A method, device, medium and electric toothbrush for assisting movement control of a brush head

Abstract

The application discloses an auxiliary movement control method and device of a brush head, a medium and an electric toothbrush. The method is applied to the electric toothbrush in a gravity balance state, and comprises the following steps: detecting position information of the brush head, confirming a tooth area where the brush head is located according to the position information; acquiring an auxiliary movement strategy corresponding to the tooth area; controlling a target end portion of the brush head to move into a tooth gap and keep abutting against the tooth according to the auxiliary movement strategy; and outputting corresponding motor driving instructions to control motor parameters according to the auxiliary movement strategy, so that the brush head moves in the tooth area at a movement parameter under the action of the motor driving and the abutting. Through the auxiliary control, the brush head automatically moves under the action of the motor driving and the gap abutting, the user only needs to pay attention to the balance state of the electric toothbrush in the gravity direction, and the semi-automatic tooth brushing effect of saving labor can be realized without other actions, the application can effectively widen the application group of the electric toothbrush, and provides convenience for the tooth brushing process of the user.

Description

Technical Field

[0001] This invention relates to the field of smart toothbrush technology, and in particular to a method, device, medium, and electric toothbrush for assisting in the movement control of a brush head. Background Technology

[0002] Electric toothbrushes have been around for nearly fifty years. Their basic principle is to use electricity to replace manual operation, which causes the bristles to move against the tooth surface. The bristle tips create friction with the tooth surface, thereby cleaning the teeth.

[0003] In actual use of electric toothbrushes, although there are various brush head working methods, such as rotation and vibration, users still need to hold the toothbrush handle with their hands and move the bristles of the electric toothbrush head between each tooth by bending and rotating their arms.

[0004] However, since electric toothbrushes are usually heavier than regular toothbrushes, the continuous bending and twisting of the arm required for brushing is quite strenuous for users. Furthermore, special groups such as those with upper limb disabilities often require assistance to complete the brushing process with an electric toothbrush. This makes it difficult for existing electric toothbrushes to achieve the effortless semi-automatic brushing effect, thus limiting the target audience for electric toothbrushes. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a method, device, medium and electric toothbrush for assisting the movement control of the brush head, so as to achieve a labor-saving semi-automatic brushing effect by assisting the control of the brush head movement of the electric toothbrush, thereby broadening the applicable group of electric toothbrushes and providing convenience for users in the brushing process.

[0006] The technical solution of the present invention is as follows:

[0007] A method for assisting the movement of a brush head, the method being applied to an electric toothbrush in a state of gravity equilibrium, the method comprising:

[0008] Detect the position information of the brush head, and confirm the tooth area where the brush head is located based on the position information;

[0009] Obtain an auxiliary movement strategy corresponding to the tooth region, the auxiliary movement strategy being used to control the movement parameters of the brush head;

[0010] According to the auxiliary movement strategy, the target end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth.

[0011] According to the auxiliary movement strategy, the corresponding motor drive command is output to control the motor parameters, so that the brush head moves in the tooth area with the movement parameters under the motor drive and contact action.

[0012] In one embodiment, after outputting corresponding motor drive commands to control motor parameters according to the auxiliary movement strategy, so that the brush head moves within the tooth region under the motor drive and contact action, the method further includes:

[0013] The position of the brush head is monitored, and when the brush head is detected to have moved to the next tooth area, the corresponding motor drive command is output according to the auxiliary movement strategy corresponding to the next tooth area until the brush head covers the entire area.

[0014] In one embodiment, detecting the position information of the brush head and determining the tooth region where the brush head is located based on the position information includes:

[0015] Detect the position information of the brush head;

[0016] The location information is matched with the pre-divided area information to confirm the tooth area where the current brush head is located.

[0017] Before obtaining the assisted movement strategy corresponding to the tooth region in one embodiment, the method further includes:

[0018] In response to the user's configuration operation, the action sequence of the brush head in each tooth area is obtained, the action sequence including several sequentially arranged movement directions;

[0019] The auxiliary movement strategy for each tooth region is generated and saved based on the action sequence.

[0020] In one embodiment, controlling the target end of the brush head to move into the interdental space according to the assisted movement strategy and maintain contact with the teeth includes:

[0021] The auxiliary movement strategy is analyzed to obtain the target action sequence of the brush head in the tooth area;

[0022] According to the target action sequence, the target end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth. The target end is either the front end or the rear end.

