Method, system and equipment for starting and positioning oral care tool

Abstract

The invention discloses an oral care tool starting and positioning method, system and device, and the method comprises the steps: obtaining the initial placement position data of an oral care tool, including one or a combination of a pitch angle, a roll angle and a yaw angle; in response to holding and triggering of the oral care tool by the user, recording triggering position data of the oral care tool; comparing the triggering position data with the initial placement position data, responding to the condition that the angle change value of the triggering position data and the initial placement position data meets a preset value, judging that the oral care tool is started, and recording the oral care tool as starting position data. And on the basis, using the oral care tool to record use position data of the oral care tool in real time, and judging the position of the oral care tool in the oral cavity through an oral positioning algorithm according to the use position data and the starting position data. According to the application, through comparison and judgment of the initial placing position and the triggering position, the starting posture of the user is limited, the posture which does not conform to the setting is eliminated, and then the recognition accuracy during use is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of oral care, in particular to a method for starting and positioning an oral care tool and a system and equipment thereof. Background Art

[0002] Current oral care tools, especially devices such as electric toothbrushes, usually rely on users to place and operate them themselves, which results in the accuracy of position recognition being greatly affected by user operations. Traditional methods rely on the user's posture when using the tool as basic data, but since the user's operation may not be accurate enough (for example, the user thinks the toothbrush is placed horizontally, but in fact it is not), this will seriously affect the accuracy of position recognition. Since each user has different postures and operating habits when using oral care tools, and there is a lack of unified reference standards, the tool is prone to large deviations when performing position recognition. The user's arbitrary posture when starting the tool may cause unstable sensor data, thereby affecting the calculation accuracy of subsequent position recognition. This method is highly dependent on user operations and cannot guarantee high accuracy of position recognition.

[0003] Current oral care tools and related technologies fail to effectively solve the problems caused by user operation errors, and lack a mechanism that can preset standard postures before use to ensure the consistency and accuracy of position recognition. Summary of the invention

[0004] Based on the above technical problems, the present invention proposes a method for starting and positioning an oral care tool and a system and device thereof.

[0005] According to a first aspect of the present invention, a method for positioning and starting an oral care tool is provided, comprising:

[0006] S1: using a position sensor on the oral care tool to obtain initial placement position data of the oral care tool, the initial placement position data including one or a combination of a pitch angle, a roll angle and a yaw angle;

[0007] S2: In response to the user holding and triggering the oral care tool, the position sensor records the trigger position data of the oral care tool;

[0008] S3: Compare the trigger position data and the initial placement position data, and in response to the angle change value between the trigger position data and the initial placement position data meeting the preset value, determine that the oral care tool is activated, and record it as the activation position data. By limiting the user's posture when activated, some postures that do not meet the settings can be excluded, thereby improving the recognition accuracy during subsequent use.

[0009] Preferably, the user holding and triggering the oral care tool includes the user turning on the oral care tool or turning on a position recognition function on the oral care tool.

[0010] Preferably, S3 specifically includes: when the pitch angle difference and the roll angle difference of the trigger position data and the initial placement position data are both less than the corresponding preset values, the oral care tool is successfully started. With this start condition restriction, the user's freedom of holding the oral care tool can be limited, and it is convenient for subsequent users to compare their postures when starting the oral care tool.

[0011] Preferably, in the initial placement position data of the oral care tool, the pitch angle and the roll angle coincide with the horizontal plane.

[0012] Further preferably, based on the trigger position data or the start position data, it is determined whether the user is holding the tool with the left hand or the right hand, and the orientation angle of the oral care tool is initialized. With this setting, the recognition accuracy can be improved during the subsequent use of the user.

[0013] According to a second aspect of the present invention, a method for positioning an oral care tool is proposed, including the above-mentioned startup method, and further including: recording the use position data of the oral care tool in real time when the oral care tool is used, and judging the position of the oral care tool in the oral cavity through an oral positioning algorithm based on the use position data and the startup position data. Based on the startup position that meets the requirements, the positioning recognition accuracy during use can be improved.

