CN116539142A - Motor vibration detection method, motor vibration control method, motor and electric toothbrush - Google Patents
Motor vibration detection method, motor vibration control method, motor and electric toothbrush Download PDFInfo
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- CN116539142A CN116539142A CN202310451937.XA CN202310451937A CN116539142A CN 116539142 A CN116539142 A CN 116539142A CN 202310451937 A CN202310451937 A CN 202310451937A CN 116539142 A CN116539142 A CN 116539142A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—Power-driven cleaning or polishing devices
- A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like
- A61C17/32—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating
- A61C17/34—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor
- A61C17/3409—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor characterized by the movement of the brush body
- A61C17/3481—Vibrating brush body, e.g. by using eccentric weights
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/02—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by magnetic means, e.g. reluctance
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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Abstract
The embodiment of the invention discloses a motor vibration detection method, a motor vibration control method, a motor and an electric toothbrush, and relates to the technical field of equipment detection; generating a vibration waveform corresponding to an output shaft of the motor according to the magnetic field variation parameters; calculating a motor swing angle according to the vibration waveform; the invention can realize accurate detection of the vibration gesture of the motor.
Description
Technical Field
The invention relates to the technical field of equipment detection, in particular to a motor vibration detection method, a motor vibration control method, a motor and an electric toothbrush.
Background
The motor is commonly called as a motor, is a power device, is large to industrial production and manufacture in modern life, plays an indispensable role in various fields such as electric toothbrushes or mobile phone vibration feedback, and the like, and provides power for various mechanical equipment in industrial production and manufacture, so that the machinery is optimally utilized, the production efficiency and the production quality are obviously improved, and fine vibration feedback is given to users in daily use of the electric toothbrushes or mobile phones to improve the use experience of the users.
Taking a vibration motor doing reciprocating swing motion as an example, an output shaft of the vibration motor can be directly connected with different controlled pieces to control controlled pieces to achieve corresponding vibration, in the actual vibration process of the output shaft, the output shaft is often subjected to various forces, tiny deformation and displacement are easy to occur to the output shaft under the condition, the output shaft does not do simple reciprocating swing any more, but complex motion of deformation and reciprocating swing is compounded, the actual vibration gesture of the motor cannot be accurately detected by the existing detection scheme, and whether the current motor works normally cannot be judged.
In general, after detecting the vibration attitude of the motor, if the vibration attitude of the motor is abnormal, the vibration attitude of the motor needs to be further adjusted, and the conventional adjustment scheme cannot realize accurate adjustment of the vibration attitude in the motor.
Disclosure of Invention
In view of the foregoing, it is an object of the present invention to provide a motor vibration detection method, a motor vibration control method, a motor, and an electric toothbrush, which can solve at least some of the above problems.
In a first aspect, embodiments of the present application provide a motor vibration detection method for detecting vibration of a motor, the motor including a motor body including an output shaft, a magnet, and a magnetic field detection sensor, wherein the output shaft penetrates the motor body and extends out of a first extension section at a top end of the motor body, a second extension section extends out of a bottom end of the motor body, a length of the first extension section is greater than a length of the second extension section, the magnet is embedded on the second extension section, the magnet is configured to vibrate following the output shaft, and the magnetic field detection sensor is rigidly connected with a base of the bottom end of the motor body, the method including:
Acquiring a magnetic field change parameter by the magnetic field detection sensor, wherein the magnetic field change parameter is generated in the vibration process of the magnet;
generating a vibration waveform corresponding to an output shaft of the motor according to the magnetic field variation parameters;
calculating the swing angle of the output shaft according to the vibration waveform;
and determining the vibration attitude of the motor according to the swing angle, wherein the vibration attitude comprises at least one of normal, abnormal, required to be adjusted and reminded, or abnormal, not required to be adjusted and not required to be reminded.
In one possible embodiment, the manner of calculating the swing angle includes:
filtering the magnetic field variation parameters to obtain filtered magnetic field variation parameters;
and calculating the swing angle according to the filtered magnetic field change parameters and a preset calculation model.
In a possible implementation manner, the method for obtaining the preset calculation model includes:
sending a start command to the motor;
acquiring test angles of the output shaft at different moments, and storing magnetic field change parameters at corresponding moments of the test angles;
training an initial model according to all the test angles and the magnetic field change parameters corresponding to the test angles, and stopping training until preset parameters of the initial model meet convergence conditions to obtain the preset calculation model.
In one possible implementation manner, the generating a vibration waveform corresponding to an output shaft of the motor according to the magnetic field variation parameter includes:
fitting the filtered magnetic field change parameters according to a sine wave fitting algorithm to obtain the vibration waveform, wherein the vibration waveform comprises at least two change periods;
the way of calculating the swing angle comprises:
acquiring a wave peak value and a wave trough value in each change period;
calculating peak-to-peak values in each change period according to the wave peak values and the wave trough values in each change period, and calculating peak-to-peak value average values of all the peak-to-peak values;
and determining the swing angle according to the peak-to-peak value average value and a preset parameter table, wherein the preset parameter table comprises the peak-to-peak value average value, the swing angle and the mapping relation between the peak-to-peak value average value and the swing angle.
In one possible embodiment, the acquiring the peak value and the trough value in each variation period includes:
arranging magnetic field change parameters in each change period according to the sequence from big to small, and removing the maximum magnetic field change parameter and the minimum magnetic field change parameter in each change period to obtain the latest sequence arrangement of each change period;
Taking the first magnetic field change parameter in the latest sequence arrangement of each change period as the crest value, and taking the last magnetic field change parameter in the latest sequence arrangement of each change period as the trough value.
In one possible embodiment, the determining the vibration attitude of the motor according to the swing angle includes:
under the condition that the swing angle is detected to be within a first preset angle range, determining that the vibration gesture is normal;
under the condition that the swing angle is detected to be out of the first preset angle range and in a second preset angle range, determining that the vibration gesture is abnormal, does not need to be regulated and does not need to be reminded, wherein the second preset angle range is larger than the first preset angle range;
and under the condition that the swing angle is detected to be out of the second preset angle range, determining that the vibration gesture is abnormal, and requiring adjustment and reminding.
