleaning effect.

[0047] In some embodiments, one vibration signal can control the mover to perform one cycle of vibration, each cycle of vibration including one rotation of the mover away from the reference axis and one rotation of the mover toward the reference axis; one sweep signal can control the mover to perform one cycle of sweep, each cycle of sweep can include one complete rotation of the reference axis, such as the reference axis rotating from a certain starting position to a certain ending position, or the reference axis rotating from a certain starting position to a certain direction and then returning to the starting position. For example, as shown in FIG. 6, a driving signal segment includes a T1 cycle of sweep signal, and the sweep signal includes multiple T2 cycles of vibration signal.

[0048] As shown in FIG. 6, for example, the sweep signal includes multiple vibration signals, each vibration signal includes a high level (positive level p1-p10 or negative level n1-n10) and a low level (reference level), the high level can control the H-bridge circuit to output positive current or negative current, control the mover to move in the first direction, and in the embodiment, the first direction is any one of the left direction or the right direction. For example, the positive level in the sweep signal controls the H-bridge circuit to output positive current, so that the motor mover rotates in the left direction; the negative level in the sweep signal controls the H-bridge circuit to output negative current, so that the motor mover rotates in the right direction. Under the reference level in the sweep signal, the H-bridge circuit does not output current, and the motor mover does not move or rotates toward the position of the reference axis under the action of the reset mechanism. The reference axis is a fixed reference axis of the mover movement, which can be defined as the position of the mover at rest under the action of the reset mechanism, that is, the initial position of the mover when the mover does not receive the vibration signal; the reset mechanism can drive the mover of the motor to reset to the reference axis, and the reference axis is a fixed reference axis of the mover movement, which can be selected as the central axis or other fixed position of the movable range of the mover, and the relative position of the mover or the relative position of the reference axis can be determined according to the reference axis.

[0049] Specifically, for the driving signal, the waveform of the general PWM wave is usually a square wave, and in a square wave control cycle, there are two sections of reverse electromotive force in the process of slot torque swing motor reset, at this time the reverse square wave control signal will consume part of the power to offset the reverse electromotive force, which will cause the control to need to provide more current than the ideal current to achieve the expected control effect, and the harmonic components generated by the square wave driving signal when resisting the reverse electromotive force caused by inertia will also increase the loss of the motor, affecting the normal operation and efficiency of the equipment. Based on this, in the embodiment of the application, the pulse width of the vibration signal in the driving signal is controlled to cyclically change according to the rule of first increasing and then decreasing, so that the motor adaptively obtains the required output waveform at each moment as the pulse width of the vibration signal changes.

[0050] Further, in order to more accurately control the pulse width of the vibration signal according to actual use requirements, the pulse width of the vibration signal can be specifically cycled according to the law of a sinusoidal waveform. As the name implies, the waveform curve of a sinusoidal wave is a mathematical sine curve. Since the frequency component of the sinusoidal wave is single, the harmonic content is low and the waveform quality is good, which helps to reduce harmonic loss in the motor and other equipment. The vibration signal with a pulse width that changes according to the sinusoidal law can make the motor obtain a more smooth and accurate output waveform, so that the control effect on the motor can be more accurate. In this way, when the mover in the motor is controlled to vibrate through the vibration signal, the scanning vibration of the mover will also be softer.

[0051] In a feasible implementation, the pulse width of the vibration signal can be modulated based on a reference sinusoidal wave signal and a triangular wave signal to make the pulse width of multiple vibration signals in the same period cyclically change according to the law of a sinusoidal waveform, that is, the driving signal is output by the SPWM (Sinusoidal Pulse Width Modulation) method in the embodiment.

[0052] Specifically, when the driving signal is output by the SPWM pulse width modulation method, a reference sinusoidal wave signal and a triangular wave signal are first generated. The reference sinusoidal wave signal serves as a modulation wave and the triangular wave signal serves as a carrier wave. Through the joint action of the reference sinusoidal wave and the triangular wave, a series of vibration signals can be modulated and generated. The pulse widths (i.e., duty cycles) of these vibration signals are equal in amplitude but different in width. As shown in FIG. 7, for example, the pulse width of the X1 vibration signal at the first dashed line from left to right is 22.2 milliseconds (ms), and the pulse width of the X2 vibration signal at the right dashed line of the X1 vibration signal is 28.1 milliseconds (ms). It can be seen that the pulse widths of the multiple vibration signals in a period are different and tend to change according to the sinusoidal law. It should be noted that due to the objective existence of capacitance and inductance, the driving waveform generated in the actual scene may not completely conform to the ideal waveform in theory, but may have an actual waveform with a square wave shape as shown in FIG. 7.

[0053] Further, in the process of modulating the pulse width of the vibration signal based on the reference sine wave signal and the triangle wave signal, the reference sine wave signal and the triangle wave signal are mainly compared to obtain a comparison result, and the pulse width of the vibration signal is modulated according to the comparison result. Specifically, when the instantaneous value of the sine wave is greater than that of the triangle wave, a high level is output; otherwise, a low level is output. The width of the output pulse changes with the amplitude of the modulation signal, forming a positive-negative alternating pulse sequence. After appropriate filtering, the generated pulse sequence can obtain an approximate sine wave output. Moreover, the width of each pulse can be fine-tuned by adjusting the phase difference between the reference sine wave and the triangle wave, so as to realize accurate adjustment of the motor speed and torque, and improve the control efficiency of the motor in the oral care device.

[0054] In some embodiments, the triangle wave signal has a bipolarity, and the comparing the reference sine wave signal with the triangle wave signal to obtain a comparison result comprises: comparing the reference sine wave signal with a positive triangle wave signal in the triangle wave signal to obtain a positive half-cycle signal of the vibration signal; and comparing the reference sine wave signal with a negative triangle wave signal in the triangle wave signal to obtain a negative half-cycle signal of the vibration signal.

[0055] Specifically, the triangle wave signal generated in the embodiments of the present application is a bipolar triangle wave. The bipolar triangle wave can change symmetrically between positive voltage and negative voltage, that is, the signal has the same amplitude and frequency in the positive half-cycle and the negative half-cycle, but the polarities are opposite. At this time, the output voltage signal can be controlled in the positive half-cycle (when the voltage is positive) and the negative half-cycle (when the voltage is negative), that is, the reference sine wave signal and the positive triangle wave signal in the triangle wave signal are compared to obtain a positive half-cycle signal of the vibration signal; the reference sine wave signal and the negative triangle wave signal in the triangle wave signal are compared to obtain a negative half-cycle signal of the vibration signal. In the bipolar SPWM control, the driving signals of the positive half-cycle and the negative half-cycle can also be adjusted respectively, so as to realize more accurate motor control.

[0056] In some embodiments, the method further comprises: uniformly dividing a voltage space plane into at least two fan-shaped regions, two adjacent basic voltage vectors and a zero vector existing in each fan-shaped region, each basic voltage vector and the zero vector being used to jointly synthesize a voltage vector; and controlling the action time of each basic voltage vector and the zero vector, so that the waveform of the driving signal is a sine waveform.

[0057] Specifically, in addition to outputting the driving signal through the SPWM technology, the driving signal can also be modulated through the SVPWM (Space Vector Pulse Width Modulation). The voltage space plane is evenly divided into multiple sector regions, and there are two adjacent basic voltage vectors and zero vectors in each sector region. The combination of these vectors is used to approximate the required output voltage vector. Through the combination of space vectors, SVPWM can directly generate the required voltage vector, and has the effects of high bus voltage utilization and low output harmonic content.

[0058] In the embodiments of the present application, the single-phase SVPWM technology is specifically used to control the driving signal. The single-phase SVPWM is usually divided into two or four sectors to simplify the control logic. If two sectors are divided, the space plane is divided into positive and negative half cycles, which correspond to positive and negative pulses, respectively. If four sectors are divided, the positive and negative half cycles can be further subdivided to further improve the control accuracy. As shown in FIG. 8, in the specific control process, the action time of the basic voltage vector and the zero vector is controlled to synthesize driving signals with different pulse widths. Further filtering and sampling of the driving signal can obtain the sine waveform as shown in FIG. 9.

[0059] In a feasible implementation, when the driving signal is output using the vector pulse width control method of SVPWM, the audio signal originally required can be converted into a voltage for controlling the motor to output an audio stream, that is, a track driving signal. The motor is driven to produce sound through vibration by this voltage. This sound production process no longer needs to pass through the specific audio decoding hardware in the oral care device, but can directly use the vibration sound of the motor as the working sound of the oral care device. Further, if the track driving signal is further accurately controlled in frequency and amplitude, specific sound or vibration effects can be simulated or generated.

[0060] In some embodiments, considering that the acoustic motor switching frequency is lower than 10KHZ, there will be greater electromagnetic noise, and when the switching frequency is greater than 22.05KHZ, some signal points will not be processed in time and discarded, therefore the execution frequency of the audio track driving signal can be controlled in the range of greater than or equal to 10KHZ and less than or equal to 22.05KHZ, for example, it can be 10KHZ, 12.5KHZ, 13KHZ, 22KHZ, etc., so that the audio track driving signal can smoothly and continuously drive the motor vibration sound without generating greater electromagnetic noise. In another feasible implementation, the audio track driving signal can be obtained by sampling the audio track signal input to the motor, and the sampling rate during sampling can determine the execution frequency of the audio track driving signal. Therefore, the sampling rate can also be selected in the range of greater than or equal to 10KHZ and less than or equal to 22.05KHZ, for example, the sampling rate can be 10KHZ, 12.5KHZ, 13KHZ, 22KHZ, etc., so as to control the execution frequency of the audio track driving signal in the range of 10KHZ-22.05KHZ.

[0061] In some embodiments, the motor includes a reset mechanism, under the high level of the vibration signal, the mover moves away from the reference axis direction; under the low level and / or reverse high level of the vibration signal, the reset mechanism drives the mover to move towards the reference axis direction.

[0062] Specifically, the first direction is the direction away from the reference axis, and the first direction opposite direction is the direction towards the reference axis, under the high level of the vibration signal, the mover moves away from the reference axis position. Under the reverse high level of the vibration signal, the mover moves towards the reference axis; if the motor is provided with a reset mechanism, under the low level or reverse high level of the vibration signal, the mover moves towards the reference axis under the driving of the reset mechanism, thereby forming a reciprocating vibration relative to the reference axis.

