CN117614339B

CN117614339B - Method and device for controlling motor, storage medium and oral care equipment

Info

Publication number: CN117614339B
Application number: CN202311407383.XA
Authority: CN
Inventors: 王萌; 陈师
Original assignee: Guangzhou Stars Pulse Co Ltd
Current assignee: Guangzhou Stars Pulse Co Ltd
Priority date: 2023-10-16
Filing date: 2023-10-26
Publication date: 2024-06-18
Anticipated expiration: 2043-10-26
Also published as: CN118304031A; CN118381413A; CN118381412A; CN117379211A; CN117614339A; CN118304030A; CN118217039A

Abstract

The embodiment of the application discloses a control method and a device of a motor, a storage medium and oral care equipment, which are applied to the oral care equipment, wherein the oral care equipment comprises the motor, and the motor comprises a rotor, and the method comprises the following steps: and acquiring a swinging parameter corresponding to the rotor, acquiring a rotating parameter corresponding to the rotor, controlling the rotor to swing reciprocally by taking the reference position as a reference zero axis based on the swinging parameter, and controlling the rotor to rotate based on the rotating parameter so as to change the reference position, so as to increase the target swing of the rotor in the circumferential direction. By adopting the method, the rotor is controlled to rotate in the reciprocating swing process of the rotor to change the reference position so as to increase the actual swing amplitude of the rotor in the circumferential direction, so that the swing amplitude of the brush head driven by the rotor can be increased, and further the swing area of the bristles in the middle area on the brush head can be increased, namely the tooth surface area which can be cleaned by the bristles in the middle area is increased, and the cleaning effect and the cleaning quality of the oral care equipment are improved.

Description

Method and device for controlling motor, storage medium and oral care equipment

Technical Field

The application relates to the technical field of oral cavity cleaning, in particular to a control method and device of a motor, a storage medium and oral cavity nursing equipment.

Background

In the related art, electric toothbrushes are classified into acoustic wave electric toothbrushes and rotary electric toothbrushes. The sound wave electric toothbrush mainly depends on the operation of a motor in the toothbrush to drive the toothbrush head to swing at a high speed in the working process, and the toothbrush head can generate mechanical vibration, namely sound wave in the moving process. The sound waves generated by the sound wave electric toothbrush in the running process have different cleaning effects on teeth due to different frequencies. The rotary electric toothbrush mainly utilizes the operation of a motor in the toothbrush to drive the round brush head to rotate, and directly rubs with teeth, so that the cleanliness is high. In daily life, the two electric toothbrushes provide options for users with different preferences.

Disclosure of Invention

The embodiment of the application provides a motor control method, a motor control device, a storage medium and oral care equipment. The technical scheme is as follows:

in a first aspect, embodiments of the present application provide a method of controlling a motor for use with an oral care device, the oral care device including a motor including a rotor, the method comprising:

obtaining swing parameters corresponding to the rotor and rotation parameters corresponding to the rotor;

And controlling the rotor to reciprocate by taking the reference position as a reference zero axis based on the oscillation parameter, and controlling the rotor to rotate based on the rotation parameter to change the reference position so as to increase the target oscillation amplitude of the rotor in the circumferential direction.

In a second aspect, embodiments of the present application provide a control apparatus for a motor for use with an oral care device, the oral care device including a motor including a rotor, the apparatus comprising:

the parameter acquisition module is used for acquiring swing parameters corresponding to the rotor and rotating parameters corresponding to the rotor;

and the swing control module is used for controlling the rotor to swing reciprocally by taking the reference position as a reference zero axis based on the swing parameter, and controlling the rotor to rotate based on the rotation parameter so as to change the reference position, so as to increase the target swing of the rotor in the circumferential direction.

In a third aspect, embodiments of the present application provide a computer storage medium having a plurality of instructions adapted to be loaded by a processor and to perform the above-described method steps.

In a fourth aspect, an embodiment of the present application provides an electronic device, which may include: a memory and a processor; wherein the memory stores a computer program adapted to be loaded by the memory and to perform the above-mentioned method steps.

The technical scheme provided by the embodiment of the application has the beneficial effects that at least:

In an embodiment of the application, an oral care device comprises a motor, wherein the motor comprises a rotor, swing parameters corresponding to the rotor are obtained, rotation parameters corresponding to the rotor are obtained, the rotor is controlled to swing reciprocally by taking a reference position as a reference zero axis based on the swing parameters, and the rotor is controlled to rotate based on the rotation parameters so as to change the reference position, so that the target swing of the rotor in the circumferential direction is increased. By adopting the method, in the embodiment of the application, the rotor is controlled to rotate to change the reference position in the process of reciprocating swing of the rotor by taking the reference position as a zero axis reference, so that the actual swing amplitude of the rotor in the circumferential direction is increased, the swing amplitude of the brush head driven by the rotor can be increased, the swing area of the bristles in the middle area on the brush head can be increased, namely the tooth surface area which can be cleaned by the bristles in the middle area is increased, and the cleaning effect and the cleaning quality of the oral care equipment are improved.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention and that other drawings may be obtained from them without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of an oral care device according to an embodiment of the present application;

fig. 2 is a flow chart of a control method of a motor according to an embodiment of the present application;

FIG. 3 is a schematic illustration of the position of a reference position according to an embodiment of the present application;

Fig. 4 is a flow chart of another method for controlling a motor according to an embodiment of the present application;

fig. 5 is a flow chart of a control method of another motor according to an embodiment of the present application;

fig. 6 is a flowchart of a control method of another motor according to an embodiment of the present application;

fig. 7 is a flowchart of a control method of another motor according to an embodiment of the present application;

fig. 8 is a flowchart of a control method of another motor according to an embodiment of the present application;

fig. 9 is a flowchart of a control method of another motor according to an embodiment of the present application;

fig. 10 is a flowchart of a control method of another motor according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a control device for a motor according to an embodiment of the present application;

fig. 12 is a schematic view of an oral care device according to an embodiment of the present application.

Detailed Description

In order to make the objects, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present application, it should be noted that, unless expressly specified and limited otherwise, "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship.

In the related art, the electric toothbrush cleans tooth surfaces through the reciprocating swing of the brush head, and the motor shaft for driving the brush head is based on the fixed zero-axis position to perform the reciprocating swing, so that in the process of using the electric toothbrush realized by using the principle, the brush head needs to be manually moved up and down to clean all tooth surfaces, but the manual operation cannot ensure that the residence time of the brush head on any tooth surface is completely consistent, and the problem of poor tooth surface cleaning effect caused by different tooth surface cleaning degrees exists. Therefore, how to improve the cleaning effect of the tooth surface of the electric toothbrush is a technical problem to be solved.

The present application will be described in detail with reference to specific examples.

Referring to fig. 1, a schematic structural diagram of an oral care device according to an embodiment of the present application is provided. As shown in fig. 1, fig. 1 includes an oral care device including a base including a motor including a rotor and a care element. Wherein, the motor embedding is inside the base, and nursing piece is connected with the base.

In the embodiment of the application, the motor can also comprise a center shaft, a bearing, a stator, a magnet, copper meson, a coil, a position detection element, a printed circuit board and other elements besides the rotor. The position detecting element may be a hall element, an optical element, or the like having a position detecting function.

In embodiments of the application, the care element may be a detachable element. More specifically, when the oral care device is an electric toothbrush, the care implement may be a brush head consisting of a brush stem and bristles; when the oral care device is an intelligent oral care device other than an electric toothbrush, the care piece can be an oral scanning device, a camera can be included in the oral scanning device, and images in the oral cavity can be acquired by the camera in the oral scanning device.

