Control system, method and cleaning machine for braces cleaning machine with handle

Abstract

The present invention relates to the technical field of braces cleaning, and in particular to a control system, method and cleaning machine for a braces cleaning machine with a handle. The system comprises a shooting unit, an image processing unit, a water level control unit, a cleaning parameter determination unit, a cleaning unit and a feedback unit. By shooting and processing the braces image, the size and attribute parameter information is extracted. The water level control unit determines the water level in the cleaning chamber, and the cleaning parameter determination unit maps the attribute parameters to the cleaning parameters. The cleaning unit uses ultrasonic vibration to clean the braces, and the feedback unit provides information on the completion of cleaning. The system can clean the braces efficiently and automatically to ensure its hygiene and cleanliness. At the same time, the present invention also provides a cleaning machine and a corresponding control method, which provide convenience and accuracy for braces cleaning. By shooting the braces image and analyzing the image data, the area to be cleaned and the cleaning parameters are determined, and the automatic cleaning of the braces and the grayscale image comparison cleaning path are realized, thereby improving the cleaning effect and convenience.

Description

Technical Field

[0001] The present invention relates to the technical field of braces cleaning, and in particular to a control system, method and cleaning machine for a braces cleaning machine with a handle. Background Art

[0002] Orthodontic devices such as braces and dental braces are widely used in orthodontic treatment. These devices adjust the position and arrangement of teeth by applying appropriate pressure and force to achieve tooth correction and alignment. However, over time, these devices will accumulate bacteria, food debris and other dirt, and if they are not cleaned and disinfected in time, they will pose a potential risk to oral health.

[0003] Traditional cleaning methods for orthodontic devices include manual brushing and soaking. Manual brushing involves scrubbing the device with a brush and detergent, but this method may not be thorough enough to clean small, hard-to-reach areas. In addition, the brushing process takes more time and effort, and there is a risk of damaging the device.

[0004] Another common cleaning method is soaking, which involves soaking the device in a container containing a cleaning agent or disinfectant for a period of time. Although this method can clean the device more thoroughly, it also has some problems. First, the soaking time needs to be long, usually several hours or overnight to achieve the desired cleaning effect. Second, some cleaning agents or disinfectants may corrode or damage the material of the device. In addition, the contact between the device and other devices during the soaking process may cause the risk of cross infection.

[0005] Therefore, there is a need for a more efficient, safe and easy-to-operate braces cleaning machine control system and method that can automatically complete the cleaning and disinfection process while protecting the material and integrity of the oral correction equipment. Summary of the invention

[0006] To solve the above problems, the present invention provides a control system, method and cleaning machine for a braces cleaning machine with a handle, which determines the area to be cleaned and the cleaning parameters by taking the braces image and analyzing the image data, thereby realizing automatic cleaning of the braces and grayscale image comparison cleaning path, thereby improving the cleaning effect and convenience.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] In a first aspect, the present invention provides a control method for a dental brace cleaning machine with a handle, the method comprising the following steps:

[0009] Step 1: Obtain image data. The image data of the braces to be cleaned is obtained by a shooting unit, which can be taken by a camera or a scanner.

[0010] Step 2: Image processing: According to the image data, the size information, surface image information and attribute parameter information of the braces to be cleaned are obtained, the surface image information is gray-scale processed, and the area to be cleaned on the surface of the braces is determined.

[0011] Step 3: Water level control. Based on the size information of the braces to be cleaned, determine the water level to be injected into the cleaning chamber of the cleaning machine. Control the water pump system to start and inject a preset amount of water into the cleaning chamber of the cleaning machine to make the water level reach the required water level.

[0012] Step 4: Determine the cleaning parameters. According to the attribute parameter information, determine the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned, including the frequency, power, cleaning time, etc. of the ultrasonic vibration part.

[0013] Step 5: Initial cleaning. Start the ultrasonic vibration part in the cleaning machine according to the cleaning parameters to perform the initial cleaning on the braces to be cleaned.

[0014] Step 6: Image comparison and path screening. The cleaning and drying surface of the braces is photographed again by the shooting unit, and grayscale image data of the braces surface is generated. The grayscale image data is compared with the surface image information of the area to be cleaned on the braces surface, and the areas above the grayscale threshold are screened out, and a cleaning path is generated, and the nozzle is enabled to clean these areas again.

[0015] Step 7: Repeat cleaning. Repeat steps 5 and 6 until the braces are cleaned. Image comparison and path screening will be performed after each cleaning to ensure that the cleaning effect meets the requirements.

[0016] Step 8: Cleaning completion and feedback: After cleaning is completed, the system sends a cleaning completion signal and provides the operator with feedback information on the cleaning completion through a display screen or other means to further confirm the cleaning effect.

[0017] Compared with the traditional braces cleaning method, the control method of the braces cleaning machine with a handle of the present invention realizes automatic cleaning of the braces through the cooperation of image recognition and the cleaning machine, reduces manual operation, and improves cleaning efficiency and convenience; at the same time, through grayscale image comparison and path screening, the areas to be cleaned can be accurately determined, and these areas can be cleaned in a focused manner to ensure thorough cleaning without dead ends; the present invention has the advantages of automation, precise cleaning and simple operation, is suitable for the field of braces cleaning, and has broad application prospects.

[0018] As a further solution of the present invention, obtaining image data of the braces to be cleaned by a shooting unit includes the following steps:

[0019] Based on the selected high-resolution camera or scanner as the photographing unit, the dental braces to be cleaned placed in the photographing area are photographed;

[0020] When photographing the dental braces to be cleaned placed in the shooting area, the method also includes using a ring light as a lighting setting for fill light, adjusting the focus and angle of the shooting device according to the size and shape of the dental braces, capturing the entire surface of the dental braces to be cleaned, and shooting after automatic focusing;

[0021] The captured images are saved, and images captured multiple times from different angles and directions are synthesized to obtain image data of the braces to be cleaned.