[0063] In some embodiments, the mover is controlled to vibrate based on the sweeping signal, and the position of the reference axis is changed to form sweeping, including: in the sweeping signal, based on the high level, the mover is controlled to rotate in the first direction, then based on the low level and / or reverse high level, the mover is controlled to reverse relative to the first direction, and when the reverse is not in place, the mover is controlled to rotate in the first direction again based on the high level, so as to change the rotation angle of the reference axis.

[0064] Specifically, the positive high level of the vibration signal controls the H-bridge circuit to output positive current, controls the motor rotor to rotate in the first direction, and then the reverse high level controls the H-bridge circuit to output reverse current, controls the motor rotor to rotate in the opposite direction of the first direction. In the case that the rotor does not reverse to the starting position, the positive high level of the next vibration signal controls the H-bridge circuit to output positive current, controls the motor rotor to rotate in the first direction again, so that the angle of positive rotation and the angle of reverse rotation of the rotor are different, thereby changing the position of the vibration reference axis of the rotor. In the rotary vibration, the position of the reference axis can be represented by the angle between the reference axis and the reference axis.

[0065] Further, the first direction is the direction away from the reference axis, and the opposite direction of the first direction is the direction towards the reference axis. If the motor is provided with a reset mechanism, the rotor can be pulled back in the opposite direction of the first direction by the reset mechanism under the low level or reverse high level of the vibration signal. And when the rotor does not reverse to the position, the positive high level of the next vibration signal controls the H-bridge circuit to output positive current, controls the motor rotor to rotate in the first direction again. As shown in FIG. 10, in some embodiments, when the reset mechanism controls the rotor to reverse towards the reference axis, the reverse level (the polarity opposite to the high level of the positive rotation away from the reference axis, such as p1n, n1p in FIG. 10) can be used to control the H-bridge circuit to output reverse current, so that the motor rotor reverses towards the reference axis, so that the motor rotor reverses towards the reference axis under the double action of the electric drive and the reset mechanism, improves the reset strength, and increases the cleaning effect.

[0066] In some embodiments, the rotor reciprocates relative to the reference axis and controls the position of the reference axis to change, including: the rotor rotates in the first direction, and rotates in the first direction again when the reverse movement relative to the first direction does not reach the position, so as to change the position of the reference axis.

[0067] Specifically, the rotor in the embodiment can be controlled to move in the first direction, and then the rotor is controlled to move reversely relative to the first direction. The first direction can be any direction to the left or to the right, and the rotor moves in the first direction again when the reverse movement does not reach the starting position, so that the distance or angle of the positive movement and the distance or angle of the reverse movement of the rotor are different, thereby changing the position of the vibration reference axis of the rotor. In the rotary vibration, the position of the reference axis can be represented by the angle between the reference axis and the reference axis. The reference axis is a fixed reference axis of the rotor movement, which can be selected as the central axis or other fixed position in the movable range of the rotor. According to the reference axis, the relative position of the rotor or the relative position of the reference axis can be determined.

[0068] For example, as shown in FIG. 11, the motor rotor rotates a certain angle to the left from the starting position S0 to reach the position S1, starts to reverse to the right, and reverses to the starting position S0, at which time the reference axis of the rotor is located at the position Sx. If the rotor keeps rotating and reversing with the same amplitude, the rotor will vibrate back and forth between the positions S1 and S0, and the reference axis of the rotor remains unchanged at the position Sx. If the rotor does not reverse to the starting position S0 but rotates a certain angle to the left at the halfway position S2 to reach the position S3, at this time the rotation angle of the reference axis is deflected to the left, and when the rotor vibrates back and forth between the positions S2 and S3, the reference axis of the rotor is located at the position Sy, and the vibration region of the rotor also changes. Under the control of the driving signal, the rotor can regularly change the rotation angle of the reference axis in the above manner, so that it can sweep in a large range, thereby realizing that the rotor can vibrate with a small amplitude while sweeping in a larger range. It should be noted that the first direction can be to the left or to the right, and the rotor does not move to the position, but to a non-starting position, including two cases that the reverse movement does not pass through the starting position and the reverse movement passes through the original position.

[0069] In some embodiments, the reset mechanism is an elastic member reset mechanism; the greater the rotation angle of the reference axis relative to the reference axis, the longer the duration of the high level in the vibration signal when controlling the rotor to move the same angle; and / or, the greater the rotation angle of the reference axis relative to the reference axis, the shorter the duration of the reverse high level in the vibration signal when controlling the rotor to move the same angle; when the rotation angle of the reference axis relative to the reference axis is greater than a first preset angle, the duration of the reverse high level in the vibration signal is 0.

[0070] In this embodiment, the reset mechanism using the elastic member reset mode uses an elastic element (such as a spring) to provide a reset force. When the motor is working, the high level of the vibration signal makes the rotor rotate away from the reference axis, and when the vibration signal is at the reference level, the elastic element (such as a coil spring or a torsion spring) releases the stored elastic energy to generate a reset force to pull the rotor back towards the reference axis. Due to the characteristics of the elastic element, the greater the angle of the rotor deviating from the reference axis, the more elastic energy the elastic element needs to store, and the stronger the reset force. The smaller the angle of the rotor deviating from the reference axis, the less elastic energy the elastic element needs to store, and the weaker the reset force. Therefore, the greater the rotation angle of the reference axis relative to the reference axis, the greater the turning force required by the rotor to overcome the reset force of the reset mechanism in order to maintain the uniformity of the amplitude of each vibration of the rotor, and the duration of the high level of the corresponding vibration signal should be increased. For example, as shown in FIG. 6, as the rotation angle of the reference axis increases, the duration of the high level of p1-p5 gradually increases, and as the rotation angle of the reference axis decreases, the duration of the high level of p6-p10 gradually decreases.

[0071] In the embodiment, when the angle of the reference shaft relative to the reference axis is small, a reverse level can be provided to assist the reset mechanism in controlling the rotor to reverse, so as to increase the reverse force of the rotor and improve the cleaning effect. When the angle of the reference shaft relative to the reference axis is large, the elastic element of the reset mechanism can output sufficient reset force, and the reverse level is not needed to control the rotor to reverse. For example, as shown in FIG. 10, when the angle of the reference shaft relative to the reference axis is small, after the high level p1, a reverse level p1n is provided to control the rotor to reverse, and after the high level p2, a reverse level p2n is provided to control the rotor to reverse. When the angle of the reference shaft relative to the reference axis is large, the duration of the reverse level is reduced, and when the angle of the reference shaft relative to the reference axis is greater than the first preset angle, the duration of the reverse level can be reduced to 0, that is, the reverse level is not applied. The duration of the reverse high level is dynamically adjusted according to the angle of the reference shaft relative to the reference axis, so that the rotor can stably and uniformly vibrate, and the cleaning effect is improved.

[0072] In some embodiments, the reset mechanism is a magnetic reset mechanism; the smaller the angle of the reference shaft relative to the reference axis, the longer the duration of the high level in the vibration signal when the same angle of the rotor relative to the reference axis is controlled; and / or the smaller the angle of the reference shaft relative to the reference axis, the shorter the duration of the reverse high level in the vibration signal when the same angle of the rotor is controlled; and when the angle of the reference shaft relative to the reference axis is less than the second preset angle, the duration of the reverse high level in the vibration signal is 0.

[0073] In the embodiment, the reset mechanism adopting the magnetic reset mode uses the magnetic force generated by the permanent magnet or electromagnet to provide the reset force. When the motor works, the high level of the vibration signal makes the rotor rotate away from the reference axis. When the driving signal is at the reference level, the magnetic field generated by the permanent magnet or electromagnet applies a reset force to pull the rotor back to the reference axis. Due to the characteristics of the permanent magnet or electromagnet, the smaller the angle of the rotor relative to the reference axis, the stronger the reset force applied by the magnetic field; the larger the angle of the rotor relative to the reference axis, the weaker the reset force applied by the magnetic field. Therefore, the smaller the angle of the reference shaft relative to the reference axis, the greater the turning force required by the rotor to overcome the reset force of the reset mechanism, and the duration of the high level of the vibration signal should be increased to maintain the uniformity of the vibration amplitude of the rotor.

[0074] In the embodiment, when the angle of the rotor relative to the reference axis is large, a reverse level can be provided to assist the reset mechanism in controlling the rotor to reverse, so as to increase the reverse force of the rotor and improve the cleaning effect. When the angle of the rotor relative to the reference axis is small, the magnetic force generated by the permanent magnet or electromagnet of the reset mechanism can output sufficient reset force, and the reverse level is not needed to control the rotor to reverse. The duration of the reverse high level is dynamically adjusted according to the angle of the reference shaft relative to the reference axis, so that the rotor can stably and uniformly vibrate, and the cleaning effect is improved.

[0075] In some embodiments, the high level of the vibration signal controls the mover to rotate in the first direction, and the low level of the vibration signal does not drive the mover to move, and the reverse high level of the vibration signal controls the mover to rotate in the opposite direction of the first direction.

[0076] Specifically, when the motor is not provided with a reset mechanism, the mover is only controlled to move by the high level of the vibration signal, wherein the positive high level and the reverse high level of the vibration signal respectively control the mover to move in different directions, and the low level of the vibration signal does not drive the mover to move.

[0077] In some embodiments, the sweep signal is a periodic signal, the vibration signal of the first half cycle of the sweep signal is opposite to that of the second half cycle, and the first half cycle and the second half cycle of the sweep signal respectively control the reference axis to sweep in the regions on both sides of the reference axis.

[0078] Specifically, as shown in FIG. 6 and FIG. 10, the sweep signal is periodic, the vibration signal of the first half cycle is opposite to that of the second half cycle, so as to respectively control the reference axis to sweep in the regions on both sides of the reference axis. The vibration law of each side region can be the same.

[0079] In some embodiments, the first half cycle of the sweep signal is connected to the second half cycle by a low level, and the total duration of the low level is greater than a preset duration, so as to reset the mover to the reference axis.

[0080] Specifically, the duration of the low level at the connection between the first half cycle and the second half cycle is long enough to enable the mover to be stably reset to the reference axis, and to ensure the stable control of the mover when switching the sweep regions, without deviation.