Specifically, when the oral care device is in an operating state, that is, when the motor is in an operating state, the rotor can perform reciprocating swing in two opposite directions around the corresponding circumferential rotation path of the rotor, and in the process of the reciprocating swing, the zero-axis position referred to by the reciprocating swing of the rotor can be changed through rotation of the rotor. When the position of the zero shaft is changed, the swing amplitude of the reciprocating swing of the rotor is also increased, so that the swing amplitude of the brush head driven by the rotor can be increased, and the swing area of the bristles in the middle area on the brush head can be increased, namely the tooth surface area which can be cleaned by the bristles in the middle area is increased, and the cleaning effect and the cleaning quality of the oral care equipment are improved.

In the following method embodiments, for convenience of explanation, only the execution subject of each step will be described as an oral care device.

Fig. 2 is a schematic flow chart of a motor control method according to an embodiment of the application. The method of the embodiment of the present application may be applied to the oral care device shown in fig. 1, and as shown in fig. 2, may include the steps of:

s201, obtaining swing parameters corresponding to the rotor and obtaining rotation parameters corresponding to the rotor.

It is easy to understand that the wobble parameters may include parameters of wobble direction, wobble angle, wobble frequency, etc. The swing direction may include a clockwise pointer swing direction and a counterclockwise swing direction of the rotor within the circumference, the clockwise swing direction and the counterclockwise swing direction being opposite directions. The swing angle refers to a swing angle of a rotor that swings in a single reciprocation within a circumference. The wobble frequency refers to the number of times the rotor reciprocates at a wobble angle in one wobble period. When the oral care device is an electric toothbrush, the values of the parameters included in the oscillation parameters may be different in different brushing modes.

The rotation parameters may include parameters such as a rotation direction, a rotation angle, a rotation frequency, a rotation time period, and the like. The rotational direction may include a clockwise pointer rotational direction and a counterclockwise rotational direction of the rotor within the circumference, the clockwise rotational direction and the counterclockwise rotational direction being opposite directions. The rotation angle refers to a rotation angle of the rotor in a single rotation in the circumference. The rotational frequency refers to the number of times the rotor rotates in one rotational cycle. Where the oral care device is an electric toothbrush, the values of the parameters included in the rotational parameters may be different in different brushing modes.

In some embodiments, the step of obtaining the swing parameter corresponding to the rotor and obtaining the rotation parameter corresponding to the rotor may specifically include: and obtaining the swing parameters corresponding to the rotor according to the current tooth brushing mode, and obtaining the rotation parameters corresponding to the rotor according to the current tooth brushing mode. The oscillation parameters and rotation parameters adapted to different brushing modes may be preconfigured for different brushing modes. For example, brushing modes may include a standard cleaning mode, a whitening cleaning mode, and a deep cleaning mode, which are configurable for a swing angle among swing parameters: the swing angle corresponding to the standard cleaning mode is smaller than the swing angle corresponding to the whitening mode, and the swing angle corresponding to the whitening mode is smaller than the swing angle corresponding to the deep cleaning mode; for this one of the rotation parameters, the rotation frequency may be configured to: the rotation frequency corresponding to the standard cleaning mode is smaller than the rotation frequency corresponding to the whitening mode, and the rotation frequency corresponding to the whitening mode is smaller than the rotation frequency corresponding to the deep cleaning mode.

And S202, controlling the rotor to reciprocate by taking the reference position as a reference zero axis based on the oscillation parameter, and controlling the rotor to rotate based on the rotation parameter to change the reference position so as to increase the target oscillation amplitude of the rotor in the circumferential direction.

It is easy to understand that the reference position refers to a position of a certain angle on a circumferential rotation path of the rotor, and the circumferential rotation path may refer to an arc path with a central angle smaller than 180 degrees, an arc path with a central angle equal to 180 degrees, or an arc path with a central angle greater than 180 degrees.

The target oscillation amplitude refers to the actual oscillation amplitude that the rotor can cover in the circumferential direction.

In some embodiments, controlling the rotor to reciprocate about the reference position as a reference zero axis based on the oscillation parameters may be understood as: when the oral care equipment is in a state of running a tooth brushing mode, the rotor can reciprocate according to the oscillation parameters in a set control program by taking the reference position as a reference zero axis, namely the rotor firstly oscillates around a clockwise oscillation direction by taking the reference position as the reference zero axis to reach a first position, then oscillates around a anticlockwise oscillation direction from the first position to reach a second position, then oscillates around the clockwise oscillation direction from the second position to reach the reference position, the rotor reaches the first position from the reference position, reaches the second position from the first position, then arrives at the reference position from the second position to be called one-time reciprocating oscillation, and the rotor reciprocates for a plurality of times according to the oscillation frequency; the angle difference between the first position and the reference position is a swing angle, and the angle difference between the second position and the reference position is also a swing angle.

And controlling the rotation of the rotor based on the rotation parameter to change the reference position to increase the target swing of the rotor in the circumferential direction, it can be understood that: in the process of reciprocating swing of the rotor, when a preset rotation condition is reached, the rotor can rotate according to rotation parameters in a set control program to change a reference position so as to increase the target swing of the rotor in the circumferential direction. The preset rotation conditions may include conditions such as a preset duration condition, a preset number of times condition, a preset angle condition, and the like. The preset time length condition is reached, which can be understood that the total time length of the reciprocating swing taking the reference position as the reference zero axis reaches the preset time length. The preset number of times condition is reached, which is understood as that the number of times of reciprocating swing with the reference position as the reference zero axis reaches the preset number of times. The preset angle condition is reached, and it can be understood that the total swing angle of the reciprocating swing with the reference position as the reference zero axis reaches the preset angle.

The rotor can rotate according to the rotation parameters in the established control program to change the reference position, namely the center shaft of the rotor rotates according to the rotation parameters in the established program to change the reference position, the center shaft of the rotor rotates once around the rotation direction, the rotation angle of the center shaft in the rotation process is the rotation angle, after the rotation process, the position reached by the center shaft is used as a first reference position, and the rotor is controlled to swing reciprocally by taking the first reference position as a reference zero shaft. The rotation process is one rotation, and multiple rotations can be performed according to the rotation frequency, namely each rotation can reach a new reference position, and when the new reference position is reached, the rotor swings back and forth by taking the new reference position as a datum zero axis.

Regarding the function of the rotor to achieve the target swing of the rotor in the circumferential direction by the above-described rotation, explanation will be made below with reference to the schematic diagram of the reference position shown in fig. 3. In the case of keeping the reference position unchanged, that is, the reference position is always the reference position, assuming that the reference position is the 0 degree position in fig. 3, the swing angle in the swing parameter is 5 degrees, the actual swing of the rotor in the circumferential direction is only 10 degrees, and consists of 5 degrees in the counterclockwise direction of 0 degrees to 5 degrees in the clockwise direction of 0 degrees. In the case of changing the reference position, when the reference position is changed from the 0 degree position to the 10 degree position in the clockwise direction of 0 degrees, the maximum swing angle attainable in the clockwise direction is: 15 degrees in the clockwise direction of 0 degrees, namely, the rotor swings 5 degrees from 10 degrees in the clockwise direction to 15 degrees in the clockwise direction of 0 degrees; the maximum swing angle achievable in the counterclockwise direction is: a 5 degree counterclockwise rotation of 0 degrees, i.e., a 5 degree rotor swinging counterclockwise from 0 degrees may reach a 5 degree counterclockwise rotation of 0 degrees. When the reference position is changed, the actual swing of the rotor in the circumferential direction can be changed to 20 degrees, and the swing area corresponding to 20 degrees can be covered by swinging, wherein the swing area consists of 5 degrees in the anticlockwise direction of 0 degrees and 15 degrees in the clockwise direction of 0 degrees.

Optionally, for the oscillation frequency of the oscillation parameters and the rotation parameter of the rotation parameters, when the oscillation frequency and the rotation frequency exist in one brushing mode at the same time, the oscillation frequency and the rotation frequency are positively correlated. This is because if the oscillation frequency is high and the rotation frequency is low, the oscillation is dominant in this brushing mode, and the result of the enhanced cleaning effect by the rotation is affected.