[0022] As a further solution of the present invention, the images captured multiple times from different angles and directions are synthesized, including the following steps:

[0023] a) Image alignment: Align the images taken each time in the same coordinate system based on feature point matching and geometric transformation;

[0024] b) Creating a composite canvas: selecting a canvas of a suitable size for combining multiple images together, wherein the size of the canvas is to accommodate all the captured images;

[0025] c) Image overlay: Based on the image processing layer, each image is overlaid on the canvas one by one, and the transparency and blending mode of the image are adjusted. Images of different angles and directions are aligned and overlaid on the composite canvas;

[0026] d) Image fusion: For the edges or overlapping areas of the superimposed images, a gradient fusion method is used to perform image fusion operations to obtain a synthetic image with a natural transition at the edges or overlapping areas of the images;

[0027] e) Adjustment and saving: Make brightness, contrast and color correction adjustments to the composite image, and save the composite image to a computer or storage device.

[0028] As a further solution of the present invention, obtaining the size information, surface image information and attribute parameter information of the braces to be cleaned according to the image data includes the following steps:

[0029] Preprocessing the acquired image data, identifying the edge of the braces in the image data based on Canny edge detection and calculating the length or perimeter of the edge, identifying and extracting the size information of the braces to be cleaned;

[0030] Extract key point features of the surface of the braces in the image data based on the SIFT (Scale Invariant Feature Transform) algorithm, perform sub-pixel location positioning on the detected key point features, and obtain surface image information of the braces to be cleaned after extraction;

[0031] Use a pre-trained machine learning model to perform feature extraction on the image data, extract material information, color information and texture features of the braces image, and use the extracted features as input to predict the attribute parameters of the braces to be cleaned, and output the attribute parameters of the material type, color category and texture category of the braces to be cleaned.

[0032] As a further solution of the present invention, the key point features of the surface of the braces in the image data are extracted based on the SIFT algorithm, the sub-pixel position of the detected key point features is located, and the surface image information of the braces to be cleaned is obtained after extraction, including the following steps:

[0033] (1) Constructing scale space: Preprocessing the image of the braces to be cleaned, using the Gaussian pyramid method to construct the scale space of the image, and generating image pyramids of different scales, where each pyramid level of the image pyramid is obtained by convolving the image with a Gaussian blur kernel;

[0034] (2) Key point detection and positioning: In each scale space of the image pyramid, scale space extremum detection is used to find key points, and the detected key points are positioned at sub-pixel positions;

[0035] (3) Direction assignment: By calculating the gradient histogram of the area around the key point, a dominant direction is assigned and determined for each key point;

[0036] (4) Feature descriptor calculation: In the local area around each key point, the local feature descriptor describing the key point characteristics is calculated based on the gradient direction and amplitude;

[0037] (5) Feature matching: The cosine similarity between feature descriptors is used to perform preliminary matching of key points in different images, and the matching results are filtered and verified. Feature descriptors are extracted from the verified matching point pairs to characterize the surface image information of the braces to be cleaned.

[0038] As a further solution of the present invention, grayscale processing is performed on the surface image information to determine the area to be cleaned on the surface of the braces, including the following steps:

[0039] Preprocessing the image of the braces to be cleaned, converting the preprocessed image into a grayscale image, and converting the grayscale image into a binary image by threshold segmentation, wherein during the threshold segmentation, pixels in the image are divided into a to-be-cleaned area and a background according to the grayscale value of the grayscale image;

[0040] Perform region filling and connectivity analysis on the binary image divided into the area to be cleaned and the background, mark the connected pixels as the same area, and determine the location of the area to be cleaned;

[0041] Screening is performed based on the characteristics of the area to be cleaned, and irrelevant areas that do not conform to the shape and size of the braces surface are removed to obtain the area to be cleaned on the braces surface.

[0042] As a further solution of the present invention, determining the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned according to the attribute parameter information includes the following steps:

[0043] Mapping the attribute parameters of the mouthpiece to be cleaned to the cleaning parameter range of the cleaning machine;

[0044] According to the specifications of the cleaning machine and the cleaning parameters of the ultrasonic vibration unit, the attribute parameters of the material type, color category and texture category of the braces are converted into corresponding cleaning parameter values;

[0045] The cleaning parameters obtained by mapping are combined to obtain determined cleaning parameters and applied to the cleaning machine.

[0046] As a further solution of the present invention, the cleaning parameter values ​​include cleaning time, cleaning temperature, cleaning agent concentration, and vibration frequency and power of the ultrasonic vibration part corresponding to the property parameters of the braces.

[0047] In a second aspect, the present invention further provides a control system for a braces cleaning machine with a handle, the system comprising a shooting unit, an image processing unit, a water level control unit, a cleaning parameter determination unit, a cleaning unit and a feedback unit;

[0048] The photographing unit is used to obtain image data of the braces to be cleaned. The photographing unit can be performed using a camera or a scanner to obtain the entire surface image of the braces;

[0049] The image processing unit: extracts the size information, surface image information and attribute parameter information of the braces to be cleaned according to the image data. Determines the area to be cleaned on the surface of the braces by grayscale processing the image;

[0050] The water level control unit: determines the water level to be injected into the cleaning chamber of the cleaning machine according to the size information of the braces to be cleaned. Controls the water pump system to start and injects a preset amount of water into the cleaning chamber of the cleaning machine to make the water level reach the required water level;

[0051] The cleaning parameter determination unit: determines the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned according to the attribute parameter information, including the determination of the frequency, power, cleaning time and other parameters of the ultrasonic vibration part;

[0052] The cleaning unit starts the ultrasonic vibration part in the cleaning machine according to the cleaning parameters determined by the cleaning parameter determination unit to perform the initial cleaning on the braces to be cleaned. The ultrasonic vibration can effectively remove dirt and bacteria on the surface of the braces.