In a second aspect, embodiments of the present application provide a motor vibration control method, the method including:
determining a vibration attitude of the motor by the method of the first aspect;
under the condition that the vibration gesture is abnormal, needs to be adjusted and reminded, adjusting the working parameters of the motor until the vibration gesture is detected to be normal, or, is abnormal, does not need to be adjusted and does not need to be reminded;
And under the condition that the vibration gesture is normal or abnormal, does not need to be adjusted and does not need to be reminded, the control parameters of the motor are not adjusted.
In one possible embodiment, the operating parameters of the motor include at least one of an input duty cycle and an input control waveform amplitude of the motor, and the adjusting the control parameters of the motor until the vibration gesture is detected as normal, or abnormal, not requiring adjustment, and not requiring a reminder, includes:
the input duty cycle of the motor or the input control waveform amplitude of the motor is adjusted until the vibration gesture is detected to be normal, or abnormal, not requiring adjustment, and not requiring reminding.
In a third aspect, embodiments of the present application provide a motor including a motor body including an output shaft penetrating the motor body and extending out of a first extension at a top end of the motor body, respectively, a second extension at a bottom end of the motor body, the first extension having a length greater than a length of the second extension, the second extension being fixed to a base at the bottom end of the motor body, wherein,
The protective housing forms an enclosed space for fixing the motor body;
the magnet is embedded on the second extension section, the center of the magnet and the central line of the output shaft are coplanar, and the magnet is used for vibrating along with the output shaft;
the magnetic field detection sensor is rigidly connected with the base and is used for detecting magnetic field change parameters generated in the vibration process of the magnet.
In one possible embodiment, the motor further comprises a stationary support, wherein,
the fixing support is used for fixing the motor body, and the fixing support and the motor body are both placed in the surrounding space;
the motor and the magnetic field detection sensor are respectively and electrically connected with the controller, wherein the controller is used for adjusting working parameters of the motor.
In a fourth aspect, embodiments of the present application provide an electric toothbrush comprising a motor as in the third aspect, and a brush head and control contacts, wherein,
the brush head is detachably connected with the output shaft and comprises a shell and bristles, wherein a plurality of grooves are formed in one side of the shell and are used for fixing the bristles;
The control contact is electrically connected with the motor body and used for generating a control instruction, wherein the control instruction is used for indicating the working state of the motor.
In the motor vibration detection method provided by the application, the magnetic field change parameters are firstly obtained through the magnetic field detection sensor, the magnetic field change parameters are generated in the vibration process of the magnet embedded on the output shaft of the motor, the vibration waveform corresponding to the output shaft of the motor is generated immediately according to the magnetic field change parameters, the swing angle of the motor is calculated according to the vibration waveform, and finally the vibration gesture of the motor is determined according to the swing angle, so that the accurate detection of the vibration gesture of the motor can be realized. And in the motor vibration control method, the vibration attitude of the motor can be obtained, and under the condition that the vibration attitude is abnormal and needs to be adjusted, the working parameters of the motor are adjusted until the detected vibration attitude is normal, or the vibration attitude is abnormal, does not need to be adjusted and does not need to be reminded, and under the condition that the vibration attitude is normal, or the vibration attitude is abnormal, does not need to be adjusted and does not need to be reminded, the control parameters of the motor are not adjusted, so that the accurate adjustment of the vibration attitude of the motor is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being understood that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of an external structure of a motor according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an internal structure of a motor according to an embodiment of the present disclosure;
FIG. 3 is an oblique view of the internal structure of a motor according to an embodiment of the present application;
fig. 4 is a flowchart of a method for detecting motor vibration according to an embodiment of the present disclosure;
fig. 5 is a schematic functional block diagram of a motor vibration detecting device provided in the present application;
fig. 6 is a schematic view of an external structure of an electric toothbrush according to an embodiment of the present application.
Icon:
motor 100, protective case 110, output shaft 120, motor body 130, fixing bracket 140, magnet 150, magnetic field detection sensor 160, controller 170, base 180, first extension L 1 A second extension L 2 ；
The motor vibration detection device 500, the acquisition module 510, the first calculation module 520, the second calculation module 530 and the detection analysis module 540;
the electric toothbrush 600, the brush head 610, the control contacts 620, the housing 611, the bristles 612.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, 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 some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In various embodiments of the present application, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B or may include both a and B.
In the description of the present application, it should be noted that, if the terms "upper," "lower," "inner," "outer," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present application and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that, without conflict, features in embodiments of the present application may be combined with each other.
Referring to fig. 1, fig. 1 is a schematic diagram of an external structure of a motor according to an embodiment of the present application, wherein,
the motor 100 includes a motor body 130 as shown in fig. 2 including an output shaft 120, a protective housing 110, a magnet 150, a magnetic field detection sensor 160, and a controller 170 as shown in fig. 3, the output shaft 120 penetrating the motor body 130 and extending out of the top end of the motor body 130 by a first extension L, respectively 1 A second extension L extends from the bottom end of the motor body 130 2 A first extension L 1 Is longer than the second extension L 2 Length of the second extension L 2 Fixed to a base 180 at the bottom end of the motor body 130,
the protective housing 110 forms an enclosed space for fixing the motor body 130;
the magnet 150 is embedded in the second extension L 2 On top of that, the center of the magnet 150 is coplanar with the center line of the output shaft 120, and the magnet 150 is used to vibrate following the output shaft 120;
the magnetic field detection sensor 160 is rigidly connected to the base 180 for detecting a magnetic field variation parameter generated during the vibration of the magnet 150.