Optionally, in different brushing modes, the corresponding oscillating frequency of each brushing mode is a different frequency. The range of the swing frequency is 2000 HZ-66000 HZ.

Optionally, in different brushing modes, the corresponding rotational frequency of each brushing mode is a different frequency. The value range of the rotation frequency in one period is between 5 times and 14 times.

Optionally, the value range of the swing angle is between 2 degrees and 15 degrees for the swing angle in the swing parameters.

Alternatively, for the rotation angle in the above rotation parameters, the value of the rotation angle may be 0.5 degrees.

For example, taking the range of the swing angle of the center shaft as 2 degrees to 15 degrees and the rotation angle of the center shaft as 0.5 degrees, the method can realize the swing of 5 degrees to 15 degrees clockwise or 5 degrees to 15 degrees anticlockwise at specific positions such as 0 degrees, 0.5 degrees, 1 degrees, 1.5 degrees, 2 degrees, 2.5 degrees, 3 degrees, 3.5 degrees, 4 degrees, 4.5 degrees, 5 degrees and the like.

Alternatively, the central axis of the rotor may also have a limited rotation angle, i.e. the maximum rotation angle that can be achieved by a number of rotations in a certain direction with the rotation angle. The limit rotation angle of the central shaft is 15 degrees, and the swing angle of the central shaft is 15 degrees, so that the actual swing angle of the central shaft can reach 30 degrees in the clockwise direction and 30 degrees in the anticlockwise direction at the maximum, and the total actual swing angle can reach 60 degrees, therefore, the actual swing angle of the central shaft can be greatly increased by adopting the method.

In an embodiment of the application, an oral care device comprises a motor, wherein the motor comprises a rotor, swing parameters corresponding to the rotor are obtained, rotation parameters corresponding to the rotor are obtained, the rotor is controlled to swing reciprocally by taking a reference position as a reference zero axis based on the swing parameters, and the rotor is controlled to rotate based on the rotation parameters so as to change the reference position, so that the target swing of the rotor in the circumferential direction is increased. By adopting the method, in the embodiment of the application, the rotor is controlled to rotate to change the reference position in the process of reciprocating swing of the rotor by taking the reference position as a zero axis reference, so that the actual swing amplitude of the rotor in the circumferential direction is increased, the swing amplitude of the brush head driven by the rotor can be increased, the swing area of the bristles in the middle area on the brush head can be increased, namely the tooth surface area which can be cleaned by the bristles in the middle area is increased, and the cleaning effect of the oral care equipment is improved.

Optionally, based on the embodiment of the method shown in fig. 2, the oral care device may further include an oral scanning device, and the method shown in fig. 2 may further obtain a target rotation parameter corresponding to the oral scanning device, and control the rotation of the rotor based on the target rotation parameter. The target rotation parameters may include parameters such as rotation time length, rotation times, rotation angle, rotation frequency, and the like. That is, when applied to an oral scanning device, the rotor can be controlled to rotate only, that is, the rotor can be controlled to rotate without controlling the rotor to swing, that is, the rotor swing and the rotor rotation can be independently operated. Therefore, when the oral cavity is scanned, the automatic rotation can be used for enabling the scanning to be more comprehensive, and a better scanning effect is achieved.

Optionally, before performing the step of controlling the rotor to reciprocate with respect to the reference position as the reference zero axis based on the oscillation parameter, the method may further include: the control rotor is reset based on a first zero axis position of the rotor. The first zero-axis position may refer to a default position of the rotor, i.e. the start of the motor when running. In the embodiment of the present application, the first zero axis position may be the reference position in S202. Therefore, before the rotor swings and rotates, the brush head of the toothbrush is in the zero-axis position through resetting, so that the user can avoid the influence on the brushing effect caused by the fact that the user uses wrong angles and postures due to the angle of the brush head when brushing teeth.

And in performing the step of controlling the rotor to reset based on the first zero-axis position of the rotor, it may comprise in particular at least one of the following reset modes: resetting the rotor using magnetic force when the oral care device is not energized based on a first zero axis position of the rotor; when the oral care device is powered on, the current position corresponding to the rotor is detected, and the rotor is controlled to reset based on the current position and the first zero-axis position of the rotor. Under the condition that the oral care equipment is electrified, the current position of the motor can be automatically detected after the oral care equipment is electrified, and then the electromagnetic coil is electrified through position feedback to realize resetting.

Optionally, the control rotor resets based on a first zero axis position of the rotor when it is detected that the oral care device switches brushing modes during operation. In this way, resetting is performed when the brushing mode is switched, and it is possible to prevent the position of the rotor moving in the previous brushing mode from affecting the brushing position in the next brushing mode.

Optionally, at least one of the frequency and/or the duty cycle of the motor is gradually increased during a preset time when the motor starts to operate, and the reference position is not changed during the preset time.

Fig. 4 is a schematic flow chart of a motor control method according to an embodiment of the application.

As shown in fig. 4, the method according to the embodiment of the present application may include the following steps:

s401, obtaining swing parameters corresponding to the rotor and rotation parameters corresponding to the rotor.

Specifically, reference may be made to the explanation of the embodiment S201 shown in fig. 2, and the description thereof will not be repeated here.

And S402, controlling the rotor to reciprocate by taking the reference position as a reference zero axis based on the oscillation parameters.

Specifically, reference may be made to the explanation of S202 in the embodiment shown in fig. 2, and the details are not repeated here.

And S403, controlling the rotor to rotate based on the rotation parameters so as to switch the rotor from the reference position to the second reference position, and controlling the rotor to swing back and forth by taking the second reference position as a reference zero axis so as to increase the target swing of the rotor in the circumferential direction.

In some embodiments, S403 may specifically include the following steps: and controlling the rotor to reciprocate for a first preset time period by taking the reference position as a reference zero axis based on the oscillation parameters, controlling the rotor to rotate based on the rotation parameters so as to switch the rotor from the reference position to a second reference position, and controlling the rotor to reciprocate by taking the second reference position as the reference zero axis so as to increase the target oscillation amplitude of the rotor in the circumferential direction, wherein the reference position and the second reference position are separated by a first preset angle. Further, after the rotor is controlled to swing reciprocally for a second preset time period by taking the second reference position as a reference zero axis, the rotor is controlled to rotate based on the rotation parameters so as to switch the rotor from the second reference position to a third reference position, and the rotor is controlled to swing reciprocally by taking the third reference position as a reference zero axis, wherein the second reference position and the third reference position are separated by a second preset angle.

It should be noted that the reference position, the second reference position, and the third reference position are only partial positions where the rotor rotates during the rotation process, and not all positions where the rotor rotates during the rotation process, and the remaining rotation positions where the rotor rotates during the rotation process may be set with reference to the positional relationship among the reference position, the second reference position, and the third reference position.

Specifically, the first preset time length and the second preset time length can be the same, namely, for two adjacent rotations, the two adjacent rotations can be rotated after the reciprocating swing of the same preset time length, so that the target swing amplitude of the rotor in the circumferential direction is increased, and meanwhile, the swing time length of the brush head driven by the rotor in each tooth surface area can be ensured to be the same, and the effect of uniformly cleaning each tooth surface area is achieved.

Specifically, the first preset duration and the second preset duration can be different, that is, for two adjacent rotations, the rotation after the reciprocating oscillation with different preset durations can be set in a targeted manner, so that the target oscillation amplitude of the rotor in the circumferential direction is increased, and meanwhile, the brush head driven by the rotor can be ensured to oscillate for a larger oscillation duration in an important tooth surface area, so that the important tooth surface area can achieve a better cleaning effect.