[0023] In one embodiment, controlling the target end of the brush head to move into the gap between the teeth according to the target action sequence and maintain contact with the teeth specifically includes:

[0024] When the current movement direction in the target action sequence is backward movement, the front end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth;

[0025] When the current movement direction in the target action sequence is forward, the rear end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth.

[0026] In one embodiment, the step of outputting corresponding motor drive commands to control motor parameters according to the auxiliary movement strategy, so that the brush head moves within the tooth region under the motor drive and contact action, specifically includes:

[0027] The corresponding motor shaft movement sequence and motor power are generated according to the target action sequence, so that the brush head moves in the tooth area according to the target action sequence under the motor drive and the contact action of the target end.

[0028] An auxiliary movement control device for a brush head, comprising:

[0029] The position detection module is used to detect the position information of the brush head and determine the tooth area where the brush head is located based on the position information.

[0030] The strategy acquisition module is used to acquire the auxiliary movement strategy corresponding to the tooth region, and the auxiliary movement strategy is used to control the movement parameters of the brush head;

[0031] The status control module is used to control the target end of the brush head to move into the gap between the teeth according to the auxiliary movement strategy, and maintain contact with the teeth;

[0032] The drive output module is used to output corresponding motor drive commands to control motor parameters according to the auxiliary movement strategy, so that the brush head moves in the tooth area with the movement parameters under the motor drive and contact action.

[0033] An electric toothbrush that maintains a balanced state in the direction of gravity, the electric toothbrush employing the brush head auxiliary movement control method described above to assist the user in brushing their teeth.

[0034] A non-volatile computer-readable storage medium storing computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the aforementioned brush head auxiliary movement control method.

[0035] Beneficial effects: This invention discloses an auxiliary movement control method, device, medium, and electric toothbrush for brush heads. Compared with the prior art, the embodiments of this invention achieve automatic movement of the brush head under the action of motor drive and gap contact through auxiliary control. Users only need to focus on the balance state of the electric toothbrush in the direction of gravity and can achieve a labor-saving semi-automatic brushing effect without making other actions. This can effectively broaden the applicable group of electric toothbrushes and provide convenience for users' brushing process. Attached Figure Description

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0037] Figure 1 A flowchart of an auxiliary movement control method for a brush head provided in an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of brush head movement in the brush head auxiliary movement control method provided in an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the functional modules of the auxiliary movement control device for the brush head provided in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the hardware structure of the auxiliary movement control system for the brush head provided in an embodiment of the present invention. Detailed Implementation

[0041] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention is further described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The embodiments of the invention are described below in conjunction with the accompanying drawings.

[0042] The brush head auxiliary movement control method provided in this embodiment is applied to electric toothbrushes or to a system consisting of an electric toothbrush and a cloud server. The electric toothbrush is in a state of gravity balance. For example, normal users can hold the handle of the electric toothbrush to keep it balanced in the direction of gravity, while special users who cannot hold it can fix the electric toothbrush in the direction of gravity through other peripheral clamping devices to keep it balanced. Horizontal movement is carried out by the auxiliary movement control method provided in this embodiment, so as to achieve a semi-automatic brushing effect that saves effort for normal users and can be used for special users.

[0043] When applied to a system, the electric toothbrush can wirelessly connect to a cloud server via a built-in WIFI or Bluetooth communication module to achieve efficient and stable data interaction between the electric toothbrush and the cloud server. In other embodiments, the system may further include user terminals such as mobile phones and tablets. The user terminal and the cloud server are wirelessly connected via WIFI or mobile networks to achieve remote data interaction between the user terminal and the electric toothbrush without location restrictions, allowing users to make a variety of toothbrush settings according to their own needs through the client installed on the user terminal.

[0044] To achieve effortless brush head movement control and a semi-automatic brushing effect, this invention provides a method for assisting brush head movement control, such as... Figure 1 As shown, the method specifically includes the following steps:

[0045] S100. Detect the position information of the brush head, and confirm the tooth area where the brush head is located based on the position information.

[0046] In this embodiment, when the user starts brushing their teeth, the location of the brush head is determined based on the location information in order to achieve targeted auxiliary movement control for each tooth area.