[0053] The feedback unit: after the cleaning is completed, the system sends a cleaning completion signal and provides the operator with feedback information of the cleaning completion through a display screen or other means.

[0054] In a third aspect, the present invention also provides a cleaning machine, characterized in that the cleaning machine comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the control method of the braces cleaning machine with a handle is implemented when the processor executes the computer program.

[0055] Compared with the prior art, the control system, method and cleaning machine of the dental braces cleaning machine with a handle provided by the present invention have the following beneficial effects:

[0056] 1. Excellent cleaning effect: This cleaning machine uses an automated, precision cleaning design that can thoroughly clean braces, remove bacteria, food debris and dirt, and has excellent cleaning effects, keeping braces clean and hygienic.

[0057] 2. Multiple cleaning modes: The cleaning machine control system has multiple cleaning modes, and you can choose the appropriate mode according to the material and degree of the braces. These modes can adjust the cleaning intensity and time as needed to ensure that they are suitable for different types of braces, thereby providing better cleaning results.

[0058] 3. Gentle and effective cleaning: The cleaning machine control system adopts a gentle and effective cleaning method that will not damage the material of the braces. During the cleaning process, the corresponding cleaning agent is used according to the material of the braces, which can effectively remove dirt and bacteria while protecting the texture and appearance of the braces.

[0059] 4. Intelligent function: The cleaning machine control system has intelligent functions, which can automatically adjust the cleaning parameters according to the condition of the braces to ensure the best cleaning effect. For example, the system can automatically adjust the cleaning time and cleaning intensity according to the size and material of the braces to achieve the best cleaning effect.

[0060] 5. High efficiency and energy saving: The control system of the cleaning machine and the cleaning machine itself adopts a high efficiency and energy saving design. The system can intelligently manage the energy consumption of the cleaning machine to avoid unnecessary energy waste. This can not only provide efficient cleaning effects, but also reduce energy consumption, meeting the requirements of environmental protection and energy saving.

[0061] In summary, the control system, method and cleaning machine of the braces cleaning machine with a handle of the present invention have the beneficial effects of excellent cleaning effect, convenient operation, multiple cleaning modes, gentle and effective cleaning, intelligent functions and high efficiency energy saving, etc. It can provide a high-quality braces cleaning experience, ensure the cleanliness and hygiene of the braces, and bring a convenient and comfortable use experience to the user.

[0062] These and other aspects of the present invention will be more clearly understood in the following description of the embodiments. It should be understood that the above general description and the following detailed description are only exemplary and explanatory and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present invention. In the drawings:

[0064] Figure 1 The present invention is a flowchart of a method for controlling a dental brace cleaning machine with a handle according to an embodiment of the present invention.

[0065] Figure 2 The present invention is a flowchart of obtaining image data of a brace to be cleaned in a control method of a brace cleaning machine with a handle according to an embodiment of the present invention.

[0066] Figure 3 The present invention is a flowchart of obtaining size information, surface image information and attribute parameter information of a brace to be cleaned in a control method of a brace cleaning machine with a handle according to an embodiment of the present invention.

[0067] Figure 4 This is a flow chart of extracting surface image information in a control method for a braces cleaning machine with a handle according to an embodiment of the present invention.

[0068] Figure 5 The present invention is a flow chart of determining the area to be cleaned on the surface of a brace in a control method of a brace cleaning machine with a handle according to an embodiment of the present invention.

[0069] Figure 6 This is a structural block diagram of a control system of a braces cleaning machine with a handle according to an embodiment of the present invention.

[0070] Figure 7 The present invention is a schematic structural diagram of a cleaning unit in a control system of a dental brace cleaning machine with a handle according to an embodiment of the present invention.

[0071] Figure 8 The present invention is a schematic diagram of a structure in which a handle is installed on a cleaning unit in a control system of a dental brace cleaning machine with a handle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0074] It should be further understood that the term “and / or” used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0075] Specifically, the embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0076] See also Figure 1 As shown, an embodiment of the present invention provides a control method for a braces cleaning machine with a handle, comprising the following steps:

[0077] Step S10: Obtaining image data: The image data of the braces to be cleaned is obtained by a photographing unit, which can be photographed by a camera or a scanner.

[0078] Step S20: Image processing: According to the image data, the size information, surface image information and attribute parameter information of the braces to be cleaned are obtained, the surface image information is gray-scale processed, and the area to be cleaned on the surface of the braces is determined.

[0079] Step S30: water level control. Based on the size information of the mouthpiece to be cleaned, the water level to be injected into the cleaning chamber of the cleaning machine is determined. The water pump system is controlled to start and a preset amount of water is injected into the cleaning chamber of the cleaning machine to make the water level reach the required water level.

[0080] Step S40: Determine cleaning parameters. According to the attribute parameter information, determine the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned, including the frequency, power, cleaning time, etc. of the ultrasonic vibration part.

[0081] Step S50: Initial cleaning: The ultrasonic vibration unit in the cleaning machine is activated according to the cleaning parameters to perform initial cleaning on the dental braces to be cleaned.