[0014] Preferably, the oral positioning algorithm includes:

[0015] Collecting real-time posture data of oral care tools, including three-axis angular velocity, three-axis acceleration, pitch angle, roll angle, yaw angle and timestamp;

[0016] Analyze real-time posture data through hidden Markov models to identify the motion state of oral care tools;

[0017] The trained long short-term memory network model is used to correct the yaw angle in the real-time posture data; based on the corrected yaw angle and the remaining real-time posture data, the position of the oral care tool in the oral cavity is located.

[0018] Further preferably, the real-time posture data is acquired by collecting data using a gyroscope disposed on the oral care tool. The gyroscope includes a first gyroscope and a second gyroscope installed in opposite directions. The first gyroscope and the second gyroscope collect data at the same frequency and align timestamps.

[0019] Further preferably, the long short-term memory network model adopts a bidirectional long short-term memory network model structure during the training process, takes the data and motion state collected by the first gyroscope as input, and outputs a yaw angle correction value; and adopts a unidirectional long short-term memory network model structure during the real-time positioning process, takes the real-time attitude data collected by the first gyroscope as input, and outputs a yaw angle correction value.

[0020] According to a third aspect of the present invention, a positioning and activation system for an oral care tool is provided, comprising:

[0021] An initial placement position acquisition unit: configured to acquire initial placement position data of the oral care tool using a position sensor on the oral care tool, the initial placement position data including one or a combination of a pitch angle, a roll angle and a yaw angle;

[0022] A trigger position acquisition unit: configured to respond to a user holding and triggering the oral care tool, and the position sensor records the trigger position data of the oral care tool;

[0023] Start unit: configured to compare the trigger position data and the initial placement position data, in response to the angle change value of the trigger position data and the initial placement position data meeting the preset value, determine that the oral care tool is started, and record it as the start position data.

[0024] According to a fourth aspect of the present invention, a positioning system for an oral care tool is proposed, comprising a starting system as described above, and also comprising a positioning unit, configured to record the usage position data of the oral care tool in real time when the oral care tool is used, and to determine the position of the oral care tool in the oral cavity through a cavity positioning algorithm based on the usage position data and the starting position data.

[0025] According to a fifth aspect of the present invention, a positioning device for an oral care tool is proposed, comprising an oral care tool and a terminal device, wherein a sensor for collecting position data and real-time posture data of the oral care tool is provided on the oral care tool, the terminal device receives the data collected by the sensor and executes the positioning start-up method and the positioning method of the oral care tool to control the start-up of the oral care tool, and determine the position of the oral care tool during use based on the start-up position data.

[0026] Preferably, it also includes an initial position fixing seat, and the initial placement position data is the position data information of the oral care tool placed on the initial position fixing seat. With this setting, the initial position can be fixed to avoid affecting subsequent startup or positioning.

[0027] The present invention proposes a method for starting and positioning an oral care tool and a system and device thereof, which have the following technical effects:

[0028] The present invention sets initial placement position data for the oral care tool as a standard posture. The trigger position when the user uses the tool is compared with the position. The tool needs to meet the set posture requirements. Only when the conditions are met can the tool be started. This mechanism reduces the randomness of user operation, improves the reliability of position recognition, ensures that the user starts using the oral care tool in a standard posture, and effectively reduces recognition errors caused by improper user operation.

[0029] Based on the starting position, the algorithm model and virtual tooth model are used to display oral positioning information during use, so that users can intuitively understand the position and care area of ​​the care tool, improving the user experience and satisfaction.

[0030] Through the preset position data and related angle parameters, it is possible to identify whether the user is holding the tool with the left or right hand, thereby adjusting the positioning algorithm to further improve the recognition accuracy;

[0031] By using deep network algorithms and high-precision sensor data comparison, positioning errors can be effectively filtered and corrected to ensure that the positioning information of oral care tools during use is accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate the embodiments and together with the description are used to explain the principles of the present invention. Other embodiments and many expected advantages of the embodiments will be readily appreciated as they become better understood by reference to the following detailed description. Other features, objects and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments made with reference to the following drawings:

[0033] Figure 1 is a flow chart of a method for starting an oral care tool according to an embodiment of the present application;

[0034] Figure 2 is a schematic diagram of position data of an oral care tool according to a specific embodiment of the present application;

[0035] Figure 3 is a schematic diagram of the initial placement position of an oral care tool according to an embodiment of the present application;