[0047] In one embodiment, step S100 includes:

[0048] Detect the position information of the brush head;

[0049] The location information is matched with the pre-divided area information to confirm the tooth area where the current brush head is located.

[0050] In this embodiment, the position information of the brush head is first detected by sensors built into the electric toothbrush, such as gyroscopes or accelerometers, and the tooth area is pre-divided to obtain the corresponding area information. The position information is matched with the area information to confirm the tooth area where the brush head is currently located. The specific tooth area can be pre-divided into the left side area, the right side area, and the middle area, or further divided into the upper left tooth, the lower left tooth, the upper middle tooth, the lower middle tooth, the upper right tooth, and the lower right tooth. It can be flexibly set according to actual needs, and this embodiment does not limit it.

[0051] S200: Obtain an auxiliary movement strategy corresponding to the tooth region, wherein the auxiliary movement strategy is used to control the movement parameters of the brush head.

[0052] When controlling the brush head's movement, different tooth areas have their own corresponding auxiliary movement strategies. These strategies can be the default settings at the factory or set by the user according to their brushing needs. After confirming the tooth area where the brush head is currently located, the auxiliary movement strategy corresponding to that area is obtained. This strategy is then used to control the brush head's movement parameters, such as the direction and speed of movement.

[0053] S300: According to the auxiliary movement strategy, control the target end of the brush head to move into the gap between the teeth and maintain contact with the teeth.

[0054] When a user brushes their teeth, the bristles on the brush head come into contact with the teeth. Because there are gaps of a certain depth between the teeth, the bristles also enter the gaps between the teeth as they move on the teeth, maintaining contact with the teeth. The bristles at different positions on the brush head can provide resistance in different directions when they contact the teeth. Therefore, by combining an auxiliary movement strategy to control the contact between different positions on the brush head and the teeth, specifically by controlling the target tip to move into the gaps between the teeth, the brush head movement parameters in the auxiliary movement strategy can be matched to provide resistance in the corresponding direction, thereby achieving auxiliary control of the brush head movement.

[0055] S400: Output corresponding motor drive commands to control motor parameters according to the auxiliary movement strategy, so that the brush head moves in the tooth area with the movement parameters under the motor drive and contact action.

[0056] While controlling the brush head to maintain contact with the teeth at different positions, it also outputs corresponding motor drive commands according to the auxiliary movement strategy to control and adjust the motor parameters, so that the motor drives the brush head to move with different parameters. Combined with the contact effect of the gaps between the teeth, the brush head moves within the tooth area with movement parameters corresponding to the auxiliary movement strategy, thereby realizing the auxiliary control of automatic horizontal movement of the brush head.

[0057] This embodiment uses auxiliary control to automatically move the brush head under the action of motor drive and gap contact. Users only need to focus on the balance of the electric toothbrush in the direction of gravity and can achieve a labor-saving semi-automatic brushing effect without making other movements. This can effectively broaden the applicable group of electric toothbrushes and provide convenience for users' brushing process.

[0058] It is understood that the process of acquiring the assisted movement strategy and outputting the motor drive command can be executed on the electric toothbrush or on a cloud server. Specifically, the user can save the configured assisted movement strategy locally on the electric toothbrush and retrieve the strategy and output the motor drive command through the toothbrush's built-in control chip. Alternatively, the configured assisted movement strategy can be saved on a cloud server. The cloud server retrieves the corresponding assisted movement strategy based on the received location information and outputs the motor drive command. The assisted movement strategy and the motor drive command are then sent to the electric toothbrush for assisted brush head movement control. The electric toothbrush does not need to perform local calculations; it only needs to adjust the motor parameters by receiving the motor drive command. The specific configuration can be flexibly selected based on actual needs, such as network conditions and the electric toothbrush's hardware configuration. This embodiment does not impose any limitations on this.

[0059] In one embodiment, after step S400, the method further includes:

[0060] The position of the brush head is monitored, and when the brush head is detected to have moved to the next tooth area, the corresponding motor drive command is output according to the auxiliary movement strategy corresponding to the next tooth area until the brush head covers the entire area.