[0082] Step S60: Image comparison and path screening. The cleaning and drying surface of the braces is photographed again by the shooting unit, and grayscale image data of the braces surface is generated. The grayscale image data is compared with the surface image information of the area to be cleaned on the braces surface, and the area above the grayscale threshold is screened out, and a cleaning path is generated, and the nozzle is enabled to clean these areas again.

[0083] Step S70: Repeat cleaning. Repeat steps S50 and S60 until the braces cleaning is completed. Image comparison and path screening are performed after each cleaning to ensure that the cleaning effect meets the requirements.

[0084] Step S80: Cleaning completion and feedback: After cleaning is completed, the system sends a cleaning completion signal and provides feedback information of cleaning completion to the operator through a display screen or other means to further confirm the cleaning effect.

[0085] Compared with the traditional braces cleaning method, the control method of the braces cleaning machine with a handle of the present invention realizes automatic cleaning of the braces through the cooperation of image recognition and the cleaning machine, reduces manual operation, and improves cleaning efficiency and convenience; at the same time, through grayscale image comparison and path screening, the areas to be cleaned can be accurately determined, and these areas can be cleaned in a focused manner to ensure thorough cleaning without dead ends; the present invention has the advantages of automation, precise cleaning and simple operation, is suitable for the field of braces cleaning, and has broad application prospects.

[0086] In this embodiment, see Figure 2 As shown, obtaining image data of the braces to be cleaned by a shooting unit includes the following steps:

[0087] Step S101 : Based on the selected high-resolution camera or scanner as the shooting unit, a photo is taken of the braces to be cleaned placed in the shooting area. Exemplarily, this can be accomplished by pressing a camera shutter or triggering a scanner.

[0088] Step S102, when taking a photo of the braces to be cleaned placed in the shooting area, it also includes using a ring light as a lighting setting for fill light, and adjusting the focal length and angle of the shooting device according to the size and shape of the braces, capturing the entire surface of the braces to be cleaned, and shooting after automatic focus.

[0089] When taking pictures of the braces to be cleaned, the ring light can provide uniform light to ensure clear visibility of the entire braces surface. When adjusting the focus and angle of the camera, by ensuring that the entire surface of the braces to be cleaned is captured, a complete braces image can be obtained for subsequent processing and analysis.

[0090] Step S103: Save the captured images and synthesize the images captured multiple times from different angles and directions to obtain image data of the braces to be cleaned. By synthesizing these images, more comprehensive and three-dimensional image data of the braces to be cleaned can be obtained, providing more information for subsequent processing and analysis.

[0091] Therefore, by selecting a high-resolution camera or scanner as the shooting unit, using a ring light for fill light, adjusting the focus and angle of the shooting device, and performing automatic focus and image synthesis, detailed image data of the braces to be cleaned can be obtained to provide support for subsequent cleaning operations and analysis.

[0092] In this embodiment, the images captured multiple times from different angles and directions are synthesized, including the following steps:

[0093] a) Image alignment: Based on feature point matching and geometric transformation, the images taken each time are aligned in the same coordinate system. This ensures that images at different angles and directions can accurately correspond to the same position and scale.

[0094] b) Creating a composite canvas: Select a canvas of appropriate size for combining multiple images together, wherein the size of the canvas is to accommodate all the captured images to ensure that no image is cropped or lost.

[0095] c) Image overlay: Based on the image processing layer, each image is overlaid on the canvas one by one, and the transparency and blending mode of the image are adjusted. Images of different angles and directions are aligned and overlaid on the composite canvas; by adjusting the transparency, the visibility of each image in the composite image can be controlled, and the blending mode can change the effect after image overlay (such as multiply, overlay, difference, etc.).

[0096] d) Image fusion: For the edges or overlapping areas of the superimposed images, use the gradient fusion method to perform image fusion operations to obtain a synthetic image with natural transitions in the edges or overlapping areas of the images; Gradient fusion applies a transition effect to the edges or overlapping areas to achieve a smooth transition in the transition area of ​​the image, avoiding obvious boundaries or discontinuities. Common gradient fusion methods include linear gradient, radial gradient, vignetting, etc.

[0097] e) Adjustment and saving: Make brightness, contrast and color correction adjustments to the composite image, and save the composite image to a computer or storage device for subsequent use or display.

[0098] For example, suppose there are three braces images taken from different angles. After the image alignment, image superposition and image fusion steps, a composite image is obtained. In the composite image, the braces images from different angles are fused together, and the edges and overlapping areas have a smooth transition effect. By adjusting the brightness, contrast and color correction, the composite image presents a clear and natural visual effect. Finally, the composite image can be saved to the computer's hard disk or other storage device.

[0099] When saving to your computer's hard drive or other storage device, you can save as:

[0100] 1. Save as image file: The composite image can be saved as a file in common image formats (such as JPEG, PNG, BMP, etc.) for viewing and use on a computer. You can choose an appropriate file name and file format to meet your needs.

[0101] 2. Storage to the cloud: Upload the composite image to a cloud storage service (such as Google Drive, Dropbox, OneDrive, etc.) so that it can be shared and accessed across multiple devices. Cloud storage also provides the convenience of backup and remote access.

[0102] 3. Import to image editing software: Import the composite image into image editing software (such as Adobe Photoshop, GIMP, etc.) for further post-processing and editing. This allows for more detailed adjustments, repairs, or the addition of additional elements.

[0103] 4. Output to printing or display device: If you need to print out the composite image or display it on a display device, you can export it to an output device such as a printer or projector. When exporting, you can select the appropriate resolution and color configuration to obtain the best printing or display effect.

[0104] In short, the way to save the composite image depends on the specific needs and uses. Choose the appropriate saving method according to your needs to ensure the quality and usability of the composite image.