[0081] In some embodiments, the first half cycle of the sweep signal is connected to the second half cycle by a reverse high level, and the high level at the connection makes the two ends of the motor short-circuited.

[0082] Specifically, in addition to the natural gradual deceleration of the mover to reset by the resistance between the friction and inertia by the low level, the reverse torque can also be actively applied to the motor to quickly offset the kinetic energy remaining on the mover, so as to quickly stop the motor. That is, the first half cycle of the sweep signal is connected to the second half cycle by a reverse high level, and the high level at the connection makes the two ends of the motor short-circuited. At this time, since the mover is still moving, the back electromotive force in the motor will generate a current, thereby forming a braking torque to stop the motor. In the high level braking mode, the back electromotive force generated on the motor generates a braking current through short circuit, and the reverse torque will decelerate the motor. This enables the kinetic energy remaining on the motor to be quickly offset, thereby achieving rapid braking.

[0083] In some embodiments, the method further comprises: controlling the reference axis to rotate relative to the reference axis based on the driving signal; the first direction comprises a rotation direction towards the reference axis, and / or a rotation direction away from the reference axis.

[0084] Specifically, the reference axis is a fixed reference axis of the mover movement, and a middle axis or other fixed position in the movable range of the mover can be selected. The relative position of the mover or the relative position of the reference axis can be determined according to the reference axis. In the case of taking the reference axis as the reference system, the rotation direction of the mover and the method of rotating the reference axis can be re-divided into a rotation direction towards the reference axis and a rotation direction away from the reference axis.

[0085] In some embodiments, the method of controlling the reference axis to rotate relative to the reference axis based on the driving signal comprises: controlling the rotation angle of the mover to rotate towards the reference axis to be greater than the rotation angle of the mover to rotate away from the reference axis when the mover vibrates, so that the reference axis rotates towards the reference axis; and / or, controlling the rotation angle of the mover to rotate away from the reference axis to be greater than the rotation angle of the mover to rotate towards the reference axis when the mover vibrates, so that the reference axis rotates away from the reference axis.

[0086] In some embodiments, when the vibration signal satisfies the first condition, the high level controls the rotation angle of the mover to rotate away from the reference axis to be greater than the rotation angle of the mover to rotate towards the reference axis when the mover vibrates in the low level and / or the reverse high level of the vibration signal; and / or,

[0087] When the vibration signal satisfies the second condition, the high level in the vibration signal controls the rotation angle of the mover to rotate away from the reference axis to be less than the rotation angle of the mover to rotate towards the reference axis when the mover vibrates in the low level and / or the reverse high level of the vibration signal, so that the reference axis rotates towards the reference axis.

[0088] Specifically, as shown in (a) of FIG. 12, when the mover 1201 rotates in a reciprocating vibration, the mover 1201 can first rotate away from the reference axis (left side of FIG. 12) from the starting position 1202, and then reverse to rotate toward the reference axis. If the duration of the high level in the vibration signal satisfies the first condition, such as the duration of the high level being greater than the duration of the low level, the rotation angle of the mover 1201 away from the reference axis is greater than the rotation angle of the mover 1201 toward the reference axis (α>β) when the mover 1201 vibrates, indicating that the mover 1201 does not reverse to the correct position, and the rotation center line 1203 of the mover 1201 deviates away from the reference axis. Under this rotation rule of the mover, the reference axis of the mover gradually rotates away from the reference axis while the mover vibrates, forming a sweep vibration. As shown in (b) of FIG. 12, if the duration of the high level in the vibration signal satisfies the second condition, such as the duration of the high level being less than the duration of the low level, the rotation angle of the mover 1201 toward the reference axis is greater than the rotation angle of the mover 1201 away from the reference axis (β>α) when the mover 1201 vibrates, indicating that the mover 1201 does not reverse to the correct position (over-reverses), and the rotation center line 1203 of the mover 1201 deviates toward the reference axis. Under this rotation rule of the mover, the reference axis of the mover gradually rotates toward the reference axis while the mover vibrates, forming a sweep vibration.

[0089] For example, when the mover rotates in a reciprocating vibration, the mover can first rotate toward the reference axis, and then reverse to rotate away from the reference axis. If the rotation angle of the mover toward the reference axis is greater than the rotation angle of the mover away from the reference axis, or the duration of the high level in the vibration signal satisfies the second condition, such as the duration of the high level being less than the duration of the low level (at this time, the rotation angle of the mover toward the reference axis is greater than the rotation angle of the mover away from the reference axis), it indicates that the mover does not reverse to the correct position, and the reference axis of the mover rotates toward the reference axis. Under this rotation rule of the mover, the reference axis of the mover gradually rotates toward the reference axis while the mover vibrates, forming a sweep vibration. If the rotation angle of the mover away from the reference axis is greater than the rotation angle of the mover toward the reference axis, or the duration of the high level in the vibration signal satisfies the first condition, such as the duration of the high level being greater than the duration of the low level (at this time, the rotation angle of the mover away from the reference axis is greater than the rotation angle of the mover toward the reference axis), it indicates that the mover does not reverse to the correct position (over-reverses), and the reference axis of the mover rotates away from the reference axis. Under this rotation rule of the mover, the reference axis of the mover gradually rotates away from the reference axis while the mover vibrates, forming a sweep vibration.

[0090] Based on the driving signal (for example, the condition that the high level duration in the vibration signal satisfies), the mover can rotate the vibration reference axis towards or away from the reference axis according to different rules while vibrating, and the reference axis can sweep in a large range, so that the mover can realize large-range sweeping vibration while maintaining small-amplitude vibration, and the vibration coverage of the mover is significantly increased, covering more tooth surface area.

[0091] In some embodiments, each vibration signal in the sweeping signal satisfies the first condition and then the second condition.

[0092] Specifically, in a cleaning process, under the control of the sweeping signal, the rotation angle of the reference axis of the motor mover relative to the reference axis can gradually increase or gradually decrease with the increase of the vibration frequency, so as to realize the regular change of the position of the reference axis, that is, the mover gradually sweeps left or right while maintaining vibration, increases the vibration coverage, and improves the cleaning effect.

[0093] The first condition is satisfied in each vibration signal in the sweeping signal, the rotation angle of the mover away from the reference axis is greater than the rotation angle of the mover towards the reference axis when the mover vibrates, the reference axis rotates away from the reference axis, and the rotation angle of the reference axis relative to the reference axis can gradually increase with the increase of the vibration frequency. When the rotation angle of the reference axis relative to the reference axis reaches a third preset angle, the second condition is satisfied in each vibration signal in the sweeping signal, the rotation angle of the mover away from the reference axis is less than the rotation angle of the mover towards the reference axis when the mover vibrates, the reference axis rotates towards the reference axis, and the rotation angle of the reference axis relative to the reference axis can gradually decrease with the increase of the vibration frequency. In this way, reciprocating sweeping can be formed, and the cleaned tooth surface can be cleaned again, thereby improving the cleaning effect.

[0094] In some embodiments, the control of the relative reciprocating vibration of the mover relative to the reference axis based on the driving signal comprises:

[0095] The control of the relative reciprocating linear motion or rotational motion of the mover relative to the reference axis based on the driving signal, so that the mover forms vibration, and / or the motor comprises a reset mechanism for resetting the reference axis, the control of the movement of the mover away from the reference axis based on the driving signal, and the reset mechanism drives the mover to move towards the reference axis, so that the mover forms vibration.

[0096] Specifically, the motor can be divided into a motor provided with a reset mechanism and a motor not provided with a reset mechanism. When the motor is not provided with a reset mechanism, the oral care device can control the H-bridge circuit to output positive and negative currents based on the driving signal, so as to control the mover to realize reciprocating vibration. For example, the positive level of the driving signal controls the H-bridge circuit to output a positive current, so that the motor mover moves in a first direction; the negative level of the driving signal controls the H-bridge circuit to output a negative current, so that the motor mover moves in a direction opposite to the first direction; under the control of the driving signal, the H-bridge circuit continuously outputs positive and negative currents, so as to realize the movement of the mover towards and away from the reference axis, so as to form reciprocating vibration. For example, in one vibration period T, the driving signal realizes the reciprocating vibration of the mover through the alternation of the positive level and the negative level.

[0097] The motor provided with a reset mechanism can drive the mover of the motor to reset towards the reference axis. For example, the waveform diagram of the driving signal can be referred to FIG. 6. In one vibration period T2, the driving signal can control the H-bridge circuit to output a positive current or a negative current through a high level (positive level or negative level), so that the motor mover moves away from the reference axis, wherein the positive current can control the mover to move away from the reference axis in a first direction, and the negative current can control the mover to move away from the reference axis in a direction opposite to the first direction. When the driving signal is at a low level (reference level), the motor mover moves towards the position of the reference axis under the action of the reset mechanism.

[0098] The reset mechanism can include an elastic element reset mechanism or a magnetic reset mechanism. The elastic element reset mechanism uses an elastic element (such as a spring) to provide a reset force. When the motor works, the high level (positive level or negative level) of the driving signal makes the mover move away from the reference axis. When the driving signal is at a low level (reference level), the elastic element (such as a spiral spring or a torsion spring) releases the stored elastic energy, generates a reset force, and pulls the mover back towards the reference axis. The magnetic reset mechanism uses the magnetic force generated by a permanent magnet or an electromagnet to provide a reset force. When the motor works, the positive level or the negative level of the driving signal makes the mover move away from the reference axis. When the driving signal is at a low level (reference level), the magnetic field generated by the permanent magnet or the electromagnet exerts a reset force to pull the mover back towards the reference axis.

[0099] It should be noted that when the motor is provided with a reset mechanism, the oral care device can also control the H-bridge circuit to output a corresponding reverse current based on the reverse level of the driving signal when the mover moves away from the reference axis, so that the motor mover moves reversely towards the reference axis. Through the double action of the driving signal and the reset mechanism, the mover is pulled back towards the reference axis, which can increase the reset force of the motor mover, thereby increasing the vibration force of the motor and improving the cleaning effect. For example, the driving signal waveform can be seen in FIG. 10. In one vibration period T2, the driving signal can control the H-bridge circuit to output a positive current or a reverse current through a positive level or a negative level, so that the motor mover moves away from the reference axis, and moves towards the reference axis based on the reset force of the reset mechanism in the reference level state; or the driving signal controls the H-bridge circuit to output a reverse current through a reverse level, so that the motor mover moves towards the reference axis, so that the motor mover moves reversely towards the reference axis under the double action of the driving signal and the reset mechanism.