Specifically, the first preset angle and the second preset angle can be the same, namely, for two adjacent rotations, the rotor can be controlled to rotate by adopting a uniform rotation angle, so that the target swing amplitude of the rotor in the circumferential direction is increased, and the brush head driven by the rotor can be ensured to realize uniform rotation, thereby achieving the effect of uniformly cleaning different tooth surface areas.

Specifically, the first preset angle and the second preset angle can be different, namely for two adjacent rotations, the rotor can be controlled to rotate by adopting a non-uniform rotation angle, so that the target swing amplitude of the rotor in the circumferential direction is increased, and the brush head driven by the rotor can be ensured to realize non-uniform rotation, so that important tooth surface areas are cleaned in a focused manner, non-important tooth surface areas are cleaned basically, and excessive cleaning of the non-important tooth surface areas is avoided on the basis of ensuring the cleaning effect of the important tooth surface areas.

Fig. 5 is a schematic flow chart of a motor control method according to an embodiment of the application.

As shown in fig. 5, the method according to the embodiment of the present application may include the following steps:

s501, obtaining swing parameters corresponding to the rotor and obtaining rotation parameters corresponding to the rotor.

And S502, controlling the rotor to reciprocate by taking the reference position as a reference zero axis based on the oscillation parameters.

And S503, controlling the rotor to perform reciprocating rotation by taking the reference position as a reference zero axis based on the rotation parameters so as to change the reference position, so as to increase the target swing of the rotor in the circumferential direction.

In some embodiments, S503 may specifically include the following steps: when the rotor rotates by a preset angle with the reference position as a reference zero axis, the rotor is controlled to reciprocally rotate by taking the next reference position corresponding to the preset angle as the reference zero axis so as to change the reference position, and the target swing of the rotor in the circumferential direction is increased.

Specifically, when the rotor rotates by a preset angle on the circumferential rotation path of the rotor with the reference position as a reference zero axis, the position of the preset angle on the circumferential rotation path can be used as the next reference position, so that the rotor can perform reciprocating rotation with the next reference position as the reference zero axis in the subsequent rotation processes for several times, the reference position is changed, and the target swing amplitude of the rotor in the circumferential direction is increased. Therefore, the target swing of the rotor in the circumferential direction is increased, and the rotor can drive the brush head to perform reciprocating rotation in the important tooth surface area so as to realize more reciprocating swinging, so that the important tooth surface area can achieve a better cleaning effect.

In some embodiments, S503 may specifically include the following steps: when the rotor rotates by a preset number of period time with the reference position as the reference zero axis and rotates by a preset angle, the rotor is controlled to reciprocate by taking the next reference position corresponding to the preset angle as the reference zero axis so as to change the reference position, and the target swing of the rotor in the circumferential direction is increased.

Specifically, when the rotor rotates on the circumferential rotation path of the rotor by a preset number of period durations with the reference position as the reference zero axis, and the rotor has rotated by a preset angle at this time, the position of the preset angle on the circumferential rotation path may be used as the next reference position, so that the rotor performs reciprocating rotation with the next reference position as the reference zero axis in the subsequent several rotation processes, so as to change the reference position, thereby realizing increasing the target swing of the rotor in the circumferential direction. Therefore, the target swing of the rotor in the circumferential direction is increased, and the rotor can drive the brush head to perform reciprocating rotation in the important tooth surface area so as to realize more times of reciprocating swing in a longer time, so that the important tooth surface area can achieve a better cleaning effect.

It should be noted that, the next reference position is located in the motion track of the rotor that reciprocates with the reference position as the reference zero axis, and therefore, the rotor can be directly switched to the next reference position in a reciprocating manner.

Fig. 6 is a schematic flow chart of a motor control method according to an embodiment of the application.

As shown in fig. 6, the method according to the embodiment of the present application may include the following steps:

S601, when the oral care equipment is started up or the motor is not operated, detecting the current position corresponding to the rotor through the position detection element.

The position detecting element may be a hall element, an optical element, or the like having a position detecting function.

In some embodiments, when the oral care device is started, the current position corresponding to the rotor can be detected by the position detecting element, so that the rotor is not required to be controlled to reset when the current position is the initial reference position, and the rotor is required to be controlled to reset when the current position is not the initial reference position.

In still other embodiments, when the motor is not running, the current position corresponding to the rotor may be detected by the position detecting element, so that the rotor does not need to be controlled to be reset when the current position is the initial reference position, and so that the rotor needs to be controlled to be reset when the current position is not the initial reference position.

And S602, if the current position is not the initial reference position, controlling the rotor to reset based on the initial reference position.

Wherein the initial reference position refers to the start point of the first swing process of the rotor.

In some embodiments, the step of controlling the rotor to reset based on the initial reference position may specifically include: the control rotor rotates in a clockwise or counter-clockwise direction from the current position to the initial reference position. Namely, when the current position corresponding to the rotor is in the anticlockwise direction of the initial reference position, the rotor needs to be rotated to the initial reference position in the clockwise direction so as to realize resetting; when the current position corresponding to the rotor is in the clockwise direction of the initial reference position, the rotor needs to be rotated to the initial reference position in the anticlockwise direction so as to realize resetting.

S603, obtaining swing parameters corresponding to the rotor and rotation parameters corresponding to the rotor.

And S604, controlling the middle shaft to reciprocate by taking the reference position as a reference zero axis based on the swinging parameters, and detecting the current position corresponding to the middle shaft through the position detection element.

In some embodiments, controlling the center axis to reciprocate with respect to the reference position as the reference zero axis based on the oscillation parameters can be understood as: when the oral care equipment is in a state of running a tooth brushing mode, the middle shaft can reciprocate according to the oscillation parameters in a set control program by taking the reference position as a reference zero axis, namely the middle shaft firstly oscillates around the clockwise oscillation direction by taking the reference position as the reference zero axis to reach a first position, then oscillates around the anticlockwise oscillation direction from the first position to reach a second position, then oscillates around the clockwise oscillation direction from the second position to reach the reference position, the middle shaft arrives at the first position from the reference position to reach the second position from the first position, then arrives at the reference position from the second position to be referred to as one-time reciprocating oscillation, and the middle shaft reciprocates for a plurality of times according to the oscillation frequency; the angle difference between the first position and the reference position is a swing angle, and the angle difference between the second position and the reference position is also a swing angle.

In the process of multiple reciprocating swinging, the swinging angle in each reciprocating swinging process can be different, specifically, the swinging angle in the swinging parameters can be configured to be increased by 0.1 degree when the reciprocating swinging is completed, and thus, along with the increase of the reciprocating swinging times, the circumferential swinging amplitude corresponding to the center shaft is also increased. In this scenario, the current position of the central shaft can be detected by the position detecting element during the process of the reciprocal oscillation of the central shaft, so as to determine whether the central shaft needs to be switched to the reference position for subsequent reciprocal oscillation according to the current position.

And S605, if the current position is the next reference position corresponding to the reference position, controlling the center shaft to swing reciprocally by taking the next reference position as a reference zero axis so as to increase the target swing of the center shaft in the circumferential direction.

In some embodiments, when the current position is the next reference position corresponding to the reference position, the center axis may be reciprocated with the next reference position as the reference zero axis, and the scenario listed in S604 is used, and the circumferential swing amplitude covered by this reciprocation is greater when the reciprocation is performed each time than the swing amplitude of the previous reciprocation. When the current position corresponding to the current reciprocating swing is just the next reference position, the rotor is switched to the next reference position in a reciprocating swing mode, and the reciprocating swing is continuously carried out by taking the next reference position as a reference zero axis, so that the circumferential swing amplitude covered by swinging by taking the new next reference position as the reference zero axis is always larger than the axial swing amplitude covered by swinging by taking the old next reference position as the reference zero axis when the new next reference position is reached, and the actual swing amplitude of the central axis in the circumferential direction is increased.

S606, when the oral care equipment switches the tooth brushing mode in the running process, if the current position corresponding to the rotor is not the initial reference position, the rotor is controlled to reset based on the initial reference position.