In this embodiment:
the motor body 130 includes at least one of a vibration micro motor and an eccentric vibration motor, and the output shaft 120 of the motor body 130 may be a half shaft or a full shaft, and in a full shaft example, the full shaft may be understood that the output shaft 120 penetrates the motor body 130 and has an extension output shaft at the top end and the bottom end of the motor body 130, or the output shaft 120 penetrates the motor body 130 and has an extension output shaft at the top end of the motor body 130, and the portion extending from the bottom end of the motor body 130 is fixed and hidden on the base 180 at the bottom end, which is specifically selected according to the actual usage scenario and the usage requirement, and is within the protection scope of the present embodiment.
Wherein the magnet 150 is embedded in the second extension L of the output shaft 120 2 The magnet 150 is positioned outside the magnetic shielding housing of the motor 100, thereby avoiding the interference of the complex magnetic field inside the motor 100, and the second extension L of the output shaft 120 is embedded on the base 180 2 On, can eliminate motor 100 wholly because the external force factor arouses prying produce with fixed bolster 140 take place tiny displacement influence, can guarantee the high accuracy discernment and distinguish the output shaft 120 of motor 100 bottom department and measure the swing angle under the low magnetic interference of motor body 130, in the in-process that motor 100 vibration detected, can further guarantee motor 100 vibration detection's accuracy and reliability, in the in-process that motor 100 vibration controlled, also can further improve the accuracy of adjusting motor 100 operating parameter.
The center of the magnetic field detection sensor 160, the center of the magnet 150 and the center line of the output shaft 120 are coplanar, so that the optimal symmetry of the magnetic field variation parameters generated by the left-right swing or the front-back swing of the output shaft 120 can be obtained, and the detection accuracy in the vibration detection process of the motor 100 can be improved. It should be noted that, in the actual production process, the center of the magnetic field detection sensor 160, the center of the magnet 150, and the center line of the output shaft 120 cannot be guaranteed to be coplanar by 100%, and this embodiment allows for a certain assembly error in the actual production process.
The embodiment of the application provides a motor, including motor body, protecting sheathing, magnet, magnetic field detection sensor and the controller that contains the output shaft, detect the magnetic field variation parameter that the magnet produced through the magnetic field detection sensor, can assist the controller to accomplish the detection of motor vibration and the control of motor vibration to the center of magnetic field detection sensor, the center of magnet with the central line coplanar of output shaft can further improve the detection precision at motor vibration detection in-process.
FIG. 2 is a schematic illustration of an embodiment of the present applicationA schematic diagram of the internal structure of the motor 100, specifically illustrating the position of the motor body 130, and the positions of the magnet 150 and the magnetic field detection sensor 160, the second extension L 2 Is fixed to a base 180 at the bottom end of the motor body 130. To observe the specific positions of the magnet 150 and the magnetic field detection sensor 160, reference may be made to fig. 3, and fig. 3 is an oblique view of the internal structure of a motor 100 according to an embodiment of the present application.
In one possible embodiment, the motor 100 further includes a stationary bracket 140, wherein,
the fixing bracket 140 is used for fixing the motor body 130, and the fixing bracket 140 and the motor body 130 are both placed in the surrounding space;
The motor 100 and the magnetic field detection sensor 160 are electrically connected to a controller 170, respectively, wherein the controller 170 is used to adjust the operating parameters of the motor 100.
Specifically, the motor body 130 is fixed by the fixing bracket 140, the magnetic field detection sensor 160 and the controller 170 are embedded on the fixing bracket 140, specifically, the controller 170 may also be embedded on a PCB board, the PCB board may be attached to the surface of the fixing bracket 140, and a button may also be provided on the PCB board for generating an instruction to start or stop the motor 100 through corresponding contacts. The controller 170 may also be disposed on the protective housing 110, and may be disposed according to a specific use environment.
The embodiment of the application provides a motor, including motor body, protecting sheathing, fixed bolster, magnet, magnetic field detection sensor and the controller that contains the output shaft, detect the magnetic field variation parameter that the magnet produced through the magnetic field detection sensor, can assist the controller to accomplish the detection of motor vibration and motor vibration's control to the center of magnetic field detection sensor, the center of magnet with the central line coplanar of output shaft can further improve the detection precision in motor vibration detection process.
Referring to fig. 4, fig. 4 is a flowchart of a method for detecting motor vibration according to an embodiment of the present application, and each step of the method will be described in detail below.
S410, acquiring a magnetic field change parameter by a magnetic field detection sensor, wherein the magnetic field change parameter is generated in the vibration process of the magnet.
In this embodiment, the magnetic field variation parameter may be obtained by performing magnetic field detection by the magnetic field detection sensor 160, and the output shaft 120 of the motor 100, such as the vibration motor 100, may vibrate at a certain frequency under the normal working condition, and the vibration gesture of the output shaft 120 of the motor 100 may be deeply analyzed by the magnetic field variation parameter, and the vibration gesture of the output shaft 120 of the motor 100 may reflect the vibration gesture of the motor 100 to a certain extent, where the vibration gesture of the output shaft 120 of the motor 100 may be regarded as the vibration gesture of the motor 100.
The magnet 150 embedded on the output shaft 120 of the motor 100 can move along with the vibration of the output shaft 120, and the magnet 150 continuously generates a changing magnetic field in the following process, so that the moving gesture of the magnet 150 can be analyzed in turn by considering that the magnet 150 is embedded on the output shaft 120 and has the same law of vibration of the output shaft 120, and the moving gesture of the output shaft 120 can be analyzed by the changing magnetic field, thereby further determining the moving gesture of the motor 100.
The magnet 150 may be a permanent magnet, and the permanent magnet may operate without a power supply, and has a smaller size and is convenient to carry, so that the motor 100 corresponding to the embodiment is suitable for more scenes, and the utilization rate of the motor 100 is improved. The magnetic field detection sensor 160 can convert various magnetic fields and the variable amounts thereof into electric signals for output, and the internal operation of the magnetic field sensor and external components do not need to be in actual contact, so that abrasion caused by friction among the components can be reduced, and the maintenance of the motor 100 can be certainly reduced by adopting the magnetic field detection sensor 160 for detection, so that the service life of the motor 100 is prolonged.
