Activation, positioning method of an oral care implement and system and device therefor

Abstract

A method, system, and device for activating and locating an oral care tool are disclosed. The method includes acquiring initial placement data of the oral care tool, including one or a combination of pitch, roll, and yaw angles; recording the trigger position data of the oral care tool in response to a user holding and triggering it; comparing the trigger position data with the initial placement data; determining that the oral care tool is activated and recording the activation position data in response to the angle change values ​​of the trigger position data and the initial placement data meeting preset values. Based on this, the method uses the oral care tool to record its usage position data in real time. According to the usage position data and the activation position data, an oral positioning algorithm determines the position of the oral care tool in the oral cavity. This application improves the accuracy of recognition during use by comparing the initial placement position with the trigger position to limit the user's activation posture and exclude postures that do not conform to the preset values.

Description

Technical Field

[0001] This invention relates to the technical field of oral care, and in particular to a method, system and device for activating and positioning an oral care tool. Background Technology

[0002] Current oral care tools, especially electric toothbrushes, typically rely on user placement and operation, making position recognition accuracy highly dependent on user actions. Traditional methods use the user's posture as the basis for data, but since user actions may be imprecise (e.g., a user believes the toothbrush is horizontal when it isn't), this significantly impacts position recognition accuracy. Because each user's posture and operating habits differ, and there's a lack of standardized reference, position recognition is prone to significant deviations. Any user posture upon activating the tool can lead to unstable sensor data, affecting the accuracy of subsequent position calculations. Therefore, this method is highly dependent on user operation and cannot guarantee high-precision position recognition.

[0003] Current oral care tools and related technologies have failed to effectively address the problems caused by user operational errors, lacking 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-mentioned technical problems, the present invention proposes a method, system and device for starting and positioning an oral care tool.

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

[0006] S1: Use the position sensor on the oral care tool to obtain the initial placement position data of the oral care tool, which includes one or a combination of pitch angle, roll angle and 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 with the initial placement position data. If the angle change values ​​of the trigger position data and the initial placement position data meet the preset values, the oral care tool is determined to be activated and recorded as activation position data. By limiting the user's posture when activating the tool, some postures that do not conform to the settings can be eliminated, 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 the position recognition function on the oral care tool.

[0010] Preferably, S3 specifically includes: when the pitch angle difference and roll angle difference between the trigger position data and the initial placement position data are both less than the corresponding preset values, the oral care tool is successfully activated. This activation condition limitation restricts the user's freedom of movement when holding the oral care tool and facilitates comparison of the user's posture when activating the tool later.

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

[0012] Further preferably, the system determines whether the user is holding the device with their left or right hand based on trigger location data or start-up location data, and initializes the orientation angle of the oral care tool accordingly. This setting improves the recognition accuracy during subsequent use.

[0013] According to a second aspect of the present invention, a method for locating an oral care tool is proposed, comprising the activation method as described above, and further comprising: recording the usage position data of the oral care tool in real time when using the tool; and determining the position of the oral care tool in the oral cavity based on the usage position data and the activation position data using an oral cavity positioning algorithm. Based on a satisfactory activation position, the accuracy of positioning and recognition during use can be improved.

[0014] Preferably, the oral cavity localization algorithm includes:

[0015] Collect real-time attitude data of oral care tools, including triaxial angular velocity, triaxial acceleration, pitch angle, roll angle, yaw angle and timestamp;

[0016] By analyzing real-time posture data using a hidden Markov model, the motion state of oral care tools can be identified.

[0017] The yaw angle in the real-time attitude data is corrected using a trained long short-term memory network model; based on the corrected yaw angle and other real-time attitude data, the position of the oral care tool in the oral cavity is located.

[0018] In a further preferred embodiment, real-time attitude data is acquired by a gyroscope mounted 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 the timestamps.

[0019] In a further preferred embodiment, the long short-term memory network model adopts a bidirectional long short-term memory network model structure during training, taking the data and motion state collected by the first gyroscope as input and outputting the yaw angle correction value; during real-time positioning, a unidirectional long short-term memory network model structure is adopted, taking the real-time attitude data collected by the first gyroscope as input and outputting the 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] 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 pitch angle, roll angle and yaw angle;

[0022] Trigger position acquisition unit: configured to respond to the user's grip and trigger the oral care tool, with the position sensor recording the trigger position data of the oral care tool;

[0023] Activation unit: Configured to compare trigger position data and 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, the oral care tool is determined to be activated and recorded as activation position data.