[0100] In some embodiments, the method further comprises: controlling the mover to vibrate relative to the reference axis with a preset amplitude based on the driving signal, i.e., the sweep signal in the driving signal, and controlling the reference axis to move to change the vibration center of the vibration, and the preset amplitude of the vibration is smaller than the amplitude of the movement range of the reference axis; or gradually increasing the vibration amplitude of the mover based on the driving signal, i.e., the sweep signal in the driving signal, and changing the position of the reference axis; or gradually decreasing the vibration amplitude of the mover based on the driving signal, i.e., the sweep signal in the driving signal, and changing the position of the reference axis.

[0101] Specifically, under the control of the driving signal, the motor mover can reciprocate with a preset same vibration amplitude, while the reference axis is controlled to rotate to change the vibration center of the vibration, so that the mover can realize a large range of sweep vibration while maintaining the same vibration amplitude. Alternatively, the preset vibration amplitude of the motor mover is smaller than the movement range amplitude of the reference axis, i.e., the motor mover vibrates with a small swing amplitude and sweeps with a large swing amplitude, which can increase the cleaning range and cleaning force while taking into account the sensitivity of the user's teeth.

[0102] Alternatively, under the control of the sweep signal, the high level duration of each vibration signal in the sweep signal gradually increases or decreases in turn; and / or, the low level duration of each vibration signal in the sweep signal gradually increases or decreases in turn; and / or, the reverse high level duration of each vibration signal in the sweep signal gradually increases or decreases in turn. In this way, the motor mover can reciprocate with different vibration amplitudes, such as gradually increasing or gradually decreasing the vibration amplitude of the mover while changing the position of the reference axis to change the vibration center of the vibration, so as to realize regular vibration and sweep vibration, which can provide more abundant vibration modes to adapt to different use requirements and scenarios, while ensuring the cleaning effect and improving the comfort of the user during use.

[0103] In some embodiments, the method further comprises: controlling the motor to rotate away from the reference axis by an angle equal to the angle towards the reference axis in each vibration based on the driving signal, so that the motor is reset to the reference axis position after each vibration; and / or controlling the motor to rotate away from the reference axis by an angle equal to the angle towards the reference axis in a plurality of continuous vibrations and the angle remains unchanged based on the driving signal, so that the motor vibrates at equal angles relative to the reference axis for a plurality of times while the reference axis remains unchanged. For example, but not limited to, the motor can be controlled to rotate away from the reference axis by an angle equal to the angle towards the reference axis in each vibration based on the sweeping signal, and the motor can also be controlled to rotate away from the reference axis by an angle equal to the angle towards the reference axis in a plurality of continuous vibrations based on the sweeping signal

[0104] Specifically, under the control of the driving signal or the sweeping signal, the motor can be reversed to the starting position after each vibration. Generally, the starting position of the motor can be set as the reference axis position, in which case the motor is reset to the reference axis position after each vibration. The vibration reference axis can be rotated by changing the vibration amplitude of each vibration, and the reference axis position can be changed by changing the vibration center position.

[0105] For example, as shown in FIG. 14, the motor rotates from the starting position S0 to the left by a first angle to reach the S1 position, starts to reverse to the right, and reverses to the starting position S0, at which time the reference axis of the motor is located at the Sx position; then, the motor changes the amplitude angle (for example, increases the vibration amplitude), rotates from the starting position S0 to the left by a second angle to reach the S2 position, at which time the reference axis of the motor is located at the Sy position. In addition, the motor can also symmetrically rotate to the right in the above-mentioned rotation manner, or reduce the vibration amplitude. Under the control of the driving signal, the motor can change the rotation angle of the reference axis regularly by the above-mentioned manner, so that it can sweep in a large range by changing the vibration amplitude, and provide more flexible and powerful cleaning effect.

[0106] In addition, the motor mover can keep a fixed vibration for a certain time or a certain number of times while sweeping in a cleaning process. That is, each vibration signal in the sweeping signal can be repeated continuously for multiple times. It can be understood that in a cleaning process, some vibration signals can be repeated for multiple times, so that the vibration process of the motor mover includes not only the vibration mode of changing the position of the reference axis, but also the vibration mode of continuously repeating the vibration without changing the position of the reference axis, and includes not only the vibration mode of changing the vibration amplitude, but also the vibration mode of continuously repeating the vibration without changing the vibration amplitude. In the vibration process of the mover, if the rotation angle of the mover away from the reference axis is equal to the rotation angle of the mover toward the reference axis, the starting position and the rotation stop position of the mover are the same, and the position of the vibration reference axis of the mover does not change, the mover can continuously vibrate with the same vibration amplitude and the same position of the reference axis in multiple vibrations when the above fixed vibration mode is continuously repeated for multiple times. For example, in a cleaning process, the motor mover can change the position of the vibration reference axis after multiple fixed vibrations within a range of 5-10° relative to the reference axis, and then make the mover perform multiple fixed vibrations within a range of 7-12° relative to the reference axis. By setting multiple fixed vibrations in the sweeping process, the sweeping speed of the motor vibration can be more flexible, the tooth cleaning force at the same position can be enhanced, and the position of the mover is changed to drive the brush head to rotate to other positions before the same position is cleaned completely.

[0107] In some embodiments, the method further comprises: gradually increasing the distance or rotation angle of the reference axis relative to the reference axis based on the driving signal, or gradually decreasing the distance or rotation angle of the reference axis relative to the reference axis based on the driving signal.

[0108] Specifically, the distance or rotation angle of the reference axis relative to the reference axis is set to represent the relative position of the reference axis. In a cleaning process, the distance or rotation angle of the reference axis of the motor mover relative to the reference axis can gradually increase or gradually decrease based on the driving signal, so that the position of the reference axis changes regularly, that is, the mover gradually sweeps left or right while keeping vibrating, increases the vibration coverage, and improves the cleaning effect.

[0109] In some embodiments, the distance or rotation angle of the reference axis of the motor mover relative to the reference axis can gradually increase to a first preset angle and then gradually decrease based on the driving signal, so as to form reciprocating sweeping and realize re-cleaning of the cleaned tooth surface, thereby improving the cleaning effect.

[0110] In some embodiments, under the control of the driving signal, the rotation angle of the reference axis of the motor rotor relative to the reference axis gradually increases in a first direction to a second preset angle, then gradually decreases, and then gradually increases in the opposite direction of the first direction to a third preset angle, and then gradually decreases.

[0111] In some embodiments, the sweeping signal is a periodic signal, the polarity of the vibration signal in the first half cycle of the sweeping signal is opposite to that in the second half cycle, and each vibration signal in the sweeping signal sequentially satisfies the first condition and then the second condition in the first half cycle, and sequentially satisfies the first condition and then the second condition in the second half cycle.

[0112] Specifically, the motor rotor maintains the vibration state, first selects to reciprocate to one side of the reference axis, and then reciprocates to the other side of the reference axis, so as to form a periodic sweeping vibration, the vibration track of which is not concentrated on a single side of the reference axis, but covers a wide range on both sides of the reference axis, so that the vibration track of the oral care device covers a larger area of the teeth and gums, and avoids missing brushing. The periodic sweeping vibration enables the toothbrush to vibrate and clean the same position multiple times, and repeatedly sweeps up and down on the teeth, which conforms to the cleaning principle of the Bass tooth brushing method, and helps to remove stubborn dental plaque and food residues. The automatic periodic sweeping vibration reduces the frequency of manually moving the toothbrush by the user, so that the tooth brushing process is more simple and efficient.

[0113] For example, as shown in FIG. 13, under the control of the sweeping signal, the motor rotor maintains a certain preset vibration amplitude for reciprocating vibration, and as the vibration number increases, the rotation angle of the vibration reference axis is gradually increased to A1, then gradually decreased to the reference axis position A0, then gradually increased to A2, and then gradually decreased to the reference axis position A0, so as to form a periodic sweeping vibration effect.

[0114] In some embodiments, the method further comprises: controlling the rotation angle of the rotor towards the reference axis and / or away from the reference axis to be the same each time the rotor vibrates based on the driving signal.

[0115] Specifically, each time the rotor vibrates, the rotation angle of the rotor towards the reference axis and / or away from the reference axis remains the same. For example, each time the rotor vibrates, it is deflected by 10 degrees towards the reference axis or away from the reference axis. When the rotation angle towards the reference axis and the rotation angle away from the reference axis remain unchanged, the motor rotor can make the vibration reference axis sweep at a fixed sweeping speed.

[0116] In some embodiments, the method further comprises: controlling the rotation angle of the reference axis relative to the reference axis to change at an equal angle based on the driving signal.

[0117] Specifically, when the reference axis changes at an equal angle relative to the reference axis, it means that the angle of each movement of the reference axis is constant, whether to the left or to the right, for example, the reference axis changes position each time, whether clockwise or counterclockwise, and is fixed at 5 degrees of rotation.

[0118] Through the above regular vibration mode, the mover can drive the brush head to maintain a uniform motion trajectory during oral cleaning, which helps to cover all areas of the tooth surface and gums, avoid cleaning blind spots, and ensure that each tooth can be fully cleaned. The regular change of vibration also helps to improve user comfort.

[0119] In some embodiments, the corresponding vibration frequency is the same when the mover vibrates at different vibration amplitudes based on the driving signal, or the frequency of each vibration signal in the sweeping signal is the same.

[0120] Specifically, different vibration amplitudes mean that the mover vibrates at different amplitudes, and the vibration frequency refers to the number of vibration cycles per second. The sweeping signal is a composite signal composed of multiple vibration signals, used to control the vibration and sweeping mode of the motor mover. In this embodiment, the frequency of each vibration signal remains the same, i.e. throughout the sweeping process, regardless of the change in the vibration amplitude of the mover, the vibration frequency remains constant. For example, when the vibration amplitude changes from 5 degrees to 10 degrees, the vibration frequency remains at the preset frequency, such as 30 vibrations per second (30 Hz). The same vibration frequency ensures that the intensity and effect of each vibration are consistent, and the cleaning effect is not affected by the change in vibration amplitude. Regardless of the change in vibration amplitude, it can provide stable and effective cleaning force. The same vibration frequency avoids the discomfort caused by the change in frequency, and the user will feel smoother and more comfortable vibration during use.