The magnetic field variation parameter in the present embodiment may be an electric signal output from the magnetic field detection sensor 160.
Optionally, the magnetic field detection sensor 160 in this embodiment includes at least one of a linear hall sensor, a magneto-optical sensor, a nuclear magnetic resonance magnetometer, a fluxgate magnetometer, and a magneto-electric induction sensor, and considering that the linear hall sensor can stably and reliably operate in various electromagnetic environments, the present embodiment selects the linear hall sensor as the magnetic field detection sensor 160 to obtain accurate and reliable magnetic field variation parameters, and can improve accuracy of vibration detection of the motor 100 based on the accurate and reliable magnetic field variation parameters.
Taking the magnetic field detection sensor 160 as an example of a linear hall sensor, when detecting a magnetic field that changes as the magnet 150 vibrates with the output shaft 120, the linear hall sensor can output the changing magnetic field as a changing voltage value.
S420, generating a vibration waveform corresponding to the output shaft of the motor according to the magnetic field variation parameters.
Specifically, the present embodiment may fit the obtained magnetic field variation parameters related to the varying magnetic field generated by the magnet 150 to obtain a waveform of the magnetic field variation parameters, and since the magnet 150 is embedded on the output shaft 120 of the motor 100 and vibrates along with the output shaft 120, the waveform of the magnetic field variation parameters reflects the vibration gesture of the magnet 150, and similarly, the waveform of the magnetic field variation parameters also reflects the vibration gesture of the output shaft 120. Therefore, the waveform of the obtained magnetic field variation parameter may be used as the vibration waveform of the output shaft 120 of the motor 100, that is, the vibration waveform of the output shaft 120 may be generated according to the magnetic field variation parameter.
The magnetic field variation parameter may be a voltage value in the above embodiment, and in an ideal case, the magnetic field varies according to a sine wave rule, and in this embodiment, the magnetic field variation parameter or the voltage value obtained according to the varying magnetic field also varies according to a sine wave rule.
S430, calculating the swing angle of the output shaft according to the vibration waveform.
Specifically, the vibration waveform reflects the vibration posture of the output shaft 120 to a certain extent, and the present embodiment can analyze the vibration waveform to obtain related parameters about the vibration of the output shaft 120, such as the swing angle, that is, the swing angle of the output shaft 120 of the motor 100 in the present embodiment.
S440, determining the vibration gesture of the motor according to the swing angle, wherein the vibration gesture comprises at least one of normal, abnormal, needing to be adjusted and reminding, or abnormal, needing not to be adjusted and not needing to be reminded.
The swing angle of the motor 100 is obtained in the above embodiment, and is actually the swing angle of the output shaft 120 of the motor 100, and the present embodiment may further analyze and determine the vibration attitude of the output shaft 120, that is, the vibration attitude of the motor 100, based on the determined swing angle. The vibration gesture can be modified according to actual requirements, for example, the vibration gesture can comprise abnormality or normal, can comprise normal, or, abnormality, need of adjustment and reminding, or, abnormality, need of adjustment and need of reminding, can also comprise normal, abnormality and need of adjustment according to a first adjustment level, and abnormality and need of adjustment according to a second adjustment level, wherein the adjustment precision of the first adjustment level can be larger than that of the second adjustment level, and the type of the vibration gesture can be seen according to specific conditions. It should be noted that, the specific vibration gesture may be convenient to instruct the control end of the motor 100 to implement precise control over the motor 100.
As can be seen from the above analysis, in the motor vibration detection method provided by the embodiment of the present application, the magnetic field detection sensor obtains the magnetic field variation parameter firstly, the magnetic field variation parameter is generated in the vibration process of the magnet embedded on the output shaft of the motor, then the vibration waveform corresponding to the output shaft of the motor is generated according to the magnetic field variation parameter, the swing angle of the motor is calculated according to the vibration waveform, and finally the vibration gesture of the motor is determined according to the swing angle, so that the accurate detection of the vibration gesture of the motor can be realized.
Considering that various electromagnetic waves exist in real life, high-frequency interference is easily brought to the changing magnetic field generated by the magnet in the above embodiment, the accuracy of acquiring the magnetic field changing parameter in the above embodiment is affected, and the detection accuracy of motor vibration detection is also affected.
In one possible embodiment, the manner of calculating the swing angle includes:
filtering the magnetic field variation parameters to obtain filtered magnetic field variation parameters;
and calculating the swing angle according to the filtered magnetic field change parameters and a preset calculation model.
In this embodiment, the obtained magnetic field variation parameter is filtered to obtain a filtered magnetic field variation parameter, where the filtering process is performed by using a low-pass filter, and specifically may be implemented by using a low-pass filter, so that a high-frequency interference signal can be effectively suppressed. Optionally, the low-pass filter includes at least one of a kalman filter, a Butterworth filter, and a Chebyshev filter, which may be selected depending on the specific use scenario and use requirement.
Wherein the preset calculation model can be regarded as a formula model, and comprises a functional relationship between the swing angle and the magnetic field variation parameter, which is the voltage value V in the above embodiment and A, can be expressed by an initial model 1 Representing the swing angle, an initial model can be derived as:
A 1 ＝k 1 *V 2 +k 2 *V+b，
wherein k is 1 、k 2 And b is a constant.
In some embodiments, the magnetic field variation parameter is the voltage value V in the above embodiments, and A is used 2 The swing angle is represented, the filter processing function performed on the voltage value V is filter (V), and an initial model can be obtained as follows:
A 2 ＝k*filter(V)+b，
where k and b are both constants.
According to the embodiment, the low-pass filtering processing is carried out on the magnetic field change parameters, so that the interference of high-frequency signals can be effectively restrained, the accuracy of the acquired magnetic field change parameters is improved, and the accuracy and reliability of the vibration gesture of the detection motor 100 are ensured.
It should be noted that, in the above embodiment, after all the constants in the initial model are determined, a specific first preset calculation model is obtained.