[0105] In this embodiment, see Figure 3 As shown, according to the image data, obtaining the size information, surface image information and attribute parameter information of the braces to be cleaned includes the following steps:

[0106] Step S201, pre-processing the acquired image data, identifying the edge of the braces in the image data based on Canny edge detection and calculating the length or perimeter of the edge, identifying and extracting the size information of the braces to be cleaned.

[0107] Among them, when extracting size information, it specifically includes:

[0108] Preprocess image data: Preprocess the acquired image data, including denoising, grayscale conversion and other operations, to improve the accuracy of subsequent processing.

[0109] Edge detection: Use the Canny edge detection algorithm to identify the edges of the braces. The Canny algorithm can effectively detect the edges in the image and obtain clear edge lines by setting an appropriate threshold.

[0110] Edge length calculation: Based on the detected edge lines, the edge length or perimeter of the braces can be calculated to obtain the size information of the braces. The edge length can be calculated using an image processing library or a custom algorithm.

[0111] Step S202: extract key point features of the surface of the braces in the image data based on the SIFT (Scale Invariant Feature Transform) algorithm, perform sub-pixel location positioning on the detected key point features, and obtain surface image information of the braces to be cleaned after extraction.

[0112] Among them, when the surface image information is extracted, it specifically includes:

[0113] Key point extraction: The SIFT (Scale Invariant Feature Transform) algorithm is used to extract key point features of the braces surface in the image data. The SIFT algorithm can extract stable key points at different scales and rotation angles.

[0114] Sub-pixel positioning: Perform sub-pixel positioning of detected key point features to improve the positioning accuracy of key points. This can be achieved through techniques such as interpolation to make the position of key points more accurate.

[0115] Feature description: Extract descriptors for each key point to describe the texture and structural features of the braces surface. These descriptors are high-dimensional vectors that can be used for subsequent image matching and feature extraction tasks.

[0116] Step S203: Use a pre-trained machine learning model to perform feature extraction on the image data, extract material information, color information and texture features of the braces image, and use the extracted features as input to predict the attribute parameters of the braces to be cleaned, and output the attribute parameters of the material type, color category and texture category of the braces to be cleaned.

[0117] Among them, when predicting attribute parameters, it specifically includes:

[0118] Feature extraction: Use pre-trained machine learning models, such as convolutional neural networks (CNN) or support vector machines (SVM), to extract features from image data. Convolutional layers, fully connected layers and other structures can be used to extract material information, color information, and texture features of braces images.

[0119] Attribute parameter prediction: The extracted features are used as input, and the machine learning model is used to predict the attribute parameters of the braces to be cleaned. For example, a classification model can be trained to predict the attribute parameters of the material type, color category, and texture category of the braces.

[0120] In this embodiment, see Figure 4As shown, based on the SIFT algorithm, key point features of the surface of the braces in the image data are extracted, and the sub-pixel position of the detected key point features is located, and the surface image information of the braces to be cleaned is obtained after extraction, including the following steps:

[0121] Step S2021, constructing a scale space: preprocessing the image of the braces to be cleaned, constructing the scale space of the image using the Gaussian pyramid method, and generating image pyramids of different scales, wherein each pyramid level of the image pyramid is obtained by convolving the image with a Gaussian blur kernel;

[0122] Step S2022, key point detection and positioning: In each scale space of the image pyramid, scale space extremum detection is used to find key points, and the detected key points are positioned in sub-pixels.

[0123] Among them, in each scale space of the image pyramid, the scale space extreme value detection method is used to find the key points. The extreme value points have a higher contrast in the image and reach a maximum or minimum value in the scale space; the sub-pixel position of the detected key points is located, and the precise position of the key points is improved by the fitting curve method.

[0124] Step S2023, direction assignment: assign and determine a dominant direction to each key point by calculating the gradient histogram of the area around the key point. For each key point, use a gradient calculation operator (such as Sobel operator) to obtain image gradient information and calculate the gradient direction of the area around it; based on the gradient histogram of the area around the key point, determine the dominant direction, that is, the main change direction of the area where the key point is located.

[0125] Step S2024, feature descriptor calculation: In the local area around each key point, the local feature descriptor describing the key point feature is calculated according to the gradient direction and amplitude. The feature descriptor can be constructed based on the gradient information of the pixels near the key point using the direction histogram, gradient histogram or local binary pattern (LBP) method.

[0126] Step S2025, feature matching: use the cosine similarity between feature descriptors to perform preliminary matching on key points in different images, filter and verify the matching results, and extract feature descriptors from the verified matching point pairs to characterize the surface image information of the braces to be cleaned.

[0127] In this embodiment, see Figure 5 As shown, grayscale processing is performed on the surface image information to determine the area to be cleaned on the surface of the braces, including the following steps:

[0128] Step S211, preprocessing the image of the braces to be cleaned, converting the preprocessed image into a grayscale image, and converting the grayscale image into a binary image by threshold segmentation, wherein during the threshold segmentation, pixels in the image are divided into a to-be-cleaned area and a background according to the grayscale value of the grayscale image;

[0129] Among them, the image is converted from a multi-channel to a single-channel grayscale image by weighted averaging the pixel values ​​of the red, green and blue channels of the color image; during threshold segmentation, the pixels in the image are divided into the area to be cleaned and the background according to the grayscale value, and the global threshold or adaptive threshold method is used for segmentation.

[0130] Step S212: performing region filling and connectivity analysis on the binary image divided into the area to be cleaned and the background, marking connected pixels as the same area to determine the position of the area to be cleaned.