[0036] Figure 4a-4b is a schematic diagram of trigger position determination of an oral care tool according to a specific embodiment of the present application;

[0037] Figure 5 is a flow chart of a method for positioning an oral care tool according to an embodiment of the present application;

[0038] Figure 6is a schematic diagram of a model of an oral positioning algorithm of an oral care tool according to an embodiment of the present application;

[0039] Figure 7 is a framework diagram of a startup system of an oral care tool according to an embodiment of the present application;

[0040] Figure 8 is a framework diagram of a positioning system for an oral care tool according to an embodiment of the present application;

[0041] Fig. 9 is a framework diagram of a positioning device for an oral care tool according to an embodiment of the present application;

[0042] Fig.10 This is a structural exploded diagram of an oral care tool according to a specific embodiment of the present application.

[0043] Fig.11 is a schematic diagram of a control module of a specific embodiment of the present application;

[0044] Fig.12 is a control flow chart of a specific embodiment of the present application;

[0045] Fig.13 It is a schematic diagram of a fixed seat in which an oral care tool according to a specific embodiment of the present application is placed in an initial position;

[0046] Figures 14a-14c is a schematic diagram of trigger position determination of an oral care tool according to a specific embodiment of the present application;

[0047] Fig.15 It is a schematic diagram of a terminal interface of a specific embodiment of the present application. DETAILED DESCRIPTION

[0048] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the relevant invention are shown in the accompanying drawings.

[0049] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] Figure 1 FIG. 2 shows a flow chart of a method for positioning an oral care tool according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0051] S101: using a position sensor on the oral care tool to obtain initial placement position data of the oral care tool, the initial placement position data including one or a combination of a pitch angle, a roll angle and a yaw angle. Figure 2 A schematic diagram of the position data of an oral care tool according to a specific embodiment of the present application is shown. Figure 2 As shown, the position data includes pitch angle pitch, roll angle roll and yaw angle yaw, wherein the pitch angle pitch is the angle of rotation of the oral care tool around the X-axis, the roll angle roll is the angle of rotation of the oral care tool around the Y-axis, and the yaw angle yaw is the angle of rotation of the oral care tool around the Z-axis.

[0052] In a specific embodiment, before the oral care tool leaves the factory, it is placed in a specified posture (i.e., the initial placement position), for example, in a fixture, so that the pitch angle, roll angle and horizontal plane of the oral care tool are ensured to be 0°. Figure 3 A schematic diagram of the initial placement position of an oral care tool of an embodiment of the present application is shown, that is, X2Y2 is on the horizontal plane of X1Y1. It should be recognized that the initial placement position is not limited to the pitch angle and the roll angle, but includes at least one of the pitch angle, the roll angle, and the yaw angle, and the angle value with the horizontal plane is not limited to 0°, and can also be other set fixed values. The initial placement position data is obtained by the position sensor and recorded in the memory. The factory initial position is called the initial placement position; the initial placement position is mainly used for comparison of the posture when the subsequent user starts the oral care tool.

[0053] S102: In response to the user holding and triggering the oral care tool, the position sensor records the trigger position data of the oral care tool. The user holding and triggering the oral care tool includes the user turning on the oral care tool or turning on the position recognition function on the oral care tool.

[0054] S103: Compare the trigger position data and the initial placement position data, and in response to the angle change value between the trigger position data and the initial placement position data satisfying a preset value, determine that the oral care tool is activated, and record it as the activation position data.

[0055] In a specific embodiment, the comparison data includes at least one of the pitch angle, roll angle, and yaw angle. By limiting the relationship between one or more of the angles and the initial placement position, the user's freedom of holding the oral care tool is limited. If the conditions are met, the position data at this time is recorded as the starting position data for use in subsequent oral position identification.