Optionally, the method for obtaining the preset calculation model includes:
sending a start command to the motor 100;
acquiring test angles of the output shaft 120 at different moments and storing magnetic field change parameters at corresponding moments of the test angles;
Training the initial model according to all the test angles and the magnetic field change parameters corresponding to the test angles, and stopping training until preset parameters of the initial model meet convergence conditions to obtain a preset calculation model.
In this embodiment, before the motor 100 can be applied to a specific application scenario, an angle test may be performed on the motor 100 to determine a first preset calculation model, so that the stability of the motor 100 in working in the specific application scenario can be ensured. Specifically, the start command is used to instruct the motor 100 to work, the output shaft 120 also vibrates, a force can be applied to the output shaft 120 of the motor 100 by an external device to enable the output shaft 120 to change a certain angle compared with an initial position, and then the swing angle of the output shaft 120 and voltage values corresponding to different swing angles are obtained by the external device such as an angle detection sensor, wherein the initial position of the output shaft 120 can be a rest position of the output shaft 120 under the condition that the motor 100 does not work.
Still taking the magnetic field variation parameter as a voltage value example, storing the magnetic field variation parameters corresponding to different swinging, namely storing the voltage values obtained under different test forces and the swinging angle as A 1 Corresponding initial model example, the constant k needs to be determined 1 、k 2 And b, determining a specific preset calculation model, namely determining preset parameters in the initial model. The convergence condition may be that each preset parameter determines a specific value.
In some embodiments, 3 swing angles may be obtained, resulting in 3 voltage values, according to swing angle A 1 The corresponding initial model can obtain 3 corresponding equations, and the constant k can be determined by solving the 3 equations 1 、k 2 And b, further determining a predetermined calculation model, such as A 1 ＝0.9*V 2 +1.5×v+0.5, the preset calculation model is merely an example, and can be precisely determined according to the actual test result.
In some embodiments, the convergence condition may be that the difference between the same preset parameter in multiple tests is stabilized within a first range, and the first range is between 0.01 and 0.2, and the constant b is exemplified by the constant b being 2.1 in the first three-time stress test, the constant b being 2.2 in the second three-time stress test, the constant b being 2.3 in the third three-time stress test, the difference between the adjacent test results being 0.1, the difference between the interval test results being 0.2, and the preset parameter and the constant b being between the first range of 0.01 and 0.2, in which case the preset parameter and the constant b may be considered to satisfy the convergence condition, and the average value 2.2 of the constant b of the three-time test results may be taken as the actual value of the constant b. In the same manner, the constants k1 and k2 can be determined. According to the embodiment, the convergence condition is determined to be that the difference value of the same preset parameter in multiple tests is stabilized within a certain range, specific values of all constants are determined, a precise first preset calculation model can be obtained, the swing angle of the output shaft 120 of the motor 100 can be rapidly determined according to the voltage value measured by the magnetic field detection sensor 160 based on the precise first preset calculation model, and further the accuracy and reliability of detecting the vibration of the motor 100 are realized according to the precise swing angle.
It is also possible to obtain a plurality of constants b through more tests, and then compare differences of the plurality of constants b and determine whether the difference is within the first range, and the calculation method of the specific value of the constant b according to the obtained 3 constants b in the present embodiment is not limited.
In some embodiments, the initial model may further include a multi-dimensional polynomial:
A 1 ＝k 1 V 3 +k 2 V 2 +k 3 v+b, or,
A 1 ＝k 2 V 2 +k 1 V+b，
one-dimensional linear equations may also be included:
A 2 ＝kV+b，
wherein V represents a voltage, A 1 And A 2 All represent the swing angle, k 1 、k 2 、k 3 And b are constant.
In some embodiments, the swing angle and the voltage value obtained in the process of determining a specific preset calculation model in the above embodiments may be stored in a preset lookup table, and after the voltage value is output by the magnetic field detection sensor 160, the corresponding swing angle may be quickly determined according to the voltage value and the preset lookup table, so as to increase the calculation speed of the swing angle, and also facilitate further increasing the detection speed of the vibration of the motor 100.
In one possible embodiment, generating a vibration waveform corresponding to the output shaft 120 of the motor 100 according to the magnetic field variation parameter includes:
fitting the filtered magnetic field change parameters according to a sine wave fitting algorithm to obtain a vibration waveform, wherein the vibration waveform comprises at least two change periods;
The manner of calculating the swing angle includes:
acquiring a wave peak value and a wave trough value in each change period;
calculating peak-to-peak values in each change period according to the wave peak values and the wave trough values in each change period, and calculating peak-to-peak value average values of all the peak-to-peak values;
and determining the swing angle according to the peak-to-peak value average value and a preset parameter table, wherein the preset parameter table comprises the peak-to-peak value average value, the swing angle and the mapping relation between the peak-to-peak value average value and the swing angle.
Specifically, the sine wave fitting algorithm may refer to a common fitting algorithm, and the magnetic field variation parameter may still be understood as a voltage value output by the magnetic field detection sensor 160, so as to ensure accuracy of vibration detection of the motor 100, in this embodiment, the vibration waveform includes at least two variation periods, so as to avoid a situation that the vibration detection is inaccurate due to instability of one variation period.
In this embodiment, the peak-to-peak value in one period can be obtained by taking the difference between the peak value and the trough value in one period as an example of one variation period. After obtaining the peak-to-peak value average value of the multiple variation periods, the swing angle of the output shaft 120 may be determined based on the preset parameter table, and considering the mapping relationship including the peak-to-peak value average value, the swing angle, the peak-to-peak value average value and the swing angle in the preset parameter table, the swing angle of the output shaft 120 may be rapidly determined through the preset parameter table and the peak-to-peak value average value, so as to improve the detection speed of the motor 100 vibration.
In one possible embodiment, the acquiring the peak value and the trough value in each variation period includes:
arranging magnetic field change parameters in each change period according to the sequence from big to small, and removing the maximum magnetic field change parameter and the minimum magnetic field change parameter in each change period to obtain the latest sequence arrangement of each change period;
the first magnetic field variation parameter in the latest sequence of each variation period is taken as a wave peak value, and the last magnetic field variation parameter in the latest sequence of each variation period is taken as a wave trough value.