[0121] In some embodiments, the high level duration of each vibration signal in the sweeping signal is the same, or the low level duration is the same, or the reverse high level duration is the same

[0122] Specifically, the rotation angle of the mover in the direction towards the reference axis and / or away from the reference axis remains the same during each vibration. For example, each vibration is deflected 10 degrees towards the reference axis or each vibration is deflected 10 degrees away from the reference axis. When the rotation angle towards the reference axis and the rotation angle away from the reference axis remain unchanged, the motor mover will enable the vibration reference axis to sweep at a fixed sweeping frequency. In some embodiments, regular sweeping can be achieved by setting the duration of the high level in the sweeping signal to be the same, and / or the duration of the low level to be the same, to improve user comfort.

[0123] In some embodiments, the method further comprises: controlling the vibration frequency corresponding to different vibration amplitudes of the actuator based on the driving signal; wherein the greater the vibration amplitude of the actuator, the lower the vibration frequency.

[0124] Optionally, the vibration signal frequency corresponding to different vibration amplitudes of the actuator is different; the greater the vibration amplitude of the actuator, the lower the vibration signal frequency.

[0125] Specifically, the vibration frequency corresponding to different vibration amplitudes can be adjusted, and the greater the vibration amplitude of the actuator, the lower the vibration frequency of the actuator through the preset driving signal; or the vibration signal frequency corresponding to different vibration amplitudes can be adjusted, and the greater the vibration amplitude of the actuator, the lower the vibration signal frequency of the actuator. For example, when the vibration amplitude is 10 degrees, the vibration frequency or the vibration signal frequency is 20 Hz; when the vibration amplitude is 5 degrees, the vibration frequency or the vibration signal frequency is 40 Hz. Larger vibration amplitude provides greater coverage, which helps to clean larger areas, while reducing the vibration signal frequency can provide lower vibration frequency, which correspondingly reduces the stimulation to the teeth and gums.

[0126] In some embodiments, the motor is provided with a limiting device configured to limit the maximum movement range of the actuator.

[0127] Specifically, the limiting device is a mechanical or electronic component installed on the motor and configured to limit the maximum rotation angle of the actuator to ensure that the actuator moves within a predetermined range. The limiting device can adopt various forms such as mechanical stop block, spring mechanism, electronic sensor, etc., to limit the maximum rotation angle of the actuator through physical or electronic means. For example, the limiting device can be configured to limit the maximum rotation angle of the actuator to 15 degrees.

[0128] The limiting device effectively prevents the actuator from excessive movement beyond the predetermined range, avoids damage to the motor and related components, and improves the safety and reliability of the device; by limiting the rotation angle, the wear and fatigue of mechanical components due to excessive movement are reduced, prolonging the service life of the device. Limiting the maximum rotation angle of the actuator also ensures that the motor of the oral care device works within a stable vibration range, making the cleaning effect more uniform and effective. The movement range of the reference axis is less than the maximum movement range of the actuator.

[0129] In some embodiments, the actuator is reset to the same predetermined reference axis each time it vibrates, and the reference axis is a fixed reference axis of the actuator movement.

[0130] Specifically, the motor mover sets a fixed reference axis. In the initial state of the motor, the mover is located at the reference axis position. In the stopped state of the motor, the mover should also be located at the reference axis position. In each vibration, the mover rotates away from the reference axis and then returns to the reference axis position (not necessarily to the position). Setting a fixed reference axis can ensure the stability of the motor mover movement, stabilize the switching of the mover sweeping direction, cover a wide area on both sides of the reference axis, and make the vibration track of the oral care device cover a larger area of teeth and gums to avoid missed brushing.

[0131] In some embodiments, the driving signal includes a plurality of sweeping signals, each sweeping signal including a plurality of vibration signals; the method further includes: controlling the mover to vibrate based on the vibration signal; controlling the mover to vibrate based on the sweeping signal, and switching the position of the reference axis to form a sweep.

[0132] Specifically, the vibration signal is a basic signal set to drive the mover to vibrate, and the mover is controlled to vibrate reciprocally once by controlling the vibration signal. The sweeping signal is composed of a plurality of vibration signals, which is set to control the overall motion mode of the mover, and the sweeping effect is achieved by changing the position of the reference axis by combining different vibration signals. Based on the control of the sweeping signal, the mover not only performs periodic vibration with small amplitude, but also performs sweeping vibration with large range as the position of the reference axis changes.

[0133] For example, as shown in FIG. 6 or FIG. 10, T1 is a period of a sweeping signal, and T2 is a period of a vibration signal. In the T1 period, there are a plurality of T2 period vibration signals, which are arranged and combined by different vibration signals to realize regular vibration and sweeping of the motor mover.

[0134] In some embodiments, the method further includes: controlling the vibration frequency of the mover based on the frequency corresponding to the vibration signal; and / or controlling the vibration amplitude of the mover based on the duty cycle corresponding to the vibration signal; and / or controlling the sweeping amplitude of the reference axis based on the high level duration and / or duty cycle corresponding to each vibration signal in the sweeping signal; and / or controlling the sweeping speed (sweeping frequency) of the reference axis based on the high level duration and / or duty cycle and / or frequency corresponding to each vibration signal in the sweeping signal.

[0135] Specifically, the vibration frequency refers to the number of vibration cycles completed by the mover per second. In a vibration process, the vibration frequency can also represent the speed of the mover vibration, and the vibration frequency of the mover can be controlled by the frequency of the vibration signal. The duty cycle refers to the ratio of the high level duration to the total cycle time of the vibration signal. The vibration amplitude of the mover can be controlled by adjusting the duty cycle of the vibration signal. The greater the duty cycle, the greater the vibration amplitude. The sweep amplitude and sweep speed refer to the amplitude and speed of the reference axis offset during the sweep process, respectively. The sweep amplitude needs to be adjusted by the high level duration and / or duty cycle of each vibration signal in the sweep signal; the sweep speed needs to be adjusted by the high level duration and / or duty cycle and / or frequency of each vibration signal in the sweep signal. For example, the mover rotates in the first direction, and rotates in the first direction again when it does not reverse to the position opposite to the first direction. By adjusting the duty cycle of the vibration signal, the vibration amplitude of the mover can be controlled. By adjusting the frequency of the vibration signal, the vibration frequency of the mover can be controlled. By adjusting the multiple vibration signals (high level duration and / or duty cycle and / or frequency) in the sweep signal, the sweep amplitude and sweep speed (sweep frequency) of the reference axis in the sweep cycle can be controlled.

[0136] In some embodiments, the method further comprises: controlling the mover to rotate in the first direction based on the high level of the vibration signal, and controlling the mover to rotate in the opposite direction of the first direction based on the low level or reverse high level of the vibration signal, to control the vibration of the mover; and / or, the sweep signal is a periodic signal, the vibration signals of the first half cycle and the second half cycle of the sweep signal are opposite in polarity, and the first half cycle and the second half cycle of the sweep signal control the reference axis to sweep in the regions on both sides of the reference axis, respectively.

[0137] Specifically, the first direction includes a direction away from the reference axis or a direction towards the reference axis. The high level (positive high level and negative high level) signal is used to control the H-bridge circuit to output positive current or reverse current, to drive the mover to rotate away from the reference axis. When the low level, the device provided with a reset mechanism can drive the mover to rotate towards the reference axis by the reset force of the reset mechanism, to form a vibration effect (an example of the drive signal waveform can be seen in FIG. 6). Alternatively, the reverse high level is used to control the H-bridge circuit to output reverse current, to drive the mover to rotate towards the reference axis, to form a vibration effect (an example of the drive signal waveform can be seen in FIG. 10).

[0138] As shown in FIG. 6 and FIG. 10, the periodic sweep signal, the vibration signals of the first half cycle and the second half cycle are opposite in polarity, to control the reference axis to sweep in the regions on both sides of the reference axis, respectively. The vibration law of each side region can be the same.

[0139] In some embodiments, the low level is connected between the first half cycle and the second half cycle of the sweep signal, and the total duration of the connected low level is greater than a preset duration, to reset the mover to the reference axis.

[0140] Specifically, the front half cycle is connected with the rear half cycle, and the low level lasts long enough to enable the mover to be stably reset to the reference shaft, ensuring the control stability when the mover switches the scanning area and preventing deviation.

[0141] In some embodiments, the motor mover is open-loop controlled based on the driving signal. The waveform of the driving signal is one or more of a sine wave, a square wave, and a triangular wave, to achieve different vibration modes and cleaning effects. Optionally, the driving signal is an electrical signal (such as two-phase electricity), to improve the stability and reliability of the device and ensure that the device can provide consistent and efficient cleaning effects, providing a better user experience.

[0142] Next, in combination with FIG. 1, an oral care device according to an example embodiment of the present application is introduced. The oral care device includes a motor, and the oral care device controls the movement of the motor using the method according to any of the above embodiments.

[0143] In this way, by optimizing the motor control method, the mover can perform small-amplitude reciprocating vibration relative to the reference shaft, reducing the stimulation to users who are sensitive to teeth. At the same time, the position of the reference shaft can be controlled to change, so that the vibration coverage of the mover is significantly increased, covering more tooth surface area, reducing the frequency of manual movement of the toothbrush by the user, and enabling each brushing to cover the oral cavity area more comprehensively, ensuring efficient cleaning effect.

[0144] In some embodiments, the oral care device open-loop controls the motor based on the driving signal.

[0145] Specifically, open-loop control refers to the control of the operation of the motor without feedback. The motor works according to the preset driving signal, without adjustment according to the real-time operating state. The open-loop control system is simple in design and low in cost, without the need for complex sensors and feedback control systems, improving the reliability of the system and reducing potential failure points.

[0146] In some embodiments, the oral care device is provided with multiple gears or modes, and different gears or modes correspond to different driving signal parameters; the driving signal parameters include at least one of vibration frequency, vibration amplitude, scanning amplitude, and scanning speed.