[0056] In a specific embodiment, when the pitch angle difference and the roll angle difference between the trigger position data and the initial placement position data are both less than corresponding preset values, the oral care tool is successfully started. Figure 4a-4bA schematic diagram showing a trigger position determination of an oral care tool according to a specific embodiment of the present application is shown. Figure 4a As shown, when the angle formed by the surface X2Y2 and the surface of the initial placement position X1Y1 in the X-axis direction is θ1 (i.e., the pitch angle difference), it is necessary to satisfy that θ1 is less than the first preset value, and if Figure 4b As shown, when the angle formed by the surface X2Y2 and the surface X1Y1 of the initial placement position in the Y-axis direction is θ2 (i.e., the roll angle difference), it is necessary to satisfy that θ2 is less than the second preset value. When θ1 and θ2 satisfy the above two conditions at the same time, the user clicks the start button to determine that the start is successful. The above θ1 can be 5-10°, specifically 5°, 6°, 7°, 8°, 9° or 10°, and the above θ2 can also be 5-10°, specifically 5°, 6°, 7°, 8°, 9° or 10°. The angle preset value difference within this range is the most suitable range. Within this range, it can be judged that the start condition is met, and the user can start normally, otherwise the toothbrush start button will be disabled and brushing cannot be started. In this embodiment, the yaw angle startup is not restricted because the yaw angle is related to the user's standing direction when actually using the oral care tool, and the yaw angle is often used for oral positioning during use.

[0057] In a preferred embodiment, the start position is placed horizontally, based on which it can be determined whether the user is holding it with the left hand or the right hand, and the orientation angle of the oral care tool is initialized. When the user holds the oral care tool with the left or right hand and faces it towards the mouth, the roll angle is different. For example, if the toothbrush faces upward, the roll angle is 0°, and the roll angle facing downward is 180° / -180°. If the toothbrush is held with the left or right hand and faces the teeth, the roll angle is 90° or -90°. Because the gyroscope has errors, the handheld oral care tool should be kept horizontal as much as possible to improve the recognition accuracy of subsequent oral positioning.

[0058] Continue to refer Figure 5 , Figure 5 A flow chart showing a method for positioning an oral care tool according to an embodiment of the present application is shown. Figure 5 As shown, in Figure 1 The startup method flow also includes:

[0059] S104: When using the oral care tool, the use position data of the oral care tool is recorded in real time, and the position of the oral care tool in the oral cavity is determined by an oral positioning algorithm according to the use position data and the start position data.

[0060] In a specific embodiment, the oral cavity positioning algorithm includes:

[0061] Collect real-time posture data of the oral care tool, the real-time posture data includes three-axis angular velocity, three-axis acceleration, pitch angle, roll angle, yaw angle and timestamp; wherein the real-time posture data is obtained by collecting a gyroscope arranged on the oral care tool, the gyroscope includes a first gyroscope and a second gyroscope installed in opposite directions, the first gyroscope and the second gyroscope collect data at the same frequency and align the timestamps.

[0062] Real-time posture data is analyzed through hidden Markov models to identify the motion state of oral care tools.

[0063] The trained long short-term memory network model is used to correct the yaw angle in the real-time posture data, and the position of the oral care tool in the oral cavity is located based on the corrected yaw angle and the remaining real-time posture data.

[0064] In a specific embodiment, the long short-term memory network model adopts a bidirectional long short-term memory network model structure during the training process, takes the data and motion state collected by the first gyroscope as input, and outputs a yaw angle correction value; and adopts a unidirectional long short-term memory network model structure during the real-time positioning process, takes the real-time attitude data collected by the first gyroscope as input, and outputs a yaw angle correction value.

[0065] In a specific embodiment, Figure 6 A schematic diagram of a model of an oral positioning algorithm for an oral care tool according to an embodiment of the present application is shown. Figure 6 As shown in the figure, the model mainly includes a data acquisition preprocessing module, a HarmoniMML algorithm module and a recursive neural network module, wherein the data acquisition preprocessing module includes the data acquisition of six-axis gyroscope data, nine-axis gyroscope data and observed motion state; the HarmoniMML algorithm module includes a state generation module and a feature extraction module, wherein the state generation module takes the six-axis gyroscope data as input and generates the motion state of the device according to the input data; the feature extraction module takes the six-axis gyroscope acceleration data (ACC) as data input and calculates feature parameters such as mean, standard deviation, acceleration and Bined Distribution. The recursive neural network module uses the long short-term memory network LSTM for model training, uses the dropout layer to prevent overfitting, and finally outputs the prediction result. Specifically, the trained LSTM model is used to process the real-time data and output the positioning information of the device.