In this embodiment, by eliminating the maximum value and the minimum value in each variation period, the maximum value or the minimum value in the non-variation waveform due to, for example, high-frequency interference is avoided, and the accuracy of the vibration waveform is ensured.
In one possible embodiment, determining the vibration attitude of the motor 100 according to the swing angle includes:
under the condition that the swing angle is detected to be within a first preset angle range, determining that the vibration gesture is normal;
under the condition that the swing angle is detected to be out of a first preset angle range and in a second preset angle range, determining that the vibration gesture is abnormal, does not need to be regulated and does not need to be reminded, wherein the second preset angle range is larger than the first preset angle range;
And under the condition that the detected swing angle is out of the second preset angle range, determining that the vibration gesture is abnormal, and requiring adjustment and reminding.
In this embodiment, the second preset angle range is larger than the first preset angle range, and the swing angle is not within the first preset angle range and in the case of the second preset angle range, it may be understood that the swing angle exceeds the normal swing angle range, but does not exceed the angle range that needs to be adjusted immediately.
In some embodiments, the reminding in the above embodiments includes various reminding modes such as light reminding and sound reminding. Specifically, the light reminding includes strong light and weak light, for example, the swing angle is out of the second preset angle range and is within 0.1 or 3 degrees beyond the second preset angle range, and weak light reminding can be adopted. If the swing angle exceeds the second preset angle range by 0.1 degrees or 3 degrees, strong light reminding can be adopted. Wherein 0.1 ° or 3 ° is only an example, and can be set according to actual use conditions. The strong light and the weak light can be distinguished according to the illumination intensity, and the description of the existing illumination intensity can be specifically referred to, and is not further described herein.
In some embodiments, the light alert includes different colors of light, such as red light and yellow light, where the use of red light alert may be understood as the case where the above embodiment uses strong light alert, and the use of yellow light alert may be understood as the case where the above embodiment uses weak light alert, where red light and yellow light are also only one example, and other colors of light may be selected depending on the specific use environment, and in addition, different colors of light may be displayed by LEDs provided on the protective housing 110.
In some embodiments, the light alert includes lights of the same color and different flashing frequencies, or lights of different colors and different flashing frequencies, and white lights of the same color and different flashing frequencies are exemplified, for example, white lights flash twice per second and white lights flash once every two seconds, where the flashing of white light twice per second may be understood as a situation corresponding to the embodiment using a strong light alert, and the flashing of white light once every two seconds may be understood as a situation corresponding to the embodiment using a weak light alert. The number of times the light source blinks per second in the present embodiment is merely an example, and may be specifically set according to an actual usage scenario.
In some embodiments, the audible alert includes a beep, which may be implemented by a buzzer disposed on the protective housing 110, where the buzzer may be configured with beeps of different decibels, such as 40 db and 80 db, where 40 db may be understood as the case where the foregoing embodiment employs a weak light alert, and 80 db may be understood as the case where the foregoing embodiment employs a strong light alert. The specific db value of the buzzer in this embodiment is merely an example, and may be set according to a specific use environment.
In addition, a specific scenario to which the motor 100 vibration detection method provided in the foregoing embodiment of the present application is applicable includes at least one of brushing with an electric toothbrush and trimming nose hair with a nose hair trimmer, taking brushing with an electric toothbrush as an example, a brush head of the toothbrush may be sleeved on the output shaft 120 of the motor 100, in an actual brushing process, the brush hair on the brush head and teeth are continuously rubbed, a reaction force given by the teeth to the brush head acts on the output shaft 120 of the motor 100, so that the output shaft 120 swings, an angle of the output shaft 120 is changed compared with a rest position, that is, the swing angle mentioned in the foregoing embodiment, by detecting the swing angle, it may be determined whether a current friction state between the toothbrush and the teeth is suitable, or not, and whether it is necessary to implement vibration adjustment of the motor 100 by changing an operating parameter of the motor 100.
Taking the electric toothbrush as an example for brushing teeth, when the brush head passes through the suspended area of the tooth gaps, the original acting force on the output shaft 120 of the motor 100 can be changed instantaneously, and correspondingly, the swing angle of the motor 100 can also be changed along the feet, and whether the larger tooth gaps or the teeth missing exist at the current position of the brush head of the electric toothbrush can be determined through the swing angle of the output shaft 120.
The motor 100 vibration detection method of the present application is not only applicable to the case of brushing teeth with an electric toothbrush or trimming nose hair with a nose hair trimmer, but also to the case of brushing teeth with an electric toothbrush.
In summary, according to the motor vibration detection method provided by the embodiment of the application, the magnetic field change parameters are firstly obtained through the magnetic field detection sensor, the magnetic field change parameters are generated in the vibration process of a magnet embedded on the output shaft of the motor, the vibration waveform corresponding to the output shaft of the motor is generated immediately according to the magnetic field change parameters, and the swing angle of the motor is calculated according to the vibration waveform, wherein the swing angle is calculated by using a preset calculation model, so that the swing angle can be quickly determined, and finally the vibration attitude of the motor is accurately and quickly determined according to the swing angle.
In correspondence to the above method embodiment, the present application further provides a motor vibration detection apparatus 500, please refer to fig. 5, fig. 5 is a schematic functional block diagram of the motor vibration detection apparatus provided in the present application, the apparatus includes:
an acquisition module 510, configured to acquire, by using the magnetic field detection sensor 160, a magnetic field variation parameter generated during the vibration process of the magnet 150;
A first calculation module 520, configured to generate a vibration waveform corresponding to the output shaft 120 of the motor 100 according to the magnetic field variation parameter;
a second calculation module 530 for calculating a swing angle of the output shaft 120 according to the vibration waveform;
the detection analysis module 540 is configured to determine a vibration gesture of the motor 100 according to the swing angle, where the vibration gesture includes abnormality and requires adjustment, abnormality and does not require at least one of adjustment and normality.