[0147] Specifically, the oral care device can be designed with different operating gears or modes, each corresponding to a respective driving signal, and different gears or modes corresponding to different vibration frequencies, vibration amplitudes, sweeping amplitudes and sweeping speeds to adapt to different cleaning needs. For example, the oral care device can provide multiple cleaning mode options, such as daily cleaning, sensitive cleaning and deep cleaning. The user selects the sensitive cleaning mode, which is preset with a vibration frequency of 20 Hz, a vibration amplitude of 5 degrees, a sweeping amplitude of 10 degrees, and a sweeping speed of 1 degree per second, and the oral care device inputs the driving signal corresponding to these parameters into the motor for control.

[0148] In some embodiments, as shown in FIG. 15, the oral care device 1510 is in communication with a terminal 1520, and the application program of the terminal 1520 is used to set one or more of the vibration frequency, vibration amplitude, sweeping angle, and sweeping frequency of the mover, and output the corresponding driving signal to the oral care device 1510.

[0149] Specifically, the terminal 1520 includes, but is not limited to, a smartphone, a tablet computer, a wearable terminal, a personal computer, etc. The terminal 1520 and the oral care device 1510 can be connected through wired or wireless communication, such as through Bluetooth, WiFi, or cellular network connection. The user sets the working parameters of the oral care device 1510, such as one or more of the vibration frequency, vibration amplitude, sweeping angle, and sweeping frequency of the mover, through the application program on the terminal 1520, the application program generates the corresponding driving signal and sends it to the oral care device 1510, and the oral care device 1510 controls the motor based on the received driving signal. In this way, the user can easily set the operating parameters of the device through the terminal, providing more accurate adjustment methods and more convenient use experience, and achieving the best cleaning effect.

[0150] In some embodiments, the oral care device obtains current oral care information, determines the vibration frequency, vibration amplitude, sweeping angle, and sweeping frequency of the mover based on the current oral care information, and determines the corresponding driving signal.

[0151] Specifically, the oral care device can determine the current oral care information through the built-in sensor or the user input oral state and care needs, and according to the obtained information, the oral care device can automatically recommend configuration parameters such as the vibration frequency, vibration amplitude, sweeping angle, and sweeping frequency of the mover, and generate the corresponding driving signal. Thus, the cleaning mode can be automatically adjusted according to the actual oral condition, providing more personalized and effective cleaning, reducing the user's manual adjustment trouble, and improving the use experience.

[0152] The oral care device can be trained based on a machine learning algorithm according to historical cleaning records or relevant big data of a user, to improve the comfort and adaptability of automatically recommended configuration parameters.

[0153] Please refer to FIG. 16, which is a structural schematic diagram of a motor control device of an oral care device provided by an embodiment of the present application. The oral care device comprises a motor, and the motor comprises a mover. As shown in FIG. 16, the device comprises:

[0154] The acquisition module 1610 is configured to acquire a driving signal.

[0155] The control module 1620 is configured to control the mover to reciprocate relative to a reference axis based on the driving signal, and control the position of the reference axis to change, so as to increase the coverage of the vibration; the vibration comprises linear vibration or rotational vibration.

[0156] The driving signal is a pre-set signal.

[0157] In a possible implementation, the control module 1620 is specifically configured to control the mover to move in a first direction, and control the mover to move in the first direction again when the mover moves in the opposite direction relative to the first direction without reaching a position, so as to change the position of the reference axis.

[0158] In a possible implementation, the control module 1620 is specifically configured to control the reference axis to rotate relative to a reference axis based on the driving signal; the reference axis is a fixed reference axis of the mover; the first direction comprises a rotation direction towards the reference axis and / or a rotation direction away from the reference axis.

[0159] In a possible implementation, the control module 1620 is specifically configured to control the rotation angle of the mover towards the reference axis to be greater than the rotation angle of the mover away from the reference axis when the mover vibrates based on the driving signal, so as to make the reference axis rotate towards the reference axis; and / or control the rotation angle of the mover away from the reference axis to be greater than the rotation angle of the mover towards the reference axis when the mover vibrates based on the driving signal, so as to make the reference axis rotate away from the reference axis.

[0160] In a possible implementation, the control module 1620 is specifically configured to control the mover to reciprocate linearly or rotate relative to the reference axis based on the driving signal, so as to make the mover vibrate, and / or the motor comprises a reset mechanism for resetting the reference axis, the control module 1620 is configured to control the mover to move away from the reference axis based on the driving signal, and the reset mechanism drives the mover to move towards the reference axis, so as to make the mover vibrate.

[0161] In a possible implementation, the control module 1620 is specifically configured to control the mover to vibrate relative to the reference axis at a preset amplitude based on the driving signal, and control the reference axis to change a vibration center of the vibration, and the preset amplitude of the vibration is smaller than an amplitude of a movement range of the reference axis; or control a vibration amplitude of the mover to gradually increase based on the driving signal, and change a position of the reference axis; or control the vibration amplitude of the mover to gradually decrease based on the driving signal, and change the position of the reference axis.

[0162] In a possible implementation, the control module 1620 is specifically configured to control a rotation angle of the mover away from the reference axis to be equal to a rotation angle of the mover towards the reference axis in each vibration based on the driving signal, so that the mover is reset to the reference axis position after each vibration; and / or control the rotation angle of the mover away from the reference axis to be equal to the rotation angle of the mover towards the reference axis in a plurality of continuous vibrations, and the rotation angle remains unchanged, so that the mover continuously vibrates relative to the reference axis at an equal angle for a plurality of times while the reference axis remains unchanged.

[0163] In a possible implementation, the control module 1620 is specifically configured to control a distance or a rotation angle of the reference axis relative to the reference axis to gradually increase as the number of vibrations increases based on the driving signal; or control the distance or the rotation angle of the reference axis relative to the reference axis to gradually decrease as the number of vibrations increases based on the driving signal; or control the distance or the rotation angle of the reference axis relative to the reference axis to gradually increase to a first preset distance or angle and then gradually decrease based on the driving signal.

[0164] In a possible implementation, the control module 1620 is specifically configured to control the rotation angle of the reference axis relative to the reference axis to gradually increase to a second preset angle in a first direction and then gradually decrease, and then gradually increase to a third preset angle in a direction opposite to the first direction and then gradually decrease based on the driving signal as the number of vibrations increases.

[0165] In a possible implementation, the control module 1620 is specifically configured to control the rotation angle of the mover towards the reference axis to be the same in each vibration based on the driving signal, and / or the rotation angle of the mover away from the reference axis to be the same.

[0166] In a possible implementation, the control module 1620 is specifically configured to control the rotation angle of the reference axis relative to the reference axis to change at an equal angle based on the driving signal.

[0167] In a possible implementation, the control module 1620 is specifically configured to control the vibration frequency of the mover based on the frequency of the vibration signal.

[0168] In a possible implementation, the control module 1620 is specifically configured to control the vibration frequency of the mover to be different when the mover vibrates at different vibration amplitudes, and the vibration frequency is lower when the vibration amplitude is larger.

[0169] In a possible implementation, the motor is provided with a limiting device configured to limit the maximum movement range of the mover.

[0170] In a possible implementation, the mover is reset to the same predetermined reference axis after each vibration.

[0171] In a possible implementation, the driving signal includes a plurality of sweeping signals, and each sweeping signal includes a plurality of vibration signals; the control module 1620 is specifically configured to control the vibration of the mover based on the vibration signal, control the vibration of the mover based on the sweeping signal, and switch the position of the reference axis to form a sweep.

[0172] In a possible implementation, the control module 1620 is specifically configured to control the vibration frequency of the mover based on the frequency of the vibration signal, and / or control the vibration amplitude of the mover based on the duty cycle of the vibration signal, and / or control the sweep amplitude of the reference axis based on the high-level duration and / or duty cycle of each vibration signal in the sweeping signal, and / or control the sweep speed of the reference axis based on the high-level duration and / or duty cycle and / or frequency of each vibration signal in the sweeping signal.

[0173] In a possible implementation, the control module 1620 is specifically configured to control the vibration of the mover based on the high level of the vibration signal in the sweeping signal to rotate the mover in a first direction, and control the vibration of the mover based on the low level or reverse high level of the vibration signal to rotate the mover in a direction opposite to the first direction, and / or the sweeping signal is a periodic signal, the vibration signal polarity of the first half cycle is opposite to that of the second half cycle, and the first half cycle and the second half cycle of the sweeping signal control the reference axis to sweep in the two regions on both sides of the reference axis, respectively.

[0174] In a possible implementation, the low level between the first half cycle and the second half cycle of the sweeping signal is connected, and the total duration of the connected low level is greater than a preset duration.

[0175] In a possible implementation, the waveform of the driving signal is one or more of a sine wave, a square wave and a triangular wave; and / or, the driving signal is an electrical signal.

[0176] In a possible implementation, the driving signal forms an open-loop control over the moving element of the motor.

[0177] In a possible implementation, the driving signal comprises a plurality of sweeping signals, and each of the sweeping signals comprises a plurality of vibration signals; the control module 1620 can be further configured to:

[0178] The high level of the vibration signal controls the moving element to move in a first direction, and the low level and / or the reverse high level of the vibration signal controls the moving element to move in a direction opposite to the first direction, to reciprocate relative to a reference axis; the sweeping signal controls the moving element to vibrate, and changes the position of the reference axis to form sweeping, to increase the coverage of the vibration.

[0179] In a possible implementation, the control module 1620 is specifically configured to:

[0180] In the sweeping signal, after the high level controls the moving element to rotate in the first direction, the low level and / or the reverse high level controls the moving element to reverse relative to the first direction, and the high level controls the moving element to rotate in the first direction again when the reverse is not in place, to change the rotation angle of the reference axis.

[0181] In a possible implementation, the motor comprises a reset mechanism, and the reset mechanism is configured to reset the moving element relative to a reference axis; the reference axis is a fixed reference axis of the moving element; under the high level of the vibration signal, the moving element moves away from the reference axis; under the low level and / or the reverse high level of the vibration signal, the reset mechanism drives the moving element to move towards the reference axis.

[0182] In a possible implementation, the reset mechanism is an elastic reset mechanism; the greater the rotation angle of the reference axis relative to the reference axis, the longer the duration of the high level of the vibration signal when controlling the moving element to move by the same angle; and / or, the greater the rotation angle of the reference axis relative to the reference axis, the shorter the duration of the reverse high level of the vibration signal when controlling the moving element to move by the same angle; when the rotation angle of the reference axis relative to the reference axis is greater than a first preset angle, the duration of the reverse high level of the vibration signal is 0.