[0024] According to a fourth aspect of the present invention, a positioning system for an oral care tool is provided, comprising an activation system as described above, and 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 based on the usage position data and the activation position data using a cavity positioning algorithm.

[0025] According to a fifth aspect of the present invention, a positioning device for an oral care tool is provided, comprising an oral care tool and a terminal device. 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 above-described positioning start method and positioning method of the oral care tool to control the start of the oral care tool and determine the position of the oral care tool during use based on the start position data.

[0026] Preferably, it also includes an initial position fixing seat, where the initial placement position data is the positional data information of the oral care tool placed on the initial position fixing seat. This setting ensures that the initial position is fixed, avoiding any impact on subsequent startup or positioning.

[0027] This invention proposes a method, system, and device for activating and positioning an oral care tool, which has the following technical advantages:

[0028] This invention sets initial placement data for oral care tools as a standard posture. The user's trigger position is compared with this position, and the tool must meet the set posture requirements before activation is allowed. 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 location, the oral cavity positioning information is displayed through algorithm models and virtual tooth models during use, so that users can intuitively understand the location of the care tools and the care area, thereby improving the user experience and satisfaction.

[0030] By using preset location data and relevant angle parameters, it can identify whether the user is holding the tool with their left or right hand, thereby adjusting the positioning algorithm to further improve the accuracy of the recognition.

[0031] By using deep network algorithms and comparing high-precision sensor data, positioning errors can be effectively filtered and corrected, ensuring that the positioning information of oral care tools is accurate during use. Attached Figure Description

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

[0033] Figure 1 This is a flowchart of a method for activating an oral care tool according to an embodiment of this application;

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

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

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

[0037] Figure 5 This is a flowchart of a positioning method for an oral care tool according to an embodiment of this application;

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

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

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

[0041] Figure 9 This is a frame diagram of a positioning device for an oral care tool according to an embodiment of this application;

[0042] Figure 10 This is an exploded view of the structure of an oral care tool according to a specific embodiment of this application.

[0043] Figure 11 This is a schematic diagram of the control module of a specific embodiment of this application;

[0044] Figure 12 This is a control flowchart of a specific embodiment of this application;

[0045] Figure 13 This is a schematic diagram of an oral care tool placed in the initial position fixing seat according to a specific embodiment of this application;

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

[0047] Figure 15 This is a schematic diagram of the terminal interface of a specific embodiment of this application. Detailed Implementation

[0048] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0049] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0050] Figure 1 A flowchart illustrating a positioning method for an oral care tool according to an embodiment of this application is shown. Figure 1 As shown, the method includes the following steps:

[0051] S101: Use the position sensor on the oral care tool to obtain the initial placement position data of the oral care tool, which includes one or a combination of pitch angle, roll angle and yaw angle. Figure 2 A schematic diagram showing the position data of an oral care tool according to a specific embodiment of this application is illustrated, such as... Figure 2 As shown, the position data includes pitch, roll, and yaw. Pitch is the angle at which the oral care tool rotates around the X-axis, roll is the angle at which the oral care tool rotates around the Y-axis, and yaw is the angle at which the oral care tool rotates around the Z-axis.

[0052] In a specific embodiment, before leaving the factory, the oral care tool is positioned in a designated posture (i.e., initial placement position), for example, by placing it in a tooling fixture. After placement, the pitch angle, roll angle, and the angle between the oral care tool and the horizontal plane are guaranteed to be 0°, i.e. Figure 3 The diagram illustrates the initial placement position of an oral care tool according to an embodiment of this application, where X2Y2 is positioned on the horizontal plane of X1Y1. It should be understood that the initial placement position is not limited to pitch and roll angles, but includes at least one of pitch, roll, and yaw angles. The angle with the horizontal plane is not limited to 0° and can be other fixed values. The initial placement position data is acquired by a position sensor and recorded in a memory; this factory-set initial position is referred to as the initial placement position. The initial placement position is primarily used for comparison of the user's posture when activating 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 activating the position recognition function on the oral care tool.