According to the motor vibration detection device, the magnetic field change parameters are firstly obtained through the magnetic field detection sensor based on the obtaining module, the magnetic field change parameters are generated in the vibration process of the magnet embedded on the output shaft of the motor, the vibration waveform corresponding to the output shaft of the motor is generated according to the magnetic field change parameters through the first calculation module, the swing angle of the motor is calculated according to the vibration waveform through the second calculation module, and finally the vibration posture of the motor is accurately determined according to the swing angle through the detection analysis module.
The application also provides a motor vibration control method, which comprises the following steps:
s610, determining the vibration attitude of the motor through the motor vibration detection method embodiment;
s620, under the condition that the vibration gesture is abnormal, needs to be adjusted and reminded, adjusting the working parameters of the motor until the vibration gesture is detected to be normal, or, is abnormal, does not need to be adjusted and does not need to be reminded;
S630, under the condition that the vibration gesture is normal or abnormal, adjustment is not needed and reminding is not needed, the control parameters of the motor are not adjusted.
Specifically, the controller 170 in the embodiment of the motor 100 may be used to complete the adjustment of the working parameters of the motor 100, and the vibration gesture of the motor 100 may be set according to the actual use situation or the use requirement, so as to more accurately implement the adjustment of the vibration gesture of the motor 100.
According to the motor vibration control method, after the vibration gesture of the motor is obtained, the working parameters of the motor can be adjusted until the vibration gesture is detected to be normal or abnormal, no adjustment and no reminding are needed, and the control parameters of the motor are not adjusted under the condition that the vibration gesture is normal or abnormal, no adjustment and no reminding are needed, so that the accurate adjustment of the vibration gesture of the motor is realized.
Optionally, the operating parameters of the motor 100 include at least one of an input duty cycle and an input control waveform amplitude of the motor 100, and adjusting the control parameters of the motor 100 until the detected vibration gesture is normal, or abnormal, no adjustment and no reminding are required, including:
The input duty cycle of the motor 100 or the input control waveform amplitude of the motor 100 is adjusted until the detected vibration gesture is normal, or abnormal, does not require adjustment, and does not require a reminder.
It should be noted that "abnormal, not requiring adjustment, and not requiring reminding" in the present embodiment and the above embodiments is the same as "normal" in a parallel condition, and "abnormal, not requiring adjustment, and reminding" is also the same as "parallel condition".
In this embodiment, the power output frequency of the motor is determined by the input duty ratio and the change speed of the amplitude of the input control waveform, the input duty ratio can be understood as a PWM duty ratio, the amplitude of the boost and buck can be changed by changing the input duty ratio, the adjustment of the input voltage of the motor 100 is realized, the adjustment of the working parameters of the motor 100 is further realized, the amplitude of the input control waveform of the motor 100 can be directly adjusted by the controller 170, the adjustment of the working parameters of the motor 100 is further realized, and a proper adjustment mode can be specifically selected according to the actual use situation.
In summary, after the vibration attitude of the motor is obtained, the motor vibration control method provided by the embodiment can adjust the working parameters of the motor until the vibration attitude is detected to be normal or abnormal, no adjustment and no reminding are required, and the control parameters of the motor are not adjusted under the condition that the vibration attitude is normal or abnormal, no adjustment and no reminding are required, and various specific adjustment modes are provided, so that the accurate adjustment of the vibration attitude of the motor can be realized quickly.
In order to cooperate with the motor embodiment, the present application further provides an electric toothbrush, referring to fig. 6, fig. 6 is a schematic view of an external structure of the electric toothbrush according to the embodiment, wherein the electric toothbrush includes the motor 100 according to the embodiment, and a brush head 610 and a control contact 620, wherein,
the brush head 610 is detachably connected with the output shaft 120, the brush head 610 comprises a shell 611 and bristles 612, one side of the shell 611 is provided with a plurality of grooves, and the grooves are used for fixing the bristles 612;
the control contacts 620 are electrically connected to the motor body 130 for generating control commands, wherein the control commands are used to indicate the operating state of the motor 100.
In this embodiment, it is sufficient to ensure that the control contact 620 is electrically connected to the motor body 130, and the control contact may be disposed on the protective housing 110 of the motor 100 in the above embodiment, or may be disposed on the fixing bracket 140 of the motor 100, which is not limited herein, and the control contact in fig. 6 is shown with a dotted frame inside the protective housing 110. The control contacts 620 may be adapted to corresponding control buttons to control the motor, for example, short pressing the control buttons to control the motor in a switching manner, long pressing the control buttons to control the vibration modes of the motor, where the vibration modes may include different vibration frequencies, and may be further set and adjusted according to the actual usage situation of the electric toothbrush.
The detachable connection mode of the brush head 610 and the output shaft 120 includes at least one of threaded connection and snap connection, and vibration of the output shaft 120 drives vibration of the brush head 610, so that the brush head 610 can clean an oral cavity under vibration. It should be noted that the method for detecting the vibration of the motor 100 and the method for controlling the vibration of the motor 100 in the above-described embodiments are applicable to the electric toothbrush 600 in the present embodiment.
In addition, the description of the motor 100 including the protective housing 110 and the output shaft 120 in the electric toothbrush 600 may refer to the above-described embodiment of the motor 100, and will not be repeated herein.