[0061] In this embodiment, the position of the toothbrush during the user's brushing process is continuously monitored. Since the auxiliary movement strategies for different tooth areas may be different, when the brush head is detected to move to the next tooth area, the corresponding auxiliary movement strategy for the next tooth area is also retrieved to realize auxiliary movement control in the next tooth area. The semi-automatic brushing process can be realized until the brush head covers the entire area, providing the user with effortless and convenient auxiliary brushing guidance.

[0062] In one embodiment, prior to step S200, the method further includes:

[0063] In response to the user's configuration operation, the action sequence of the brush head in each tooth area is obtained, the action sequence including several sequentially arranged movement directions;

[0064] The auxiliary movement strategy for each tooth region is generated and saved based on the action sequence.

[0065] In this embodiment, the user can configure the auxiliary movement strategy through a client installed on the terminal. The server responds to the configuration operation input by the user and obtains the action sequence of the brush head in each tooth area set by the user. This sequence includes several sequentially arranged movement directions. That is, the generated and saved auxiliary movement strategy is a pre-set action sequence. For example, for the left tooth area, the user can set an action sequence including brush head forward-brush head backward-brush head forward-brush head backward to achieve two cleanings of the left tooth area. Similarly, other tooth areas can also be flexibly configured with corresponding action sequences to achieve different movement direction control to meet the brushing needs of different users.

[0066] In one embodiment, step S300 includes:

[0067] The auxiliary movement strategy is analyzed to obtain the target action sequence of the brush head in the tooth area;

[0068] According to the target action sequence, the target end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth. The target end is either the front end or the rear end.

[0069] In this embodiment, after confirming the tooth area where the brush head is located and obtaining the corresponding auxiliary movement strategy, the auxiliary movement strategy is parsed to obtain the target action sequence of the brush head in the current tooth area, such as forward-backward-forward-forward. The brush head is moved in the corresponding movement direction according to the target action sequence. At this time, the target end of the brush head needs to be controlled to move into the gap between the teeth and contact the teeth in sequence. The specific target end is the front end or the back end.

[0070] Specifically, when the current movement direction in the target action sequence is backward movement, the front end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth;

[0071] When the current movement direction in the target action sequence is forward, the rear end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth.

[0072] In practice, the corresponding target action sequence is executed sequentially for the current tooth area where the brush head is located. If the current movement direction is backward, the position information of the front end of the brush head is determined. When determining the position information of the front end of the bristles, the motor will control the brush head to move forward a short distance, not exceeding the width of a tooth. If the pressure sensor built into the toothbrush can detect resistance when the motor is about to move the brush head forward, it is determined that the front end of the brush head is already in the gap between the teeth, and the motor controls the brush head to stop moving. If the pressure sensor built into the toothbrush cannot detect resistance when the motor is about to move the brush head forward, it is determined that the front end of the brush head is on the tooth surface, and the motor controls the brush head to continue moving forward until resistance is detected before stopping. At this point, it is determined that the front end of the brush head is in the gap between the teeth.

[0073] If the current movement direction is forward, the position information of the rear end of the brush head is determined. When determining the position information of the rear end of the bristles, the motor will control the brush head to move backward a short distance, not exceeding the width of a tooth. If the pressure sensor built into the toothbrush can detect resistance when the motor controls the brush head to move backward, it is determined that the rear end of the brush head is now in the gap between the teeth, and the motor controls the brush head to stop moving. If the pressure sensor built into the toothbrush cannot detect resistance when the motor controls the brush head to move backward, it is determined that the rear end of the brush head is now on the tooth surface, and the motor controls the brush head to continue moving backward until resistance is detected before stopping. At this point, it is confirmed that the rear end of the brush head is now in the gap between the teeth.

[0074] Furthermore, step S500 specifically includes:

[0075] The corresponding motor shaft movement sequence and motor power are generated according to the target action sequence, so that the brush head moves in the tooth area according to the target action sequence under the motor drive and the contact action of the target end.

[0076] In this embodiment, based on controlling the different ends of the bristles to maintain contact with the teeth according to the target action sequence, the motor shaft movement sequence and motor power are also generated in sequence to adjust the power direction and power of the brush head, and to achieve auxiliary movement control of the brush head in conjunction with the contact resistance of the brush head and the elasticity of the bristles.