[0066] Figure 7 A framework diagram of a system for starting an oral care tool according to an embodiment of the present application is shown. Figure 7As shown, the system includes an initial placement position acquisition unit 701, a trigger position acquisition unit 702 and a start unit 703, wherein the initial placement position acquisition unit 701 is configured to use a position sensor on the oral care tool to acquire initial placement position data of the oral care tool, and the initial placement position data includes one or a combination of a pitch angle, a roll angle and a yaw angle; the trigger position acquisition unit 702 responds to the user holding and triggering the oral care tool, and the position sensor records it as the trigger position data of the oral care tool; the start unit 703 is used to compare the trigger position data with the initial placement position data, and in response to the angle change value of the trigger position data and the initial placement position data meeting a preset value, it is determined that the oral care tool is started, and recorded as the start position data.

[0067] Figure 8 A framework diagram of a positioning system for an oral care tool according to an embodiment of the present application is shown. Figure 7 The startup system shown also includes a positioning unit 704, which is configured to record the usage position data of the oral care tool in real time when the oral care tool is used, and determine the position of the oral care tool in the oral cavity through a cavity positioning algorithm based on the usage position data and the startup position data.

[0068] Continue to refer Fig. 9 , Fig. 9 A framework diagram of a positioning device for an oral care tool according to an embodiment of the present application is shown. Fig. 9 As shown, the positioning device specifically includes an oral care tool 901 and a terminal device 902, wherein the oral care tool 901 is connected to the terminal device 902 via wireless communication.

[0069] In a specific embodiment, Fig.10 The structure explosion diagram of an oral care tool according to a specific embodiment of the present application is shown as follows: Fig.10 As shown, the oral care tool is an electric toothbrush, including a brush head 1, a shell 2, a sealing rubber part 3, a motor 4, a core mounting seat 5, a lithium battery 6, a bottom cover 7, a circuit board 8, a charging module 9 and a position sensor 10, wherein the brush head 1 is connected to the top of the shell 2, the sealing rubber part 3 is located in the upper part of the shell 2 to ensure a waterproof seal, the motor 4 is mounted on the core mounting seat 5, and its operation is controlled by the circuit board 8, the lithium battery 6 is adjacent to the motor 4 to provide power for it, the bottom cover 7 is located at the bottom of the toothbrush, cooperates with the shell 2 to fix and protect the internal components, and is connected to the charging module 9, and the position sensor 10 is mounted on the circuit board 8 for detecting the position and movement state of the toothbrush.

[0070] Fig.11 A schematic diagram of a control module of a specific embodiment of the present application is shown, as shown in FIG. Fig.11As shown, the power supply 9011 is connected to the power switch 9012, and the power switch 9012 is connected to a module including a position sensor 9013, an indicator light 9014, a motor 9015, a memory 9016, a controller 9017, and a wireless communication 9018. Among them, the controller 9017 is responsible for controlling the position sensor 9013, the indicator light 9014, the motor 9015, and the memory 9016, and communicating with the terminal device 902 through the wireless communication 9018. The server 903 is further connected to the terminal device 902 to realize data processing and display.

[0071] Fig.12 A control flow chart of a specific embodiment of the present application is shown as follows: Fig.12 As shown, the control process specifically includes the following steps:

[0072] 1201: Obtain the first position (i.e. the aforementioned initial placement position): Record the posture of the factory initial position through the tooling. Specifically, Fig.13 A schematic diagram of a fixed seat for placing an oral care tool in an initial position according to a specific embodiment of the present application is shown. Fig.13 As shown, the oral care tool is placed on an initial position fixing seat 904, which can be a tooling structure matched with the oral care tool. Through the tooling, it can be ensured that the initial pitch angle direction and roll angle direction of the oral care tool are kept in coincidence with the horizontal plane each time.

[0073] 1202: Acquire the second position (i.e., the trigger position mentioned above; after the conditions for activation are met, the second position is the activation position): the user holds the care tool in the activation posture.

[0074] 1203: Data comparison and judgment, if it does not meet the set relationship, return to step 1202, if it meets the set threshold, go to step 1204.