[0131] Among them, when filling the area, holes and incompletely closed areas are filled to ensure that the area to be cleaned is continuous and complete; through connectivity analysis, connected areas with the same pixel labels are divided into different areas to determine the location of the area to be cleaned. This can be achieved using the connectivity analysis function provided by the image processing library or a custom algorithm.

[0132] Step S213, screening is performed based on the characteristics of the area to be cleaned, and irrelevant areas that do not conform to the shape and size of the braces surface are removed to obtain the area to be cleaned on the braces surface. The screening is performed based on the area, shape characteristics or other geometric properties of the area.

[0133] In this embodiment, determining the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned according to the attribute parameter information includes the following steps:

[0134] Step 1, mapping the attribute parameters of the braces to be cleaned to the cleaning parameter range of the cleaning machine;

[0135] Step 2: According to the specifications of the cleaning machine and the cleaning parameters of the ultrasonic vibration unit, the attribute parameters of the material type, color category and texture category of the braces are converted into corresponding cleaning parameter values;

[0136] Step 3: Combine the cleaning parameters obtained by mapping to obtain the determined cleaning parameters and apply them to the cleaning machine.

[0137] The cleaning parameter values ​​include cleaning time, cleaning temperature, cleaning agent concentration, and vibration frequency and power of the ultrasonic vibration part corresponding to the property parameters of the braces.

[0138] Therefore, the steps of determining the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned according to the attribute parameter information are as follows:

[0139] 1. Map attribute parameters to cleaning parameter ranges:

[0140] Map the attribute parameters of the mouthpiece to be cleaned to the cleaning parameter range of the cleaning machine. According to the specifications and capabilities of the cleaning machine, determine the acceptable range of cleaning time, cleaning temperature, cleaning agent concentration, and vibration frequency and power of the ultrasonic vibration unit.

[0141] 2. Convert attribute parameters to cleaning parameter values:

[0142] According to the specifications of the cleaning machine and the cleaning parameters of the ultrasonic vibration unit, the attribute parameters of the material type, color category, and texture category of the braces are converted into corresponding cleaning parameter values. This involves mapping the attribute parameters to specific cleaning time, cleaning temperature, cleaning agent concentration, ultrasonic vibration frequency, and power values.

[0143] 3. Combined determination of cleaning parameters:

[0144] The cleaning parameter values ​​obtained by mapping are combined to obtain the final cleaning parameters. According to the requirements and characteristics of the cleaning machine, the mutual influence and adaptability between the parameters are considered to ensure the rationality and feasibility of the cleaning parameters.

[0145] 4. Apply cleaning parameters to the cleaning machine:

[0146] Apply the determined cleaning parameters to the cleaning machine. Set up the control system of the cleaning machine and adjust parameters such as cleaning time, cleaning temperature, cleaning agent concentration, and vibration frequency and power of the ultrasonic vibration part to meet the cleaning needs of the braces to be cleaned.

[0147] For example, assume that the attribute parameters of the braces to be cleaned are material type: silicone, color category: transparent, and texture category: smooth. According to the specifications and requirements of the cleaning machine, after mapping and conversion, the following cleaning parameter values ​​are obtained:

[0148] Cleaning time: 5 minutes.

[0149] Cleaning temperature: 40℃.

[0150] Detergent concentration: 10%.

[0151] Ultrasonic vibration frequency: 40kHz.

[0152] Ultrasonic vibration power: 50W.

[0153] These cleaning parameter values ​​are then applied to the cleaning machine to ensure that the cleaning machine uses the parameters appropriate for the toothbrush during the cleaning process.

[0154] The control method of the dental brace cleaning machine with a handle of the present invention is a convenient and effective way for users to easily control the cleaning machine to clean the dental brace comprehensively. The main steps of the method of the present invention include turning on the cleaning machine, placing the dental brace to be cleaned, setting the cleaning parameters, starting the cleaning process, the cleaning cycle, completing the cleaning and turning off the cleaning machine.

[0155] Through the method of the present invention, the user can turn on and off the cleaning machine through a control device such as a handle or a button, which simplifies the operation process. The user only needs to place the braces to be cleaned in a designated position and set corresponding cleaning parameters such as cleaning time, cleaning temperature, cleaning agent concentration, etc. according to the properties of the braces and cleaning requirements. After starting the cleaning process, the cleaning machine will perform a cleaning cycle according to the set cleaning parameters, including water spraying, ultrasonic vibration, and cleaning agent spraying, etc., to ensure that the surface and small parts of the braces are thoroughly cleaned.

[0156] The control method of the braces cleaning machine with a handle of the present invention can customize the cleaning parameters according to the characteristics and requirements of the braces to obtain the best cleaning effect. The braces can be mapped to the cleaning parameter range of the cleaning machine according to their properties such as material, color and texture, and the property parameters can be converted into corresponding cleaning parameter values ​​according to the specifications of the cleaning machine and the cleaning parameters of the ultrasonic vibration part. In this way, the cleaning machine can perform precise cleaning according to the specific characteristics of the braces, thereby improving the cleaning effect and efficiency.

[0157] In summary, the control method of the braces cleaning machine with a handle of the present invention combines a user-friendly operation mode and a personalized cleaning parameter setting, so that the user can easily control the cleaning machine to complete the comprehensive cleaning of the braces, providing a convenient, efficient and customized braces cleaning experience.