[0077] Specifically, when the current direction of movement is backward, the front end of the brush head moves into the gap between the teeth, maintaining contact with the teeth. A corresponding motor drive command is then used to drive the motor shaft forward with the set motor power, moving the brush head forward. Due to the contact, the brush head, which was originally intended to move forward, is blocked and cannot continue moving forward. This means the motor power must be less than the backward resistance. This resistance includes the interdental resistance, static friction, and bristle elasticity. Resistance can be increased by changing the bristle material to use harder bristles, or by increasing the number of bristles to increase the contact area with the teeth, as long as the resistance is greater than the power of the brush head. The resistance forces the brush handle to move backward, which in turn moves the brush head backward. Since the rear end of the brush head does not come into contact with the gap between the teeth, and the change in the direction of the bristle elasticity serves as the backward force, the backward force will be greater than the forward resistance, allowing the brush head to move backward on the tooth surface. After the brush head has moved backward the distance of one tooth, the bristles at the front end of the brush head come into contact with the gap between the teeth again. Similarly, the contact force forces the brush handle to continue moving the brush head backward, and the above process is continuously repeated, thereby achieving auxiliary control of the brush head's backward movement.

[0078] When the current movement direction is forward, the rear end of the brush head moves into the gap between the teeth, maintaining contact with them. A corresponding motor drive command, using a set motor power, drives the motor axis to move backward, causing the brush head to move backward. At this point, due to the contact, the brush head, which was originally intended to move backward, is blocked and cannot continue moving backward. This means the motor power must provide a backward force less than the forward resistance, which includes the interdental resistance, static friction, and bristle elasticity. Under this resistance, the brush handle is forced forward, causing the brush head to move forward as well. Since the front end of the brush head is not in contact with the gap between the teeth, and the direction of the bristle elasticity changes, providing forward force, the forward force will be greater than the backward resistance, allowing the brush head to move forward on the tooth surface. After the brush head has moved forward the distance of one tooth, the bristles at the rear end of the brush head contact the gap between the teeth again, again forcing the brush handle to continue moving the brush head forward. This process is repeated continuously, thus achieving auxiliary forward movement control of the brush head.

[0079] The following combination Figure 2 Let's take the target action sequence for the left tooth area as forward-backward-forward-backward, and illustrate this by cleaning the teeth twice:

[0080] Place the brush head on the tooth surface and monitor its position. When it is detected in the left tooth area, such as... Figure 2 As shown in (a), the auxiliary movement strategy is invoked, and the target action sequence of forward-backward-forward-backward is obtained. The first action is forward movement. At this time, the rear end of the brush head is first controlled to move into the gap between the teeth and maintain contact with the teeth. Then, the drive motor axis moves backward. Under the contact action and the resistance of the bristles, the brush handle drives the brush head to move forward. The above process is repeated to continuously move forward until the front end of the brush head is detected to be blocked, indicating that the brush head has moved forward to the deepest part of the oral cavity. The next action, backward movement, is then executed. At this time, the front end of the brush head is first controlled to move into the gap between the teeth and maintain contact with the teeth. Then, the drive motor axis moves forward. Under the contact action and the resistance of the bristles, the brush handle drives the brush head to move backward. The above process is repeated to continuously move backward until the brush head is detected to have moved to the middle area of ​​the teeth. At this time, the left tooth area has been cleaned once. Then, the forward and backward movement processes are repeated to achieve a second cleaning of the left tooth area.

[0081] When the user continues to perform, Figure 2 When cleaning the intermediate tooth region as shown in (b), the corresponding end control and motor drive control are also performed based on the auxiliary movement strategy for the intermediate tooth region. And when the user performs actions such as... Figure 2When cleaning the right-side tooth area shown in (c), simply rotate the toothbrush 180° and then perform corresponding end control and motor drive control based on the auxiliary movement strategy for the right-side tooth area. This will enable the brush head to move automatically in the horizontal direction of the teeth in the mouth, achieving a semi-automatic brushing effect.

[0082] Another embodiment of the present invention provides an auxiliary movement control device for a brush head, comprising:

[0083] Position detection module 11 is used to detect the position information of the brush head and confirm the tooth area where the brush head is located based on the position information;

[0084] The strategy acquisition module 12 is used to acquire an auxiliary movement strategy corresponding to the tooth region, and the auxiliary movement strategy is used to control the movement parameters of the brush head.

[0085] The state control module 13 is used to control the target end of the brush head to move into the gap between the teeth according to the auxiliary movement strategy, and maintain contact with the teeth.