[0054] S103: Compare the trigger position data and the initial placement position data. If the angle change value of the trigger position data and the initial placement position data meets the preset value, determine that the oral care tool has been activated and record it as the activation position data.

[0055] In a specific embodiment, the comparison data includes at least one of pitch angle, roll angle, and yaw angle. By limiting the relationship between one or more of these 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, which is used for subsequent oral position recognition.

[0056] In a specific embodiment, the oral care tool is successfully activated when the pitch angle difference and roll angle difference between the trigger position data and the initial placement position data are both less than the corresponding preset values. Figures 4a-4bThis illustration shows a schematic diagram of the trigger position determination of an oral care tool according to a specific embodiment of this application, as shown below. Figure 4a As shown, when the angle formed by plane X2Y2 and the initial placement position X1Y1 plane in the X-axis direction is θ1 (i.e., the pitch angle difference), θ1 must be less than a first preset value, and as follows: Figure 4b As shown, when the angle formed by surface X2Y2 and the initial placement surface X1Y1 in the Y-axis direction is θ2 (i.e., the difference in roll angle), θ2 must be less than a second preset value. Only when both θ1 and θ2 meet the above two conditions can the user click the start button to determine successful startup. The aforementioned θ1 can be 5-10°, specifically 5°, 6°, 7°, 8°, 9°, or 10°. Similarly, the aforementioned θ2 can also be 5-10°, specifically 5°, 6°, 7°, 8°, 9°, or 10°. This range of preset angle differences is the most suitable range, and within this range, the startup conditions can be determined to be met, allowing the user to start normally. Otherwise, the toothbrush start button will be disabled, and brushing cannot be started. This embodiment does not restrict yaw angle startup, as the yaw angle is related to the user's actual standing orientation when using oral care tools, and the yaw angle is often used for oral positioning during use.

[0057] In a preferred embodiment, the starting position is horizontal, which determines whether the user is holding the device with their left or right hand, and initializes the orientation angle of the oral care tool. The rolling angle differs depending on whether the user holds the oral care tool with their left or right hand facing the mouth. Taking a toothbrush as an example: if the toothbrush face is upward, the rolling angle is 0°; if it's downward, the rolling angle is 180° / -180°. If the toothbrush face is facing the teeth with either hand, the rolling angle is 90° / -90°. Because gyroscopes have errors, the oral care tool should be held as horizontally as possible to improve the accuracy of subsequent mouth positioning.

[0058] Continue to refer to Figure 5 , Figure 5 A flowchart illustrating a positioning method for an oral care tool according to an embodiment of this application is shown, as follows: Figure 5 As shown, in Figure 1 Based on the startup method process, it also includes:

[0059] S104: When using oral care tools, record the usage location data of the oral care tools in real time, and determine the position of the oral care tools in the oral cavity through an oral positioning algorithm based on the usage location data and the start location data.

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

[0061] Real-time attitude data of the oral care tool is collected, including three-axis angular velocity, three-axis acceleration, pitch angle, roll angle, yaw angle and timestamp. The real-time attitude data is obtained by a gyroscope set 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] By analyzing real-time posture data using a hidden Markov model, the motion state of oral care tools can be identified.

[0063] The yaw angle in the real-time attitude data is corrected using a trained long short-term memory network model. Based on the corrected yaw angle and other real-time attitude data, the position of the oral care tool in the oral cavity is located.

[0064] In a specific embodiment, the long short-term memory network model adopts a bidirectional long short-term memory network model structure during training, taking the data collected by the first gyroscope and the motion state as input, and outputting the yaw angle correction value; during real-time positioning, a unidirectional long short-term memory network model structure is adopted, taking the real-time attitude data collected by the first gyroscope as input, and outputting the 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 this application is shown, as follows: Figure 6 As shown, the model mainly includes a data acquisition and preprocessing module, a HarmoniMML algorithm module, and a recurrent neural network module. The data acquisition and preprocessing module includes data acquisition from six-axis and nine-axis gyroscopes, as well as observations of motion states. The HarmoniMML algorithm module includes a state generation module and a feature extraction module. The state generation module uses six-axis gyroscope data as input to generate the device's motion state. The feature extraction module uses six-axis gyroscope acceleration (ACC) data as input to calculate feature parameters such as mean, standard deviation, acceleration, and Binned Distribution. The recurrent neural network module uses a Long Short-Term Memory (LSTM) network for model training, employing a dropout layer to prevent overfitting, and finally outputs the prediction results. Specifically, the trained LSTM model processes real-time data to output the device's positioning information.