[0183] In a possible implementation, the reset mechanism is a magnetic reset mechanism; the smaller the rotation angle of the reference shaft relative to the reference axis, the longer the duration of the high level in the vibration signal when the same angle of the mover is controlled to move away from the reference axis; and / or, the smaller the rotation angle of the reference shaft relative to the reference axis, the shorter the duration of the reverse high level in the vibration signal when the same angle of the mover is controlled to move; when the rotation angle of the reference shaft relative to the reference axis is less than a second preset angle, the duration of the reverse high level in the vibration signal is 0.

[0184] In a possible implementation, the high level of the vibration signal controls the mover to rotate in a first direction, the low level of the vibration signal does not drive the mover to move, and the reverse high level of the vibration signal controls the mover to rotate in a direction opposite to the first direction; and / or, the pulse width of the vibration signal changes cyclically according to the rule of first increasing and then decreasing; and / or, the sweeping signal is a periodic signal, the vibration signal polarity of the first half cycle of the sweeping signal is opposite to that of the second half cycle, and the first half cycle and the second half cycle of the sweeping signal control the reference shaft to sweep in the regions on both sides of the reference axis, respectively.

[0185] The low level is connected between the first half cycle and the second half cycle of the sweeping signal, and the total duration of the connected low level is greater than a preset duration; or, the reverse high level is connected between the first half cycle and the second half cycle of the sweeping signal, and the high level of the connected reverse high level short-circuits the two ends of the motor.

[0186] In a possible implementation, the control module 1620 can be further configured to control the motor to vibrate and make sound based on a sound track driving signal, the execution frequency of the sound track driving signal is greater than or equal to 10 KHZ and less than or equal to 22.05 KHZ; and / or, control the motor to vibrate and make sound based on the sound track driving signal, the sound track driving signal is obtained by sampling processing of a sound track signal according to a preset sampling rate, and the preset sampling rate is greater than or equal to 10 KHZ and less than or equal to 22.05 KHZ.

[0187] In a possible implementation, when the vibration signal satisfies a first condition, the rotation angle of the mover away from the reference axis when the mover vibrates under the control of the high level is greater than the rotation angle of the mover toward the reference axis when the mover vibrates under the control of the low level and / or the reverse high level; and / or, when the vibration signal satisfies a second condition, the rotation angle of the mover away from the reference axis when the mover vibrates under the control of the high level in the vibration signal is smaller than the rotation angle of the mover toward the reference axis when the mover vibrates under the control of the low level and / or the reverse high level in the vibration signal, so that the reference shaft rotates toward the reference axis.

[0188] In a possible implementation, the first condition is met by each of the vibration signals in the sweep signal in sequence, and then the second condition is met; and / or, the sweep signal is a periodic signal, the vibration signals in the first half cycle of the sweep signal are opposite in polarity to the vibration signals in the second half cycle of the sweep signal, the first condition is met by each of the vibration signals in the sweep signal in sequence in the first half cycle, then the second condition is met, and the first condition is met by each of the vibration signals in the sweep signal in sequence in the second half cycle, then the second condition is met.

[0189] In a possible implementation, the frequencies of the vibration signals in the sweep signal are the same; or the frequencies of the vibration signals in the sweep signal are different; and / or, the high-level duration of each of the vibration signals in the sweep signal is the same or gradually increases or decreases in sequence, and / or, the low-level duration of each of the vibration signals in the sweep signal is the same or gradually increases or decreases in sequence, and / or, the reverse high-level duration of each of the vibration signals in the sweep signal is the same or gradually increases or decreases in sequence; and / or, each of the vibration signals in the sweep signal is repeated continuously for a plurality of times; and / or, the rotation angle of the reference axis relative to the reference axis changes at equal angles; and / or, the frequencies of the vibration signals corresponding to different vibration amplitudes of the mover are different; the lower the frequency of the vibration signal, the greater the vibration amplitude of the mover; and / or, the motor is provided with a limiting device configured to limit the maximum movement range of the mover; and / or, the mover is reset to the same predetermined reference axis each time the mover vibrates, and the reference axis is a fixed reference axis of the movement of the mover.

[0190] The division of each module of the motor control apparatus of the oral care device is only provided as an example, and in other embodiments, the motor control apparatus of the oral care device can be divided into different modules as needed to complete all or part of the functions of the motor control apparatus of the oral care device. The implementation of each module of the motor control apparatus of the oral care device provided in the embodiments of the present specification can be in the form of a computer program. The computer program can run on the oral care device. The program modules formed by the computer program can be stored on the memory of the oral care device. When the computer program is executed by the processor, all or part of the steps of the motor control method of the oral care device described in the embodiments of the present specification are implemented.

[0191] Next, please refer to FIG. 17, which shows a structural schematic diagram of an oral care device according to an embodiment of the present application. As shown in FIG. 17, the oral care device 1700 can include at least one processor 1710, a network interface 1720, a user interface 1730, a memory 1740, a motor 1750, and at least one communication bus 1760.

[0192] The communication bus 1760 is configured to realize the connection and communication between the components.

[0193] The network interface 1720 can optionally include a Bluetooth module, a Near Field Communication (NFC) module, a Wi-Fi module, and the like.

[0194] The user interface 1730 can include a display and a keypad. Optionally, the user interface 1730 can further include a standard wired interface, a wireless interface.

[0195] The motor 1750 includes a rotor and is configured to control the rotor to vibrate based on a driving signal.

[0196] The processor 1710 can include one or more processing cores. The processor 1710 connects various parts of the oral care device 1700 through various interfaces and lines, and performs various functions of the oral care device 1700 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1740, and calling data stored in the memory 1740. Optionally, the processor 1710 can be implemented in at least one of a Digital Signal Processing (DSP), a Field-Programmable Gate Array (FPGA), and a Programmable Logic Array (PLA). The processor 1710 can be integrated with a combination of one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. The CPU is mainly used to process operating systems and application programs, etc. The GPU is configured to render and draw the content to be displayed on the display. The modem is configured to process wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 1710, but can be implemented by a separate chip.

[0197] The memory 1740 can include a random access memory (RAM) and can also include a read-only memory (ROM). Optionally, the memory 1740 includes a non-transitory computer-readable storage medium. The memory 1740 can be configured to store instructions, programs, codes, code sets, or instruction sets. The memory 1740 can include a program storage area and a data storage area, where the program storage area can store instructions configured to implement an operating system, instructions configured to at least one function (such as a obtaining function, a control function, etc.), instructions configured to implement the various method embodiments described above, etc., and the data storage area can store data related to the various method embodiments described above, etc. The memory 1740 can optionally be at least one storage device located remotely from the processor 1710. As shown in FIG. 17, the memory 1740, as a computer storage medium, can include an operating system, a network communication module, a user interface module, and program instructions.

[0198] In some possible embodiments, the processor 1710 can be configured to invoke the program instructions stored in the memory 1740 and specifically execute the motor control process described in any of the embodiments described above.

[0199] The embodiments of the present application also provide a computer-readable storage medium having instructions stored therein, which, when executed on a computer or a processor, cause the computer or the processor to perform one or more steps of the above-described embodiments. The various constituent modules of the motor control device of the oral care device described above, if implemented in the form of software function units and sold or used as independent products, can be stored in the computer-readable storage medium.

[0200] In the above embodiments, all or part of the methods can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the methods can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in or transmitted by a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes one or more available media sets. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital versatile disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0201] Those of ordinary skill in the art understand that all or part of the processes in the above-described embodiments can be implemented by a computer program instructing relevant hardware, which can be stored in a computer-readable storage medium. The program can include the processes of the above-described embodiments when executed. The storage medium includes ROM, RAM, magnetic or optical disks, and various media that can store program codes. In the absence of conflicts, the technical features in the embodiments and implementations can be combined arbitrarily.

[0202] The above-described embodiments are merely preferred embodiments of the present application and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those of ordinary skill in the art should fall within the scope of protection determined by the claims of the present application.

Claims

1. A method for controlling a motor in an oral care device, the oral care device including a motor, the motor including a mover, the method comprising; Obtain the drive signal; The drive signal controls the mover to reciprocate relative to the reference axis, and controls the position of the reference axis to change, so as to increase the coverage of the vibration; the vibration includes linear vibration or rotational vibration. in, The driving signal is a pre-set signal.

2. The method according to claim 1, wherein the mover reciprocates relative to the reference axis, and the position of the reference axis is controlled to change, comprising: The mover moves in the first direction, and when it fails to move in the opposite direction, it is controlled to move in the first direction again to change the position of the reference axis.

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

4. The method according to claim 3, wherein controlling the rotation of the reference axis relative to the reference axis based on the drive signal comprises: When the moving part is controlled to vibrate based on the driving signal, the rotation angle toward the reference axis is greater than the rotation angle away from the reference axis, so that the reference axis rotates toward the reference axis; And / or, control the rotation angle away from the reference axis when the mover vibrates to be greater than the rotation angle toward the reference axis, so that the reference axis rotates away from the reference axis.

5. The method according to claim 1, wherein controlling the reciprocating vibration of the mover relative to the reference axis based on the driving signal comprises: The drive signal controls the mover to reciprocate linearly or rotate relative to the reference axis, causing the mover to vibrate. Alternatively, the motor includes a reset mechanism for resetting to a reference axis, and the drive signal controls the mover to move away from the reference axis. The reset mechanism drives the mover to move toward the reference axis, causing the mover to vibrate.

6. The method according to claim 1, further comprising: The drive signal controls the mover to vibrate relative to the reference axis with a preset amplitude, and controls the reference axis to move to change the vibration center, wherein the preset amplitude of the vibration is less than the range of motion of the reference axis; or, the drive signal controls the vibration amplitude of the mover to gradually increase and changes the position of the reference axis; or, the drive signal controls the vibration amplitude of the mover to gradually decrease and changes the position of the reference axis.

7. The method according to claim 6, further comprising: Based on the driving signal, the rotation angle of the mover away from the reference axis is equal to the rotation angle toward the reference axis during each vibration, so that the mover returns to the reference axis position after each vibration; and / or, based on the driving signal, the rotation angle of the mover away from the reference axis is equal to the rotation angle toward the reference axis during multiple consecutive vibrations, and the rotation angle remains unchanged, so that the mover vibrates continuously multiple times at equal angles relative to the reference axis while the reference axis remains unchanged.