[0086] The drive output module 14 is used to output corresponding motor drive commands to control motor parameters according to the auxiliary movement strategy, so that the brush head moves in the tooth area with the movement parameters under the motor drive and contact action.

[0087] The module referred to in this invention is a series of computer program instruction segments that can perform specific functions. It is more suitable than a program for describing the execution process of auxiliary movement control of the brush head. For specific implementation methods of each module, please refer to the corresponding method embodiments above, which will not be repeated here.

[0088] Another embodiment of the present invention provides an electric toothbrush that maintains a balanced state in the direction of gravity. The electric toothbrush uses the brush head auxiliary movement control method described above to assist the user in brushing their teeth. Since the relevant implementation methods have been described in detail in the corresponding method embodiments, they will not be repeated here.

[0089] Another embodiment of the present invention provides an auxiliary movement control system for a brush head, such as... Figure 4 As shown, the control system 10 includes:

[0090] One or more processors 110 and memory 120, Figure 4 The following description uses a processor 110 as an example. The processor 110 and the memory 120 can be connected via a bus or other means. Figure 4 Taking the example of a connection between China and Israel via a bus.

[0091] Processor 110 is used to implement various control logics of control system 10. It can be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), microcontroller, ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Furthermore, processor 110 can also be any conventional processor, microprocessor, or state machine. Processor 110 can also be implemented as a combination of computing devices, such as a combination of DSP and microprocessor, multiple microprocessors, one or more microprocessors combined with DSP and / or any other such configuration.

[0092] The memory 120, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions corresponding to the brush head auxiliary movement control method in the embodiments of the present invention. The processor 110 executes various functional applications and data processing of the control system 10 by running the non-volatile software programs, instructions, and units stored in the memory 120, thereby implementing the brush head auxiliary movement control method in the above method embodiments.

[0093] The memory 120 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created according to the use of the control system 10. Furthermore, the memory 120 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 120 may optionally include memory remotely located relative to the processor 110, and these remote memories may be connected to the control system 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0094] One or more units are stored in memory 120, and when executed by one or more processors 110, they execute the brush head auxiliary movement control method in any of the above method embodiments, for example, executing the method described above. Figure 1 The method steps S100 to S400.

[0095] This invention provides a non-volatile computer-readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, to perform the operations described above. Figure 1 The method steps S100 to S400.

[0096] As examples, non-volatile storage media can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) as external cache memory. By way of illustration and not limitation, RAM can be obtained in many forms such as synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The memory components or memories disclosed in the operating environment described herein are intended to include one or more of these and / or any other suitable types of memory.

[0097] In summary, the present invention discloses an auxiliary movement control method, device, medium, and electric toothbrush for an electric toothbrush head. The method is applied to an electric toothbrush in a state of gravitational equilibrium. It includes detecting the position information of the brush head and determining the tooth region where the brush head is located based on the position information; obtaining an auxiliary movement strategy corresponding to the tooth region; controlling the target end of the brush head to move into the gap between the teeth according to the auxiliary movement strategy, maintaining contact with the teeth; and outputting corresponding motor drive commands to control motor parameters according to the auxiliary movement strategy, so that the brush head moves within the tooth region according to the movement parameters under the action of motor drive and contact. By assistedly controlling the brush head to move automatically under the action of motor drive and gap contact, the user only needs to focus on the balance state of the electric toothbrush in the direction of gravity, achieving a labor-saving semi-automatic brushing effect without making other movements. This effectively broadens the applicable group of electric toothbrushes and provides convenience for users' brushing process.

[0098] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The computer program can be stored in a non-volatile, computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The storage medium can be a memory, magnetic disk, floppy disk, flash memory, optical storage, etc.

[0099] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for auxiliary movement control of a brush head, characterized in that, The method is applied to an electric toothbrush in a state of gravitational equilibrium, and the method includes: Detect the position information of the brush head, and confirm the tooth area where the brush head is located based on the position information; Obtain an auxiliary movement strategy corresponding to the tooth region, the auxiliary movement strategy being used to control the movement parameters of the brush head; According to the auxiliary movement strategy, the target end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth. According to the auxiliary movement strategy, the corresponding motor drive command is output to control the motor parameters, so that the brush head moves in the tooth area with the movement parameters under the motor drive and contact action. Specifically, under the action of contact, the brush head, which was originally going to move forward or backward, is blocked and cannot continue to move forward or backward. At this time, the motor power must be sufficient to provide forward or backward force less than the backward or forward resistance. The resistance includes the interdental resistance of the contact action, static friction, and bristle elasticity. Under the action of resistance, the brush handle is forced to move backward or forward, which in turn drives the brush head to move backward or forward.