In some embodiments, when the oral care device switches brushing modes during operation, that is, when the oral care device switches from a current brushing mode to a next brushing mode, the current position corresponding to the rotor can be detected by the position detecting element, and if the current position is not the initial reference position, the rotor is controlled to rotate to the initial reference position in a preset path corresponding to the current brushing mode. Namely, when the brushing mode is switched, the rotor is rotated to the initial reference position in a preset path corresponding to the current brushing mode, so that reset is gradually realized, and the brushing experience of a user is prevented from being influenced.

In still other embodiments, when the oral care device switches the brushing mode during operation, that is, when the oral care device is switched from the current brushing mode to the next brushing mode, the reset command can be directly issued to the rotor, so that the rotor rotates to the initial reference position according to the reset command in a preset path corresponding to the current brushing mode, and the reset is also gradually realized, so that the brushing experience of the user is not affected.

S607, the control rotor is operated in the next brushing mode based on the initial reference position.

Specifically, when the current brushing mode is switched to the next brushing mode, and when the rotor is controlled to be reset, the rotor can be controlled to swing reciprocally with the initial reference position being zero axis based on the swing parameter corresponding to the next brushing mode, and the rotor is controlled to rotate based on the rotation parameter corresponding to the next brushing mode to change the initial reference position so as to increase the target swing of the rotor in the circumferential direction.

In the embodiment of the application, under the condition that the oral care equipment is in different states, including the state when the oral care equipment is started, the state when the motor is not operated and the state when the motor is operated, the current position corresponding to the rotor is detected by the position detection element, so that the effect of accurately controlling the position of the rotor is achieved. On the basis of precisely controlling the position of the rotor, the effect of increasing the actual swing of the center shaft in the circumferential direction can be better realized.

Fig. 7 is a schematic flow chart of a motor control method according to an embodiment of the application.

As shown in fig. 7, the method according to the embodiment of the present application may include the following steps:

S701, obtaining swing parameters corresponding to the rotor and rotation parameters corresponding to the rotor.

S702, controlling the rotor to reciprocate by taking the reference position as a reference zero axis based on the swing parameter.

S703, acquiring a first preset limit position and a second preset limit position on a corresponding circumferential rotation path of the rotor.

The first preset limit position and the second preset limit position are symmetrical relative to the first zero axis position of the rotor, a reset motion track of the rotor is further arranged between the first preset limit position and the second preset limit position, the angle corresponding to the first preset limit position is smaller than 180 degrees, and the angle corresponding to the second preset limit position is smaller than 180 degrees. The first zero axis position refers to the start of the first swing process of the rotor.

In some embodiments, performing S703 may specifically include: and acquiring a first preset limit position and a second preset limit position on a circumferential rotation path corresponding to the rotor according to the current tooth brushing mode. For different brushing modes, a first preset limit position and a second preset limit position adapted to the different brushing modes can be preconfigured. For example, the brushing mode may include a standard cleaning mode, a whitening cleaning mode, and a deep cleaning mode, a distance between a first zero axis position and a first preset limit position corresponding to the standard cleaning mode is a first distance, a distance between the first zero axis position and a first preset limit position corresponding to the whitening cleaning mode is a second distance, a distance between the first zero axis position and a first preset limit position corresponding to the deep cleaning mode is a third distance, and a relationship among the first distance, the second distance, and the third distance may be: the first distance is less than the second distance, and the second distance is less than the third distance. Therefore, different preset limit positions can be configured to achieve different cleaning effects according to the cleaning requirements of different tooth brushing modes.

And S704, the control center shaft rotates between a first preset limit position and a second preset limit position based on the rotation parameters to change the reference position so as to increase the target swing of the rotor in the circumferential direction.

In some embodiments, if the central shaft rotates to a first preset limit position around a first preset direction based on the rotation parameter, the central shaft is controlled to rotate around a second preset direction based on the rotation parameter to change the reference position so as to increase the target swing of the rotor in the circumferential direction.

In still other embodiments, if the central shaft rotates about the second preset direction to the second preset limit position based on the rotation parameter, the central shaft is controlled to rotate about the first preset direction based on the rotation parameter to change the reference position to increase the target swing of the rotor in the circumferential direction.

Optionally, the rotor further includes two limiting structures, the limiting structures are located on the extending track of the circumferential rotation path but located outside the circumferential rotation path, and the limiting structures correspond to the first preset limit position and the second preset limit position respectively. The limit structure is used for controlling the rotation angle of the rotor.

Optionally, a first preset rotation angle is provided between the limiting structure and the first zero axis position of the rotor. When the middle shaft rotates from the first zero shaft position to the first preset limit position or the second preset limit position, the corresponding rotation angle of the middle shaft is a second preset rotation angle, and the second preset rotation angle is larger than the first preset rotation angle. Thus, the center shaft is prevented from rotating outside the limiting structure when rotating to change the reference position.

In the embodiment of the application, the rotatable maximum rotation angle of the rotor is limited through the first preset limit position and the second preset limit position on the corresponding circumferential rotation path of the rotor, and the unlimited rotation of the rotor is avoided, so that the rotor is prevented from rotating unnecessarily on the basis of increasing the target swing amplitude of the rotor in the circumferential direction, the rotation efficiency of the rotor is improved, the brush head driven by the rotor is ensured to achieve better cleaning effect, and the cleaning efficiency of the brush head in a tooth surface area is also improved.

Fig. 8 is a schematic flow chart of a motor control method according to an embodiment of the application.

As shown in fig. 8, the method according to the embodiment of the present application may include the following steps:

s801, obtaining swing parameters corresponding to the rotor and rotation parameters corresponding to the rotor.

S802, controlling the middle shaft to do reciprocating swing by taking the reference position as a reference zero shaft based on the swing parameter.

Specifically, reference may be made to the explanation of the embodiment S604 shown in fig. 6, and the description thereof will not be repeated here.

And S803, when the current swinging frequency corresponding to the middle shaft is an integral multiple of the preset swinging frequency, controlling the middle shaft to rotate based on the rotation parameters so as to change the reference position, so as to increase the target swing of the rotor in the circumferential direction.

The preset swinging times are swinging times in at least one swinging period corresponding to the central axis. The preset oscillation frequency may be the oscillation frequency in one oscillation period, or may be the oscillation frequency in a plurality of oscillation periods.

Specifically, the current oscillation frequency corresponding to the center shaft is understood as the oscillation frequency of the center shaft when the center shaft oscillates back and forth with the reference position as the reference zero axis. Whether the center shaft is required to rotate to change the reference position is judged through the current swinging times, and judging methods for changing the reference position through the rotation of the center shaft are enriched.

Fig. 9 is a schematic flow chart of a motor control method according to an embodiment of the application.

As shown in fig. 9, the method according to the embodiment of the present application may include the following steps:

S901, obtaining swing parameters corresponding to the rotor and rotation parameters corresponding to the rotor.

And S902, controlling the middle shaft to perform reciprocating swing by taking the reference position as a reference zero shaft based on the swing parameter.

And S903, when the number of the current swing periods corresponding to the middle shaft reaches the preset number, controlling the middle shaft to rotate according to a preset rotation rule so as to change the reference position, so as to increase the target swing amplitude of the rotor in the circumferential direction.

The preset number can be one or more.

The preset rotation rules can specify the rotation direction of the center shaft, the rotation angle of the center shaft and the rotation times of the center shaft.

Specifically, for different brushing modes, a preset number of adaptations to the different brushing modes may be preconfigured. For example, the brushing mode may include a standard cleaning mode, a whitening cleaning mode, and a deep cleaning mode, and the preset number may be configured to: the preset number corresponding to the standard cleaning mode is smaller than the preset number corresponding to the whitening cleaning mode, and the preset number corresponding to the whitening cleaning mode is smaller than the preset number corresponding to the deep cleaning mode. Therefore, according to the cleanliness requirements of different tooth brushing modes, different numbers of swinging periods can be configured, so that the different tooth brushing modes can achieve better cleaning effects while the reference position is changed through rotation of the center shaft so as to increase the target swing amplitude of the rotor in the circumferential direction.