8. The method according to claim 1, further comprising: Based on the drive signal, the distance or rotation angle of the reference axis relative to the reference axis gradually increases with the increase of the number of vibrations; Alternatively, the distance or angle of the reference axis relative to the reference axis may be gradually reduced as the number of vibrations increases, based on the drive signal; or the distance or angle of the reference axis relative to the reference axis may be gradually increased to a first preset distance or angle and then gradually reduced, based on the drive signal.

9. The method according to claim 8, further comprising: Based on the drive signal, the rotation angle of the reference axis relative to the reference axis gradually increases in the first direction to a second preset angle and then gradually decreases as the number of vibrations increases. Then, it gradually increases in the opposite direction to the first direction to a third preset angle and then gradually decreases.

10. The method according to claim 4, further comprising: Based on the drive signal, the rotor is controlled to rotate at the same angle toward the reference axis and / or rotate at the same angle away from the reference axis each time it vibrates.

11. The method according to claim 4, 6, or 8, further comprising: The rotation angle of the reference axis relative to the base axis is controlled by the drive signal to change at a constant angle.

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

13. The method according to claim 1, further comprising: Based on the driving signal, when the mover is controlled to vibrate at different amplitudes, the corresponding vibration frequencies are different; The greater the amplitude of the vibration of the mover, the lower the corresponding vibration frequency.

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

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

16. The method according to claim 1, wherein the driving signal comprises a plurality of sweeping signals, and each sweeping signal comprises a plurality of vibration signals; the method further comprises: The vibration of the mover is controlled based on the vibration signal; The sweeping signal controls the vibration of the mover, and the position of the reference axis is switched to form a sweeping motion.

17. The method according to claim 16, further comprising: The sweeping signal controls the movement of the mover to rotate in a first direction based on the high level of the vibration signal within the sweeping signal, and controls the movement of the mover to rotate in the opposite direction to the first direction based on the low level or reverse high level of the vibration signal, so as to control the vibration of the mover; and / or, the sweeping signal is a periodic signal, the first half-cycle and the second half-cycle of the sweeping signal have opposite polarities of vibration signals, and the first half-cycle and the second half-cycle of the sweeping signal respectively control the reference axis to sweep in the regions on both sides of the reference axis.

18. The method according to claim 17, wherein the first half-cycle and the second half-cycle of the sweep signal are connected by a low level, and the total duration of the low level connection is longer than a preset duration.

19. The method according to claim 1, wherein the waveform of the drive signal is one or more of a sine wave, a square wave, and a triangular wave; and / or, the drive signal is an electrical signal; and / or, open-loop control is formed on the motor actuator based on the drive signal.

20. The method according to claim 1, wherein the driving signal comprises a plurality of sweeping signals, and each sweeping signal comprises a plurality of vibration signals; The method of controlling the mover to reciprocate relative to the reference axis based on the driving signal, and controlling the position of the reference axis to change, so as to increase the coverage of the vibration, includes: The moving element is controlled to move in a first direction based on a high level of the vibration signal, and to move in the opposite direction to the first direction based on a low level and / or a reverse high level of the vibration signal, so as to reciprocate relative to the reference axis; the moving element is controlled to vibrate based on the sweeping signal, and the position of the reference axis is changed to form a sweeping motion, so as to increase the coverage of the vibration.

21. The method according to claim 20, wherein controlling the vibration of the mover based on the sweeping signal and changing the position of the reference axis to form the sweeping motion comprises: Within the sweeping signal, after controlling the mover to rotate in the first direction based on a high level, the mover is controlled to reverse relative to the first direction based on a low level and / or a reverse high level, and if the reversal is not complete, the mover is controlled to rotate in the first direction again based on a high level to change the rotation angle of the reference axis.

22. The method according to claim 20, wherein the motor includes a reset mechanism, the reset mechanism being configured to reset the mover toward a reference axis; the reference axis is a fixed reference axis for the movement of the mover; Under the high level of the vibration signal, the mover moves away from the reference axis; When the vibration signal is at a low level and / or a reverse high level, the reset mechanism drives the mover to move toward the reference axis.

23. The method according to claim 22, wherein the reset mechanism is an elastic element reset mechanism; The greater the rotation angle of the reference shaft relative to the reference shaft, the longer the duration of the high level in the vibration signal when controlling the movement of the mover by the same angle; and / or, the greater the rotation angle of the reference shaft relative to the reference shaft, the shorter the duration of the reverse high level in the vibration signal when controlling the movement of the mover by the same angle; when the rotation angle of the reference shaft relative to the reference shaft is greater than a first preset angle, the duration of the reverse high level in the vibration signal is 0.

24. The method according to claim 22, wherein the reset mechanism is a magnetic reset mechanism; The smaller the rotation angle of the reference axis relative to the reference axis, the longer the duration of the high level in the vibration signal when controlling the mover to move away from the reference axis by the same angle; and / or, the smaller the rotation angle of the reference axis relative to the reference axis, the shorter the duration of the reverse high level in the vibration signal when controlling the mover to move by the same angle; when the rotation angle of the reference axis relative to the reference axis is less than the second preset angle, the duration of the reverse high level in the vibration signal is 0.

25. The method according to claim 20, wherein a high level of the vibration signal controls the mover to rotate in a first direction, a low level of the vibration signal does not drive the mover to move, and a reverse high level of the vibration signal controls the mover to rotate in the opposite direction to the first direction; and / or, the pulse width of the vibration signal cyclically changes according to a pattern of first increasing and then decreasing; and / or, the sweeping signal is a periodic signal, the first half-cycle and the second half-cycle of the sweeping signal have opposite polarities, and the first half-cycle and the second half-cycle of the sweeping signal respectively control the reference axis to sweep in the regions on both sides of the reference axis; The first half-cycle and the second half-cycle of the sweeping signal are connected by a low level, and the total duration of the low level connection is longer than a preset duration; or, the first half-cycle and the second half-cycle of the sweeping signal are connected by a reverse high level, and the high level connection short-circuits the two ends of the motor.

26. The method according to claim 1, further comprising: The motor vibrates and produces sound based on a track drive signal, wherein the execution frequency of the track drive signal is greater than or equal to 10 kHz and less than or equal to 22.05 kHz; and / or, the motor vibrates and produces sound based on the track drive signal, wherein the track drive signal is obtained by sampling the track signal according to a preset sampling rate, wherein the preset sampling rate is greater than or equal to 10 kHz and less than or equal to 22.05 kHz.

27. The method according to claim 20, wherein when the vibration signal satisfies a first condition, the rotation angle away from the reference axis when the high level controls the movement of the mover to vibrate is greater than the rotation angle toward the reference axis when the low level and / or reverse high level in the vibration signal controls the movement of the mover to vibrate; and / or, when the vibration signal satisfies a second condition, the rotation angle away from the reference axis when the high level in the vibration signal controls the movement of the mover to vibrate is less than the rotation angle toward the reference axis when the low level and / or reverse high level in the vibration signal controls the movement of the mover to vibrate, so that the reference axis rotates toward the reference axis.

28. The method according to claim 27, wherein each vibration signal in the sweeping signal satisfies the first condition in sequence before satisfying the second condition; and / or, the sweeping signal is a periodic signal, wherein the polarities of the vibration signals in the first half-cycle and the second half-cycle of the sweeping signal are opposite, wherein each vibration signal in the sweeping signal satisfies the first condition in sequence in the first half-cycle before satisfying the second condition, and satisfies the first condition in sequence in the second half-cycle before satisfying the second condition.

29. The method according to claim 20, wherein the frequencies of the vibration signals within the sweeping signal are the same; or, the frequencies of the vibration signals within the sweeping signal are different; and / or, the duration of the high level in each vibration signal within the sweeping signal is the same or gradually increases or decreases sequentially, and / or, the duration of the low level is the same or gradually increases or decreases sequentially, and / or, the duration of the reverse high level is the same or gradually increases or decreases sequentially; and / or, each vibration signal within the sweeping signal is repeated continuously multiple times; and / or, the rotation angle of the reference axis relative to the reference axis changes at equal angles; and / or, when the mover vibrates with different amplitudes, the frequencies of the corresponding vibration signals are different; the lower the frequency of the vibration signal, the greater the vibration amplitude when the mover vibrates; and / or, the motor is provided with a limiting device, the limiting device being configured to limit the maximum range of motion of the mover; and / or, the mover resets to the same predetermined reference axis each time it vibrates, the reference axis being a fixed reference axis for the movement of the mover.

30. The method according to claim 16 or 20, further comprising: The vibration frequency of the mover is controlled based on the frequency corresponding to the vibration signal. And / or, The vibration amplitude of the mover is controlled based on the duty cycle corresponding to the vibration signal; And / or, The sweeping amplitude of the reference axis is controlled based on the duration of the high level and / or the duty cycle of each vibration signal within the sweeping signal; and / or, the sweeping frequency of the reference axis is controlled based on the duration of the high level and / or the duty cycle and / or the frequency of each vibration signal within the sweeping signal.

31. An oral care device, the oral care device including a motor, the oral care device performing the steps of acquiring a drive signal, and controlling the mover to reciprocate relative to a reference axis based on the drive signal, and controlling the position of the reference axis to change to increase the coverage of the vibration; the vibration including linear vibration or rotational vibration.

32. The oral care device according to claim 31, wherein the oral care device has multiple gears or modes, and different gears or modes correspond to different drive signal parameters; the drive signal parameters include at least one of vibration frequency, vibration amplitude, sweeping amplitude and sweeping speed.

33. A motor control device for an oral care device, the oral care device including a motor, the motor including a mover, the device comprising: The acquisition module is configured to acquire drive signals. The control module is configured to control the mover to reciprocate relative to the reference axis based on the drive signal, and to control the position of the reference axis to change, so as to increase the coverage of the vibration; the vibration includes linear vibration or rotational vibration; The driving signal is a pre-set signal.

34. An oral care device, comprising: Processor and memory; The memory is configured to store a computer program adapted to be loaded and executed by the processor to acquire a drive signal and control the mover to reciprocate relative to a reference axis based on the drive signal, and to control the position of the reference axis to change in order to increase the coverage of the vibration; the vibration includes linear vibration or rotational vibration.

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