[0075] In a specific embodiment, the set relationship and threshold value can be the aforementioned Figure 4a-4b The relationship between the pitch angle difference and the roll angle difference and the corresponding preset value in the embodiment can also be set to other angle relationships as needed. Figures 14a-14c FIG. 1 is a schematic diagram of trigger position determination of an oral care tool according to a specific embodiment of the present application. Fig.14a As shown in the figure, the pitch angle does not meet the requirements and the startup fails; Fig.14b As shown in the figure, the roll angle does not meet the requirements and the startup fails; Fig.14c As shown, the pitch angle and the roll angle meet the requirements at the same time, and the user successfully starts the oral care tool.

[0076] 1204: Allow the user to enable care tools and oral positioning; update the second position to the start position.

[0077] 1205: Acquire the third position (ie, the aforementioned use position): acquire the position of the user during oral care in real time.

[0078] 1206: Oral positioning algorithm analyzes nursing position.

[0079] 1207: The terminal displays and provides feedback reports and suggestions. Fig.15 A schematic diagram of a terminal interface of a specific embodiment of the present application is shown as follows: Fig.15 As shown, the user can hold the device in the indicated posture according to the prompts on the terminal interface, and determine whether the holding posture is correct through the aforementioned algorithm.

[0080] In a specific embodiment, the oral positioning algorithm in the present application is a gyroscope positioning method based on a deep network algorithm, which can be adapted to oral care tools and detection tools, etc., for example, it may include handheld devices such as water flossers, oral endoscopes, electric toothbrushes, toothbrush peripherals, etc., and a control circuit board embedded with a gyroscope is installed inside the device. The device obtains the real-time posture data of the gyroscope, and uses a wireless communication module such as a Bluetooth module on the control circuit board to transmit the data to a terminal device such as a mobile device, and the oral positioning information is calculated by the algorithm model in the mobile device and displayed in the mobile device. Mobile devices include but are not limited to mobile devices such as mobile phones and tablet computers. The oral positioning model relatively fixes the consumer-grade six-axis gyroscope and the industrial-grade nine-axis high-precision gyroscope, wherein the directions of the X, Y, and Z axes are the same. The fixed module is fixed on the device for use and real-time data collection, the motion state of the device is marked in real time, and the angle error of the six-axis gyroscope is fitted by the algorithm, and the oral positioning results are observed and filtered by generating a model. Among them, the real-time data includes: consumer-grade six-axis gyroscope data: X-axis angular velocity, Y-axis angular velocity, Z-axis angular velocity, X-axis acceleration, Y-axis acceleration, Z-axis acceleration, pitch angle Pitch, roll angle Roll, yaw angle Yaw, timestamp and its positioning area number; industrial-grade nine-axis gyroscope data: pitch angle, roll angle, yaw angle, timestamp and its positioning area number.

[0081] This algorithm model can collect user data in different usage scenarios, train the deep network and generate oral positioning models suitable for different scenarios, and its output is different areas of the oral cavity. The specific usage scenarios include the following scenarios according to different devices, different user habits and different positioning requirements:

[0082] Different equipment: oral endoscope, electric toothbrush, water flosser, etc.

[0083] Different user habits: left-handed operation, right-handed operation;

[0084] Different positioning requirements: including 8 areas, 16 areas, 28 areas, etc., each area has corresponding left and right sides, upper and lower sides, and inner and outer occlusal surfaces of the mouth.

[0085] The movement states of oral care tools include: prohibited, horizontal brushing, vertical brushing, inward flipping, outward flipping, left turn, right turn, etc.; the display effect of mobile devices includes multiple modes, and the oral cavity is divided into different fixed areas according to product definition and user needs.

[0086] The present invention ensures that the oral care tool is started in a standard posture by setting initial placement position data and posture requirements, thereby reducing user operation arbitrariness and improving the reliability of position recognition. During use, the oral positioning information is displayed through an algorithm model and a virtual tooth model to improve user experience and satisfaction. The preset position data and angle parameters can recognize the user's gestures, adjust the positioning algorithm, and improve recognition accuracy. Combined with a deep network algorithm and high-precision sensor data, positioning errors can be effectively filtered and corrected to ensure accurate positioning information.