Fig. 10 is a schematic flow chart of a motor control method according to an embodiment of the application. As shown in fig. 10, the method according to the embodiment of the present application may include the steps of:

s1001, obtaining swing parameters corresponding to the rotor and obtaining rotation parameters corresponding to the rotor.

And S1002, controlling the rotor to perform reciprocating swing by taking the reference position as a reference zero axis based on the swing parameter.

And S1003, controlling the center shaft to rotate to a target rotation position based on the rotation parameters, wherein the target rotation position corresponds to the target oral care position.

Wherein the target oral care location may be an oral care location determined from historical brushing information of the user. The historical brushing information may include average brushing time periods for different tooth brushing zones in the historical period, average brushing force for different tooth brushing zones; the key tooth surface region can be determined through historical tooth brushing information, and then the target oral care position is determined according to the position of the key tooth surface region, wherein the key tooth surface region can refer to a region with higher dental plaque content.

In the embodiment of the application, the rotation parameters comprise a preset swing duration and a preset rotation angle, and the center shaft is controlled to rotate to the target rotation position based on the rotation parameters.

And S1004, updating the reference position to a target rotation position, and controlling the middle shaft to swing reciprocally based on the target rotation position as a reference zero shaft so as to increase the target swing of the rotor in the circumferential direction.

In the embodiment of the application, the target swing amplitude of the rotor in the circumferential direction can be increased by controlling the center shaft to rotate to the target rotation position and then enabling the center shaft to swing back and forth based on the target rotation position as a reference zero axis. And the target rotation position is determined according to the key tooth surface area, so that the target swing amplitude of the rotor in the circumferential direction is increased, the targeted tooth brushing on the key tooth surface area is realized, and the tooth brushing quality is improved.

S1005, determining the current brushing posture based on the brushing posture detection sensor.

Wherein, the tooth brushing posture detection sensor can comprise at least one of a six-axis sensor and a visual sensor.

Specifically, a current brushing posture may be determined from data collected by the brushing posture detection sensor, and the current brushing posture may include the current brushing posture and the current brushing position.

S1006, determining a second preset position on the circumferential rotation path corresponding to the rotor based on the current brushing posture.

Specifically, prior to performing the method, a preset mapping table between the reference brushing gesture and the different reference preset positions on the circumferential rotation path may be configured, and when performing S1006, may include: inquiring a second preset position on a circumferential rotation path corresponding to the current brushing posture in a preset mapping table. The circumferential rotation path may refer to an arc rotation path having a central angle of less than or equal to 180 degrees.

And S1007, controlling the center shaft to rotate to a second preset position, and controlling the center shaft to swing reciprocally by taking the second preset position as a reference zero axis so as to increase the target swing of the rotor in the circumferential direction.

In the embodiment of the application, the second preset position is used for enabling the middle shaft to rotate to the second preset position under the condition that the current brushing posture is a non-standard brushing posture, controlling the middle shaft to swing reciprocally by taking the second preset position as a reference zero shaft, correcting the brushing posture while increasing the target swing of the rotor in the circumferential direction, enabling the position of the toothbrush head to change relative to teeth, enabling the toothbrush head to accord with the Papanicolaou brushing method, and improving the brushing effect.

The control device for the motor according to the embodiment of the present application will be described in detail with reference to fig. 11. It should be noted that, the control device of the motor shown in fig. 11 is used to execute the method of the embodiment shown in fig. 2 to 10, and for convenience of explanation, only the relevant parts of the embodiment of the application are shown, and specific technical details are not disclosed, please refer to the embodiment shown in fig. 2 to 10 of the application.

Referring to fig. 11, a schematic structural diagram of a control device of a motor according to an embodiment of the application is shown. The control device 1 of the motor may be implemented as all or part of the device by software, hardware or a combination of both. According to some embodiments, the control device 1 of the motor comprises a parameter acquisition module 11, a swing control module 12, in particular for:

the parameter acquisition module 11 is used for acquiring swing parameters corresponding to the rotor and rotating parameters corresponding to the rotor;

And a swing control module 12 for controlling the rotor to swing reciprocally about a reference position as a reference zero axis based on the swing parameter, and controlling the rotor to rotate based on the rotation parameter to change the reference position so as to increase a target swing of the rotor in the circumferential direction.

Optionally, the swing control module includes:

and the first swing control unit is used for controlling the rotor to rotate based on the rotation parameter so as to enable the rotor to be switched from the reference position to a second reference position, and controlling the rotor to swing back and forth by taking the second reference position as a reference zero axis so as to increase the target swing of the rotor in the circumferential direction.

Optionally, the first swing control unit is specifically configured to:

and controlling the rotor to reciprocate for a first preset time period by taking the reference position as a reference zero axis based on the oscillation parameters, controlling the rotor to rotate based on the rotation parameters so as to enable the rotor to be switched from the reference position to a second reference position, and controlling the rotor to reciprocate by taking the second reference position as the reference zero axis so as to increase the target oscillation amplitude of the rotor in the circumferential direction, wherein the reference position and the second reference position are separated by a first preset angle.

Optionally, the first swing control unit is further configured to:

After the rotor is controlled to swing back and forth for a second preset time period by taking the second reference position as a reference zero axis, controlling the rotor to rotate based on the rotation parameters so as to enable the rotor to be switched from the second reference position to a third reference position, and controlling the rotor to swing back and forth by taking the third reference position as a reference zero axis, wherein the second reference position and the third reference position are separated by a second preset angle;

the first preset time length is the same as the second preset time length, or the first preset time length is different from the second preset time length;

The first preset angle is the same as the second preset angle, or the first preset angle is different from the second preset angle.

Optionally, the swing control module includes:

And the second swing control unit is used for controlling the rotor to perform reciprocating rotation by taking the reference position as a reference zero axis based on the rotation parameter so as to change the reference position, so as to increase the target swing of the rotor in the circumferential direction.

Optionally, the second swing control unit is specifically configured to:

when the rotor rotates by a preset angle by taking the reference position as a reference zero axis, controlling the rotor to reciprocally rotate by taking the next reference position corresponding to the preset angle as a reference zero axis so as to change the reference position, so as to increase the target swing of the rotor in the circumferential direction; or alternatively, the first and second heat exchangers may be,

When the rotor rotates for a period of a preset number by taking the reference position as a reference zero axis and rotates for a preset angle, the rotor is controlled to reciprocally rotate by taking the next reference position corresponding to the preset angle as the reference zero axis so as to change the reference position, and the target swing amplitude of the rotor in the circumferential direction is increased.

Optionally, the swing control module includes:

The first swinging unit is used for controlling the middle shaft to swing reciprocally by taking the reference position as a reference zero shaft based on the swinging parameters, and detecting the current position corresponding to the middle shaft through the position detection element;

And the second swinging unit is used for controlling the middle shaft to swing reciprocally by taking the next reference position as a reference zero shaft if the current position is the next reference position corresponding to the reference position so as to increase the target swing of the middle shaft in the circumferential direction.

Optionally, the swing control module further includes:

A third swinging unit for detecting a current position corresponding to the rotor by the position detecting element when the oral care device is turned on or when the motor is not operated;

And the fourth swinging unit is used for controlling the rotor to reset based on the initial reference position if the current position is not the initial reference position.

Optionally, the fourth swinging unit is configured to:

The rotor is controlled to rotate from the current position to the initial reference position in a clockwise direction or a counterclockwise direction.

Optionally, the control device of the motor further includes:

And the reset control unit is used for controlling the rotor to reset based on the initial reference position if the current position corresponding to the rotor is not the initial reference position when the oral care equipment switches the tooth brushing mode in the running process.