The electric toothbrush provided by the embodiment of the application comprises the motor, the brush head and the control contact, wherein the control contact is electrically connected with the motor and used for generating a control instruction, the control instruction is used for indicating the working state of the motor, and the electric toothbrush is suitable for the motor vibration detection method and the motor vibration control method in the embodiment, and can well realize vibration detection of the electric toothbrush and vibration control of the electric toothbrush.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
Claims (11)
1. A motor vibration detection method, characterized by, be used for detecting the vibration of motor, the motor includes motor body that contains the output shaft, magnet and magnetic field detection sensor, wherein, the output shaft runs through the motor body and respectively extends first extension in the top of motor body, extend the second extension in the bottom of motor body, the length of first extension is greater than the length of second extension, the magnet inlays and establishes on the second extension, the magnet is used for following the output shaft vibration, magnetic field detection sensor with the base rigid connection of the bottom of motor body, the method includes:
acquiring a magnetic field change parameter by the magnetic field detection sensor, wherein the magnetic field change parameter is generated in the vibration process of the magnet;
generating a vibration waveform corresponding to an output shaft of the motor according to the magnetic field variation parameters;
Calculating the swing angle of the output shaft according to the vibration waveform;
and determining the vibration attitude of the motor according to the swing angle, wherein the vibration attitude comprises at least one of normal, abnormal, required to be adjusted and reminded, or abnormal, not required to be adjusted and not required to be reminded.
2. The motor vibration detecting method according to claim 1, wherein the manner of calculating the swing angle includes:
filtering the magnetic field variation parameters to obtain filtered magnetic field variation parameters;
and calculating the swing angle according to the filtered magnetic field change parameters and a preset calculation model.
3. The motor vibration detection method according to claim 2, wherein the means for obtaining the preset calculation model includes:
sending a start command to the motor;
acquiring test angles of the output shaft at different moments, and storing magnetic field change parameters at corresponding moments of the test angles;
training an initial model according to all the test angles and the magnetic field change parameters corresponding to the test angles, and stopping training until preset parameters of the initial model meet convergence conditions to obtain the preset calculation model.
4. The motor vibration detecting method according to claim 2, wherein the generating a vibration waveform corresponding to an output shaft of the motor according to the magnetic field variation parameter includes:
fitting the filtered magnetic field change parameters according to a sine wave fitting algorithm to obtain the vibration waveform, wherein the vibration waveform comprises at least two change periods;
the way of calculating the swing angle comprises:
acquiring a wave peak value and a wave trough value in each change period;
calculating peak-to-peak values in each change period according to the wave peak values and the wave trough values in each change period, and calculating peak-to-peak value average values of all the peak-to-peak values;
and determining the swing angle according to the peak-to-peak value average value and a preset parameter table, wherein the preset parameter table comprises the peak-to-peak value average value, the swing angle and the mapping relation between the peak-to-peak value average value and the swing angle.
5. The motor vibration detecting method according to claim 4, wherein the acquiring the peak value and the trough value in each variation period includes:
arranging magnetic field change parameters in each change period according to the sequence from big to small, and removing the maximum magnetic field change parameter and the minimum magnetic field change parameter in each change period to obtain the latest sequence arrangement of each change period;
Taking the first magnetic field change parameter in the latest sequence arrangement of each change period as the crest value, and taking the last magnetic field change parameter in the latest sequence arrangement of each change period as the trough value.
6. The motor vibration detecting method according to claim 1, wherein the determining the vibration attitude of the motor according to the swing angle includes:
under the condition that the swing angle is detected to be within a first preset angle range, determining that the vibration gesture is normal;
under the condition that the swing angle is detected to be out of the first preset angle range and in a second preset angle range, determining that the vibration gesture is abnormal, does not need to be regulated and does not need to be reminded, wherein the second preset angle range is larger than the first preset angle range;
and under the condition that the swing angle is detected to be out of the second preset angle range, determining that the vibration gesture is abnormal, and requiring adjustment and reminding.
7. A motor vibration control method, characterized by comprising:
determining a vibration attitude of the motor by the method of any one of claims 1 to 6;
under the condition that the vibration gesture is abnormal, needs to be adjusted and reminded, adjusting the working parameters of the motor until the vibration gesture is detected to be normal, or, is abnormal, does not need to be adjusted and does not need to be reminded;
And under the condition that the vibration gesture is normal or abnormal, does not need to be adjusted and does not need to be reminded, the control parameters of the motor are not adjusted.
8. The motor vibration control method according to claim 7, wherein the operation parameters of the motor include at least one of an input duty ratio and an input control waveform amplitude of the motor, and the adjusting the control parameters of the motor until the vibration gesture is detected as normal, or abnormal, requiring no adjustment, and requiring no reminder, includes:
the input duty cycle of the motor or the input control waveform amplitude of the motor is adjusted until the vibration gesture is detected to be normal, or abnormal, not requiring adjustment, and not requiring reminding.
9. A motor is characterized in that the motor comprises a motor body with an output shaft, a protective shell, a magnet, a magnetic field detection sensor and a controller, wherein the output shaft penetrates through the motor body and respectively extends out of a first extension section at the top end of the motor body, a second extension section at the bottom end of the motor body, the length of the first extension section is larger than that of the second extension section, and the motor comprises a motor body, a magnetic field detection sensor and a controller,
the protective housing forms an enclosed space for fixing the motor body;
The magnet is embedded on the second extension section, the center of the magnet and the central line of the output shaft are coplanar, and the magnet is used for vibrating along with the output shaft;
the magnetic field detection sensor is rigidly connected with the base and is used for detecting magnetic field change parameters generated in the vibration process of the magnet.
10. The motor of claim 9, further comprising a stationary bracket, wherein,
the fixing support is used for fixing the motor body, and the fixing support and the motor body are both placed in the surrounding space;
the motor and the magnetic field detection sensor are respectively and electrically connected with the controller, wherein the controller is used for adjusting working parameters of the motor.
11. An electric toothbrush comprising a motor as claimed in any one of claims 9 to 10, and a brush head and control contacts, wherein,
the brush head is detachably connected with the output shaft and comprises a shell and bristles, wherein a plurality of grooves are formed in one side of the shell and are used for fixing the bristles;
the control contact is electrically connected with the motor body and used for generating a control instruction, wherein the control instruction is used for indicating the working state of the motor.
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| CN202310451937.XA CN116539142A (en) | 2023-04-23 | 2023-04-23 | Motor vibration detection method, motor vibration control method, motor and electric toothbrush |
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| CN202310451937.XA CN116539142A (en) | 2023-04-23 | 2023-04-23 | Motor vibration detection method, motor vibration control method, motor and electric toothbrush |
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