[0087] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above invention concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. A method for starting an oral care tool, characterized in that: include: S1: using a position sensor on the oral care tool to obtain initial placement position data of the oral care tool, wherein the initial placement position data includes one or a combination of a pitch angle, a roll angle and a yaw angle; S2: In response to the user holding and triggering the oral care tool, the position sensor records the trigger position data of the oral care tool; S3: Compare the trigger position data with the initial placement position data, and in response to the angle change value between the trigger position data and the initial placement position data satisfying a preset value, determine that the oral care tool is activated, and record it as the activation position data.

2. The method for starting an oral care tool according to claim 1, characterized in that: The user holding and triggering the oral care tool includes the user turning on the oral care tool or turning on a position recognition function on the oral care tool.

3. The method for starting an oral care tool according to claim 1, characterized in that: The S3 specifically includes: when the pitch angle difference and the roll angle difference between the trigger position data and the initial placement position data are both less than corresponding preset values, the oral care tool is successfully started.

4. The method for starting an oral care tool according to claim 1, characterized in that: In the initial placement position data of the oral care tool, the pitch angle and the roll angle coincide with the horizontal plane.

5. The method for starting an oral care tool according to claim 4, characterized in that: Based on the trigger position data or the start position data, it is determined whether the user is holding the oral care tool with his left hand or right hand, and the orientation angle of the oral care tool is initialized.

6. A method for positioning an oral care tool, characterized in that: It includes the startup method as described in any one of claims 1-5, and also includes: recording the usage position data of the oral care tool in real time when using the oral care tool, and judging the position of the oral care tool in the oral cavity through an oral positioning algorithm based on the usage position data and the startup position data.

7. The method for positioning an oral care tool according to claim 6, characterized in that: The oral cavity positioning algorithm includes: Collecting real-time posture data of the oral care tool, wherein the real-time posture data includes three-axis angular velocity, three-axis acceleration, pitch angle, roll angle, yaw angle and timestamp; Analyzing the real-time posture data through a hidden Markov model to identify the motion state of the oral care tool; The yaw angle in the real-time posture data is corrected using a trained long short-term memory network model; and the position of the oral care tool in the oral cavity is located based on the corrected yaw angle and the remaining real-time posture data.

8. The method for positioning an oral care tool according to claim 7, characterized in that: The real-time posture data is acquired by a gyroscope disposed on the oral care tool. The gyroscope includes a first gyroscope and a second gyroscope installed in opposite directions. The first gyroscope and the second gyroscope acquire data at the same frequency and align time stamps.

9. The method for positioning an oral care tool according to claim 8, characterized in that: During the training process, the long short-term memory network model adopts a bidirectional long short-term memory network model structure, takes the data and motion state collected by the first gyroscope as input, and outputs a yaw angle correction value; during the real-time positioning process, a unidirectional long short-term memory network model structure is adopted, takes the real-time attitude data collected by the first gyroscope as input, and outputs a yaw angle correction value.

10. An oral care tool activation system, characterized in that: include: An initial placement position acquisition unit: configured to acquire initial placement position data of the oral care tool using a position sensor on the oral care tool, wherein the initial placement position data includes one or a combination of a pitch angle, a roll angle, and a yaw angle; A trigger position acquisition unit: configured to respond to a user holding and triggering the oral care tool, and the position sensor records the trigger position data of the oral care tool; A starting unit: configured to compare the trigger position data and the initial placement position data, and in response to the angle change value between the trigger position data and the initial placement position data meeting a preset value, determine that the oral care tool is started, and record it as the starting position data.

11. A positioning system for an oral care tool, characterized in that: It includes the starting system as described in claim 10, and also includes a positioning unit, which is configured to record the usage position data of the oral care tool in real time when the oral care tool is used, and determine the position of the oral care tool in the oral cavity through a cavity positioning algorithm based on the usage position data and the starting position data.

12. A positioning device for an oral care tool, characterized in that: It includes an oral care tool and a terminal device, wherein the oral care tool is provided with a sensor for collecting position data and real-time posture data of the oral care tool, the terminal device receives the data collected by the sensor and executes the oral care tool startup method described in any one of claims 1-5 and the oral care tool positioning method described in any one of claims 6-9 to control the startup of the oral care tool and determine the position of the oral care tool during use based on the startup position data.

13. The positioning device for oral care tools according to claim 12, characterized in that: It also includes an initial position fixing seat, and the initial placement position data is the position data information of the oral care tool placed on the initial position fixing seat.

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