Optionally, the reset control unit is configured to:

controlling the rotor to rotate to the initial reference position in a preset path corresponding to the current tooth brushing mode;

after the rotor is controlled to reset based on the initial reference position, the method further comprises:

the rotor is controlled to operate in a next brushing mode based on the initial reference position.

Optionally, when the motor starts to operate, at least one of the frequency and/or the duty ratio of the motor gradually increases within a preset time, and the reference position does not change within the preset time.

Optionally, the swing control module includes:

the fourth swinging unit is used for acquiring a first preset limit position and a second preset limit position on a circumferential rotation path corresponding to the rotor, the first preset limit position and the second preset limit position are symmetrical relative to a first zero-axis position of the rotor, a reset motion track of the rotor is further arranged between the first preset limit position and the second preset limit position, an angle corresponding to the first preset limit position is smaller than 180 degrees, and an angle corresponding to the second preset limit position is smaller than 180 degrees;

And a fifth swing unit for controlling the center shaft to rotate between the first preset limit position and the second preset limit position based on the rotation parameter to change the reference position so as to increase the target swing of the rotor in the circumferential direction.

Optionally, the fifth swinging unit is configured to:

If the center shaft rotates to the first preset limit position around the first preset direction based on the rotation parameter, controlling the center shaft to rotate around the second preset direction based on the rotation parameter so as to change the reference position, so that the target swing of the rotor in the circumferential direction is increased; and/or the number of the groups of groups,

And if the center shaft rotates to the second preset limit position around the second preset direction based on the rotation parameter, controlling the center shaft to rotate around the first preset direction based on the rotation parameter so as to change the reference position, so as to increase the target swing of the rotor in the circumferential direction.

Optionally, the rotor further includes two limit structures, the limit structures are located on the extending track of the circumferential rotation path but located outside the circumferential rotation path, and the limit structures respectively correspond to the first preset limit position and the second preset limit position, and the limit structures are used for controlling the rotation angle of the rotor.

Optionally, a first preset rotation angle is formed between the limiting structure and the first zero-axis position of the rotor;

when the center shaft rotates from the first zero shaft position to the first preset limit position or the second preset limit position, the corresponding rotation angle of the center shaft is a second preset rotation angle, and the second preset rotation angle is larger than the first preset rotation angle.

Optionally, the swing control module includes:

And the sixth control unit is used for controlling the center shaft to reciprocate by taking the reference position as a reference zero axis based on the oscillation parameters, controlling the center shaft to rotate based on the rotation parameters to change the reference position so as to increase the target oscillation amplitude of the rotor in the circumferential direction when the current oscillation frequency corresponding to the center shaft is an integral multiple of the preset oscillation frequency, wherein the preset oscillation frequency is the oscillation frequency in at least one oscillation period corresponding to the center shaft.

Optionally, the swing control module includes:

and the seventh control unit is used for controlling the center shaft to reciprocate by taking the reference position as a reference zero axis based on the oscillation parameters, and controlling the center shaft to rotate according to a preset rotation rule to change the reference position when the number of the current oscillation periods corresponding to the center shaft reaches the preset number so as to increase the target oscillation amplitude of the rotor in the circumferential direction.

Optionally, the swing control module includes:

a seventh control unit for controlling the rotation of the central shaft to a target rotational position based on the rotational parameter, the target rotational position corresponding to a target oral care position;

And the eighth control unit is used for updating the reference position into the target rotation position and controlling the middle shaft to swing back and forth based on the target rotation position as a reference zero shaft so as to increase the target swing of the rotor in the circumferential direction.

Optionally, the motor further comprises a tooth brushing posture detection sensor, and the control device of the motor is further used for:

Determining a current brushing gesture based on the brushing gesture detection sensor;

Determining a second preset position on a circumferential rotation path corresponding to the rotor based on the current brushing gesture;

and controlling the middle shaft to rotate to the second preset position, and controlling the middle shaft to swing reciprocally by taking the second preset position as a reference zero shaft.

Optionally, the oral care device further includes an oral scanning device, the oral scanning device is connected with the motor, and the control device of the motor is further used for:

acquiring a target rotation parameter corresponding to the oral cavity scanning device;

the rotor is controlled to rotate based on the target rotation parameter.

Optionally, the control device of the motor further includes:

and the resetting unit is used for controlling the rotor to reset based on the first zero-axis position of the rotor.

Optionally, the reset unit is configured to:

Magnetically resetting the rotor based on a first zero axis position of the rotor when the oral care device is not energized; and/or the number of the groups of groups,

When the oral care device is powered on, detecting a current position corresponding to the rotor, and controlling the rotor to reset based on the current position and a first zero-axis position of the rotor.

Optionally, the control device of the motor is further configured to:

When it is detected that the oral care device switches brushing modes during operation, the rotor is controlled to reset based on a first zero axis position of the rotor.

Optionally, the wobble frequency of the rotor is positively correlated with the rotational frequency of the rotor.

Optionally, the oscillation frequency is a different frequency and/or the rotation frequency is a different frequency when the oral care device is in a different brushing mode.

Referring to fig. 12, a block diagram of an oral care device according to an embodiment of the present application is shown. The oral care device in this specification may include one or more of the following: processor 110, memory 120, input device 130, output device 140, and bus 150. The processor 110, the memory 120, the input device 130, and the output device 140 may be connected by a bus 150.

Processor 110 may include one or more processing cores. The processor 110 utilizes various interfaces and lines to connect various portions of the overall oral care device, perform various functions of the terminal 100 and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 120, and invoking data stored in the memory 120. Alternatively, the processor 110 may be implemented in at least one hardware form of Digital Signal Processing (DSP), field-programmable gate array (FPGA), programmable logic array (programmable logic Array, PLA). The processor 110 may integrate one or a combination of several of a central processor (central processing unit, CPU), an image processor (graphics processing unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for being responsible for rendering and drawing of display content; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 110 and may be implemented solely by a single communication chip.

The memory 120 may include a random access memory (random Access Memory, RAM) or a read-only memory (ROM). Optionally, the memory 120 includes a non-transitory computer readable medium (non-transitory computer-readable storage medium). Memory 120 may be used to store instructions, programs, code, sets of codes, or sets of instructions.

The input device 130 is configured to receive input instructions or data, and the input device 130 includes, but is not limited to, a keyboard, a mouse, a camera, a microphone, or a touch device. The output device 140 is used to output instructions or data, and the output device 140 includes, but is not limited to, a display device, a speaker, and the like. In the present embodiment, the input device 130 may be a temperature sensor for acquiring the operating temperature of the oral care device. The output device 140 may be a speaker for outputting audio signals.

In addition, those skilled in the art will appreciate that the configuration of the oral care device illustrated in the above figures is not limiting of the terminal, and that the oral care device may include more or fewer components than illustrated, or may combine certain components, or may have a different arrangement of components. For example, the oral care device further includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a wireless fidelity (WIRELESS FIDELITY, WIFI) module, a power supply, and a bluetooth module, which are not described herein.

In the present embodiments, the subject of execution of the steps may be the oral care device described above. Optionally, the subject of execution of the steps is an operating system of the oral care device. The operating system may be an android system, an IOS system, or other operating systems, which embodiments of the present specification are not limited to.

In the oral care device of fig. 6, the processor 110 may be used to invoke a program of a control method of the motor stored in the memory 120, and specifically perform the following operations:

Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a read-only memory, a random access memory, or the like.

The foregoing disclosure is illustrative of the present application and is not to be construed as limiting the scope of the application, which is defined by the appended claims.