[0158] See also Figures 6 to 8 As shown, an embodiment of the present invention further provides a control system for a braces cleaning machine with a handle, the system comprising a shooting unit 100, an image processing unit 200, a water level control unit 300, a cleaning parameter determination unit 400, a cleaning unit 500 and a feedback unit 600;

[0159] The photographing unit 100 is used to obtain image data of the braces to be cleaned. The photographing may be performed using a camera or a scanner to obtain an image of the entire surface of the braces;

[0160] The image processing unit 200: extracts the size information, surface image information and attribute parameter information of the braces to be cleaned according to the image data. Determines the area to be cleaned on the surface of the braces by grayscale processing the image;

[0161] The water level control unit 300 determines the water level to be injected into the cleaning chamber of the cleaning machine according to the size information of the mouthpiece to be cleaned. It controls the water pump system to start and inject a preset amount of water into the cleaning chamber of the cleaning machine to make the water level reach the required water level;

[0162] The cleaning parameter determination unit 400: determines the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned according to the attribute parameter information, including the determination of the frequency, power, cleaning time and other parameters of the ultrasonic vibration part;

[0163] The cleaning unit 500 starts the ultrasonic vibration part in the cleaning machine according to the cleaning parameters determined by the cleaning parameter determination unit 400 to perform initial cleaning on the braces to be cleaned. Ultrasonic vibration can effectively remove dirt and bacteria on the surface of the braces.

[0164] The feedback unit 600: after the cleaning is completed, the system sends a cleaning completion signal and provides the operator with feedback information of the cleaning completion through a display screen or other means.

[0165] Through the coordinated work of the above components, the control system of the braces cleaning machine with a handle of the present invention can achieve comprehensive cleaning of the braces and provide feedback and monitoring of the cleaning process, so that the operator can conveniently control and manage the cleaning process to ensure the cleanliness and hygiene of the braces.

[0166] An embodiment of the present invention further provides a cleaning machine, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, a control method for a braces cleaning machine with a handle according to any one of the above embodiments is implemented.

[0167] The cleaning machine includes a processor and a memory, and may also include an input device and an output device. The processor, memory, input device and output device may be connected via a bus or other means, and the input device may receive input digital or character information and generate signal input related to the control of the dental brace cleaning machine with a handle. The output device may include a display device such as a display screen.

[0168] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the program instructions / modules corresponding to the control method of the braces cleaning machine with a handle in the embodiment of the present application. The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating device, an application required for at least one function; the data storage area may store data created by the use of the control method of the braces cleaning machine with a handle, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the local module via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0169] In some embodiments, the processor may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor is generally used to control the overall operation of the cleaning machine. In this embodiment, the processor is used to run the program code stored in the memory or process data. The processors of the multiple cleaning machines of the cleaning machine of this embodiment execute various functional applications and data processing of the server by running non-volatile software programs, instructions and modules stored in the memory, that is, implementing the steps of the control method of the braces cleaning machine with a handle of the above method embodiment.

[0170] It should be understood that, in the absence of conflict, all the embodiments, features and advantages described above for the control method of the braces cleaning machine with a handle according to the present invention are also applicable to the automatic database migration tool and storage medium based on the agile development model according to the present invention.

[0171] It will also be appreciated by those skilled in the art that various exemplary logic blocks, modules, circuits and algorithm steps described in conjunction with the disclosure herein can be implemented as electronic hardware, computer software or a combination of the two. In order to clearly illustrate this interchangeability of hardware and software, a general description has been given of the functions of various schematic components, blocks, modules, circuits and steps. Whether this function is implemented as software or hardware depends on specific applications and the design constraints imposed on the entire device. Those skilled in the art can implement the function in various ways for each specific application, but this implementation decision should not be interpreted as causing a departure from the scope disclosed in the embodiments of the present invention.

[0172] In summary, the cleaning machine control system and method provide an efficient, hygienic and precise braces cleaning experience, ensuring the cleanliness and health of the braces.