2. The auxiliary movement control method for the brush head according to claim 1, characterized in that, After the method involves outputting corresponding motor drive commands to control motor parameters according to the auxiliary movement strategy, so that the brush head moves within the tooth area under the motor drive and contact action, the method further includes: The position of the brush head is monitored, and when the brush head is detected to have moved to the next tooth area, the corresponding motor drive command is output according to the auxiliary movement strategy corresponding to the next tooth area until the brush head covers the entire area.

3. The auxiliary movement control method for the brush head according to claim 1, characterized in that, The detection of the brush head's position information, and the confirmation of the tooth region where the brush head is located based on the position information, includes: Detect the position information of the brush head; The location information is matched with the pre-divided area information to confirm the tooth area where the current brush head is located.

4. The auxiliary movement control method for the brush head according to claim 1, characterized in that, Before obtaining the auxiliary movement strategy corresponding to the tooth region, the method further includes: In response to the user's configuration operation, the action sequence of the brush head in each tooth area is obtained, the action sequence including several sequentially arranged movement directions; The auxiliary movement strategy for each tooth region is generated and saved based on the action sequence.

5. The auxiliary movement control method for the brush head according to claim 4, characterized in that, The step of controlling the target end of the brush head to move into the gap between the teeth according to the auxiliary movement strategy and maintaining contact with the teeth includes: The auxiliary movement strategy is analyzed to obtain the target action sequence of the brush head in the tooth area; According to the target action sequence, the target end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth. The target end is either the front end or the rear end.

6. The auxiliary movement control method for the brush head according to claim 5, characterized in that, The step of controlling the target end of the brush head to move into the gap between the teeth according to the target action sequence and maintaining contact with the teeth specifically includes: When the current movement direction in the target action sequence is backward movement, the front end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth; When the current movement direction in the target action sequence is forward, the rear end of the brush head is controlled to move into the gap between the teeth and maintain contact with the teeth.

7. The auxiliary movement control method for the brush head according to claim 5, characterized in that, The step of outputting corresponding motor drive commands to control motor parameters according to the auxiliary movement strategy, so that the brush head moves within the tooth area according to the movement parameters under the motor drive and contact action, specifically includes: The corresponding motor shaft movement sequence and motor power are generated according to the target action sequence, so that the brush head moves in the tooth area according to the target action sequence under the motor drive and the contact action of the target end.

8. An auxiliary movement control device for a brush head, characterized in that, include: The position detection module is used to detect the position information of the brush head and determine the tooth area where the brush head is located based on the position information. The strategy acquisition module is used to acquire the auxiliary movement strategy corresponding to the tooth region, and the auxiliary movement strategy is used to control the movement parameters of the brush head; The status control module is used to control the target end of the brush head to move into the gap between the teeth according to the auxiliary movement strategy, and maintain contact with the teeth; The drive output module is used to output corresponding motor drive commands to control motor parameters according to the auxiliary movement strategy, so that the brush head moves in the tooth area with the movement parameters under the motor drive and abutment action; Specifically, under the action of contact, the brush head, which was originally going to move forward or backward, is blocked and cannot continue to move forward or backward. At this time, the motor power must be sufficient to provide forward or backward force less than the backward or forward resistance. The resistance includes the interdental resistance of the contact action, static friction, and bristle elasticity. Under the action of resistance, the brush handle is forced to move backward or forward, which in turn drives the brush head to move backward or forward.

9. An electric toothbrush, characterized in that, The electric toothbrush maintains a balanced state in the direction of gravity, and the electric toothbrush adopts the brush head auxiliary movement control method as described in any one of claims 1-7 to assist the user in brushing their teeth.

10. A non-volatile computer-readable storage medium, characterized in that, The non-volatile computer-readable storage medium stores computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the brush head auxiliary movement control method according to any one of claims 1-7.

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