Claims

1. A method of controlling a motor for an oral care device, the oral care device comprising a motor, the motor comprising a rotor, the method comprising:

Obtaining a swinging parameter corresponding to the rotor, wherein the swinging parameter comprises at least one of a swinging direction, a swinging angle and a swinging frequency, and obtaining a rotating parameter corresponding to the rotor, and the rotating parameter comprises at least one of a rotating direction, a rotating angle, a rotating frequency and a rotating duration;

2. The method of claim 1, wherein the controlling the rotor to rotate based on the rotation parameter to change the reference position to increase a target excursion of the rotor in a circumferential direction comprises:

And controlling the rotor to rotate based on the rotation parameter so as to switch the rotor from the reference position to a second reference position, and controlling the rotor to swing reciprocally by taking the second reference position as a reference zero axis so as to increase the target swing of the rotor in the circumferential direction.

3. The method according to claim 2, wherein the controlling the rotation of the rotor based on the rotation parameter to switch the rotor from the reference position to a second reference position and controlling the rotor to reciprocate with respect to the second reference position as a reference zero axis to increase a target swing of the rotor in a circumferential direction includes:

4. A method according to claim 3, characterized in that the method further comprises:

5. The method of claim 1, wherein the controlling the rotor to rotate based on the rotation parameter to change the reference position to increase a target excursion of the rotor in a circumferential direction comprises:

and controlling the rotor to perform reciprocating rotation by taking the reference position as a reference zero axis based on the rotation parameter so as to change the reference position, so as to increase the target swing of the rotor in the circumferential direction.

6. The method of claim 5, wherein controlling the rotor to reciprocate about the reference position as a reference zero axis based on the rotation parameter to change the reference position to increase a target excursion of the rotor in a circumferential direction comprises:

7. The method of claim 1, wherein the rotor includes a central shaft and the motor further includes a position sensing element; the controlling the rotor to perform reciprocating swing with a reference position as a reference zero axis based on the swing parameter, and controlling the rotor to rotate based on the rotation parameter to change the reference position so as to increase a target swing of the rotor in a circumferential direction includes:

controlling the center shaft to reciprocate by taking the reference position as a reference zero axis based on the oscillation parameters, and detecting the current position corresponding to the center shaft through the position detection element;

and if the current position is the next reference position corresponding to the reference position, controlling the middle shaft to swing reciprocally by taking the next reference position as a reference zero shaft so as to increase the target swing of the middle shaft in the circumferential direction.

8. The method of claim 7, wherein the method further comprises:

detecting a current position corresponding to the rotor by the position detecting element when the oral care device is turned on or when the motor is not running;

And if the current position is not the initial reference position, controlling the rotor to reset based on the initial reference position.

9. The method of claim 8, wherein the controlling the rotor to reset based on the initial reference position comprises:

10. The method according to claim 1, wherein the method further comprises:

when the oral care equipment switches brushing modes in the running process, if the current position corresponding to the rotor is not an initial reference position, the rotor is controlled to reset based on the initial reference position.

11. The method of claim 10, wherein the controlling the rotor to reset based on the initial reference position comprises:

12. The method according to claim 1, wherein at least one of the frequency and/or duty cycle of the motor is gradually increased during a preset time when the motor starts to operate, and wherein the reference position is unchanged during the preset time.

13. The method of claim 1, wherein the rotor comprises a central shaft; the controlling the rotor to rotate based on the rotation parameter to change the reference position to increase a target swing of the rotor in a circumferential direction includes:

Acquiring a first preset limit position and a second preset limit position on a circumferential rotation path corresponding to the rotor, wherein the first preset limit position and the second preset limit position are symmetrical relative to a first zero-axis position of the rotor, a reset motion track of the rotor is further arranged between the first preset limit position and the second preset limit position, an angle corresponding to the first preset limit position is smaller than 180 degrees, and an angle corresponding to the second preset limit position is smaller than 180 degrees;

and controlling the center shaft to rotate between the first preset limit position and the second preset limit position based on the rotation parameter so as to change the reference position, so as to increase the target swing of the rotor in the circumferential direction.

14. The method of claim 13, wherein controlling the central shaft to rotate between the first preset limit position and the second preset limit position based on the rotation parameter to change the reference position to increase a target excursion of the rotor in a circumferential direction comprises:

15. The method of claim 13, wherein the rotor further comprises two limit structures located on an extended trajectory of the circumferential rotation path but outside the circumferential rotation path, and the limit structures correspond to the first preset limit position and the second preset limit position, respectively, the limit structures being used to control a rotation angle of the rotor.

16. The method of claim 15, wherein the limit structure has a first predetermined angle of rotation with the first zero axis position of the rotor;

17. The method of claim 1, wherein the rotor comprises a central shaft; the controlling the rotor to perform reciprocating swing with a reference position as a reference zero axis based on the swing parameter, and controlling the rotor to rotate based on the rotation parameter to change the reference position so as to increase a target swing of the rotor in a circumferential direction includes:

And controlling the center shaft to reciprocate by taking the reference position as a reference zero axis based on the oscillation parameters, and controlling the center shaft to rotate based on the rotation parameters to change the reference position so as to increase the target oscillation amplitude of the rotor in the circumferential direction when the current oscillation frequency corresponding to the center shaft is an integral multiple of the preset oscillation frequency, wherein the preset oscillation frequency is the oscillation frequency in at least one oscillation period corresponding to the center shaft.

18. The method of claim 1, wherein the rotor comprises a central shaft; the controlling the rotor to perform reciprocating swing with a reference position as a reference zero axis based on the swing parameter, and controlling the rotor to rotate based on the rotation parameter to change the reference position so as to increase a target swing of the rotor in a circumferential direction includes:

And controlling the center shaft to reciprocate by taking the reference position as a reference zero axis based on the oscillation parameters, and controlling the center shaft to rotate according to a preset rotation rule to change the reference position when the number of the current oscillation periods corresponding to the center shaft reaches the preset number so as to increase the target oscillation amplitude of the rotor in the circumferential direction.

19. The method of claim 1, wherein the rotor comprises a central shaft; the controlling the rotor to rotate based on the rotation parameter to change the reference position to increase a target swing of the rotor in a circumferential direction includes:

controlling the center shaft to rotate to a target rotation position based on the rotation parameter, wherein the target rotation position corresponds to a target oral care position;

And updating the reference position into the target rotation position, and controlling the middle shaft to swing reciprocally based on the target rotation position as a reference zero shaft so as to increase the target swing of the rotor in the circumferential direction.

20. The method of claim 1 wherein the rotor includes a central axis, the motor further includes a brushing gesture detection sensor, the method further comprising:

21. The method of any one of claims 1-20, wherein the oral care device further comprises an oral scanning apparatus, the oral scanning apparatus being coupled to the motor, the method further comprising:

the rotor is controlled to rotate based on the target rotation parameter.

22. The method according to any one of claims 1 to 20, wherein before controlling the rotor to reciprocate with respect to a reference position and a zero axis based on the oscillation parameter, further comprising:

The rotor is controlled to reset based on a first zero axis position of the rotor.

23. The method of claim 22, wherein the controlling the rotor to reset based on a first zero axis position of the rotor comprises:

24. The method according to any one of claims 1-20, further comprising:

25. The method of any one of claims 1-20, wherein the wobble frequency of the rotor is positively correlated with the rotational frequency of the rotor.

26. The method of claim 25, wherein the oscillation frequency is a different frequency and/or the rotation frequency is a different frequency when the oral care device is in a different brushing mode.

27. A control device for a motor for use with an oral care device, the oral care device comprising a motor, the motor comprising a rotor, the device comprising:

The parameter acquisition module is used for acquiring swing parameters corresponding to the rotor, wherein the swing parameters comprise at least one of a swing direction, a swing angle and a swing frequency, and acquiring rotation parameters corresponding to the rotor, and the rotation parameters comprise at least one of a rotation direction, a rotation angle, a rotation frequency and a rotation duration;

28. A computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform the method steps of any one of claims 1 to 26.

29. An oral care device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1-26.