[0173] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for a braces cleaning machine with a handle, characterized in that: The method comprises the following steps: Step 1): Get image data Acquiring image data of the braces to be cleaned by a shooting unit includes the following steps: Based on the selected high-resolution camera or scanner as the photographing unit, the dental braces to be cleaned placed in the photographing area are photographed; When photographing the dental braces to be cleaned placed in the shooting area, the method also includes using a ring light as a lighting setting for fill light, adjusting the focus and angle of the shooting device according to the size and shape of the dental braces, capturing the entire surface of the dental braces to be cleaned, and shooting after automatic focusing; The captured images are saved, and images captured multiple times from different angles and directions are synthesized to obtain image data of the braces to be cleaned; The steps of synthesizing images captured multiple times from different angles and directions include: a) Image alignment: Align the images taken each time in the same coordinate system based on feature point matching and geometric transformation; b) Creating a composite canvas: selecting a canvas of a suitable size for combining multiple images together, wherein the size of the canvas is to accommodate all the captured images; c) Image overlay: Based on the image processing layer, each image is overlaid on the canvas one by one, and the transparency and blending mode of the image are adjusted. Images of different angles and directions are aligned and overlaid on the composite canvas; d) Image fusion: For the edges or overlapping areas of the superimposed images, a gradient fusion method is used to perform image fusion operations to obtain a synthetic image with a natural transition at the edges or overlapping areas of the images; e) Adjustment and saving: adjusting brightness, contrast and color correction of the composite image, and saving the composite image to a computer or storage device; Step 2): Image Processing According to the image data, the size information, surface image information and attribute parameter information of the braces to be cleaned are obtained, the surface image information is grayed out, and the area to be cleaned on the surface of the braces is determined; wherein; according to the image data, the size information, surface image information and attribute parameter information of the braces to be cleaned are obtained, including the following steps: Preprocessing the acquired image data, identifying the edge of the braces in the image data based on Canny edge detection and calculating the length or perimeter of the edge, identifying and extracting the size information of the braces to be cleaned; Extract key point features of the surface of the braces in the image data based on the SIFT algorithm, perform sub-pixel location positioning on the detected key point features, and obtain surface image information of the braces to be cleaned after extraction; Use a pre-trained machine learning model to perform feature extraction on the image data, extract material information, color information, and texture features of the braces image, and use the extracted features as input to predict attribute parameters of the braces to be cleaned, and output the attribute parameters of the material type, color category, and texture category of the braces to be cleaned; The key point features of the surface of the braces in the image data are extracted based on the SIFT algorithm, and the sub-pixel position of the detected key point features is located to obtain the surface image information of the braces to be cleaned after extraction, including the following steps: Constructing scale space: Preprocessing the image of the braces to be cleaned, using the Gaussian pyramid method to construct the scale space of the image, generating image pyramids of different scales, where each pyramid level of the image pyramid is obtained by convolving the image with a Gaussian blur kernel; Key point detection and positioning: In each scale space of the image pyramid, scale space extreme value detection is used to find key points, and the detected key points are positioned in sub-pixels; Direction assignment: Assign and determine a dominant direction to each key point by calculating the gradient histogram of the area around the key point; Feature descriptor calculation: In the local area around each key point, the local feature descriptor describing the key point characteristics is calculated based on the gradient direction and amplitude; Feature matching: Use the cosine similarity between feature descriptors to perform preliminary matching of key points in different images, filter and verify the matching results, and extract feature descriptors from the verified matching point pairs to characterize the surface image information of the braces to be cleaned; Step 3): Water level control Based on the acquired size information of the dental braces to be cleaned, the water level to be injected into the cleaning chamber of the cleaning machine is determined; the water pump system is controlled to start and a preset amount of water is injected into the cleaning chamber of the cleaning machine to make the water level reach the required water level; Step 4): Determination of cleaning parameters According to the attribute parameter information, the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned are determined, including the frequency, power and cleaning time of the ultrasonic vibration part; Step 5): Initial cleaning Start the ultrasonic vibration part in the cleaning machine according to the cleaning parameters to perform the initial cleaning of the braces to be cleaned; Step 6): Image comparison and path screening The cleaning and drying surface of the braces is photographed again by the photographing unit, and grayscale image data of the braces surface is generated; the grayscale image data is compared with the surface image information of the area to be cleaned on the braces surface, the area above the grayscale threshold is screened out, and a cleaning path is generated, and the nozzle is enabled to clean these areas again; Step 7): Repeat the cleaning Repeat steps 5) and 6) until the braces are cleaned. Perform image comparison and path screening after each cleaning until the cleaning requirements are met. Step 8): Cleaning completion and feedback After cleaning is completed, a cleaning end signal is sent and cleaning information is fed back; Among them, in step 2), grayscale processing is performed on the surface image information to determine the area to be cleaned on the surface of the braces, including the following steps: Preprocessing the image of the braces to be cleaned, converting the preprocessed image into a grayscale image, and converting the grayscale image into a binary image by threshold segmentation, wherein during the threshold segmentation, pixels in the image are divided into a to-be-cleaned area and a background according to the grayscale value of the grayscale image; Perform region filling and connectivity analysis on the binary image divided into the area to be cleaned and the background, mark the connected pixels as the same area, and determine the location of the area to be cleaned; Screening is performed based on the characteristics of the area to be cleaned, and irrelevant areas that do not conform to the shape and size of the braces surface are removed to obtain the area to be cleaned on the braces surface.

2. The control method of the dental brace cleaning machine with a handle according to claim 1, characterized in that: Determining the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned according to the attribute parameter information includes the following steps: Mapping the attribute parameters of the mouthpiece to be cleaned to the cleaning parameter range of the cleaning machine; According to the specifications of the cleaning machine and the cleaning parameters of the ultrasonic vibration unit, the attribute parameters of the material type, color category and texture category of the braces are converted into corresponding cleaning parameter values; The cleaning parameters obtained by mapping are combined to obtain determined cleaning parameters and applied to the cleaning machine.

3. The control method of the dental brace cleaning machine with a handle according to claim 2, characterized in that: The cleaning parameter values ​​include cleaning time, cleaning temperature, cleaning agent concentration, and vibration frequency and power of the ultrasonic vibration unit corresponding to the property parameters of the mouthpiece.

4. A control system for a braces cleaning machine with a handle, characterized in that: The system is used to execute the control method of the braces cleaning machine with a handle as described in any one of claims 1 to 3, and the system includes a shooting unit, an image processing unit, a water level control unit, a cleaning parameter determination unit, a cleaning unit and a feedback unit; The photographing unit is used to obtain image data of the braces to be cleaned; The image processing unit is used to extract the size information, surface image information and attribute parameter information of the braces to be cleaned according to the image data; and to determine the area to be cleaned on the surface of the braces by grayscale processing the image; The water level control unit is used to determine the water level to be injected into the cleaning chamber of the cleaning machine according to the size information of the braces to be cleaned, and control the water pump system to start and inject a preset amount of water into the cleaning chamber of the cleaning machine to make the water level reach the required water level; The cleaning parameter determination unit is used to determine the cleaning parameters of the cleaning machine corresponding to the mouthpiece to be cleaned according to the attribute parameter information; The cleaning unit is used to start the ultrasonic vibration part in the cleaning machine to clean the braces to be cleaned according to the cleaning parameters determined by the cleaning parameter determination unit; The feedback unit is used to send a cleaning end signal and feed back cleaning information after cleaning is completed.

5. A cleaning machine, characterized in that: The cleaning machine includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the control method of the braces cleaning machine with a handle as described in any one of claims 1-3 when executing the computer program.

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