[0066] Figure 7 A framework diagram of the activation system of an oral care tool according to an embodiment of this application is shown, such as... Figure 7As shown, the system includes an initial placement position acquisition unit 701, a trigger position acquisition unit 702, and a start unit 703. The initial placement position acquisition unit 701 is configured to acquire initial placement position data of the oral care tool using a position sensor on the tool. The initial placement position data includes one or a combination of pitch angle, roll angle, and yaw angle. The trigger position acquisition unit 702 records the trigger position data of the oral care tool in response to the user holding and triggering the tool. The start unit 703 compares the trigger position data with the initial placement position data. If the angle change values ​​of the trigger position data and the initial placement position data meet a preset value, the system determines that the oral care tool has been started and records it as start position data.

[0067] Figure 8 A frame diagram of a positioning system for an oral care tool according to an embodiment of this 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 to Figure 9 , Figure 9 A frame diagram of a positioning device for an oral care tool according to an embodiment of this application is shown, such as Figure 9 As shown, the positioning device specifically includes an oral care tool 901 and a terminal device 902, wherein the oral care tool 901 and the terminal device 902 are connected wirelessly.

[0069] In a specific embodiment, Figure 10 An exploded view of the structure of an oral care tool according to a specific embodiment of this application is shown, such as... Figure 10 As shown, the oral care tool is an electric toothbrush, including a brush head 1, a housing 2, a sealing rubber component 3, a motor 4, a core mounting base 5, a lithium battery 6, a bottom cover 7, a circuit board 8, a charging module 9, and a position sensor 10. The brush head 1 is connected to the top of the housing 2. The sealing rubber component 3 is located inside the upper part of the housing 2 to ensure a waterproof seal. The motor 4 is mounted on the core mounting base 5 and its operation is controlled by the circuit board 8. The lithium battery 6 is adjacent to the motor 4 and provides it with power. The bottom cover 7 is located at the bottom of the toothbrush, cooperates with the housing 2 to fix and protect the internal components, and is also connected to the charging module 9. The position sensor 10 is mounted on the circuit board 8 to detect the position and movement status of the toothbrush.

[0070] Figure 11 A schematic diagram of the control module of a specific embodiment of this application is shown, as follows: Figure 11As shown, power supply 9011 is connected to power switch 9012, and power switch 9012 is connected to a module containing position sensor 9013, indicator light 9014, motor 9015, memory 9016, controller 9017, and wireless communication 9018. Controller 9017 controls position sensor 9013, indicator light 9014, motor 9015, and memory 9016, and communicates with terminal device 902 via wireless communication 9018. Server 903 is further connected to terminal device 902 to process and display data.

[0071] Figure 12 A control flowchart of a specific embodiment of this application is shown, such as Figure 12 As shown, the control flow specifically includes the following steps:

[0072] 1201: Obtain the first position (i.e., the aforementioned initial placement position): Record the orientation of the initial position from the factory using the tooling. Specifically, Figure 13 A schematic diagram of an oral care tool in its initial position fixed seat according to a specific embodiment of this application is shown, as follows: Figure 13 As shown, the oral care tool is placed on the initial position fixing seat 904. The initial position fixing seat 904 can be a tooling structure that matches the oral care tool. Through the tooling, it can be ensured that the initial pitch angle and roll angle of the oral care tool are aligned with the horizontal plane each time.

[0073] 1202: Obtain the second position (i.e. the aforementioned trigger position; once the conditions are met, the second position becomes the starting position): The user holds the nursing tool in the starting posture.

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

[0075] In a specific embodiment, the set relationship and threshold can be as described above. Figures 4a-4b The relationship between the pitch angle difference and roll angle difference in the embodiment and the corresponding preset value can also be set to other angle relationships as needed. Figures 14a-14c This is a schematic diagram illustrating the trigger position determination of an oral care tool according to a specific embodiment of this application, as shown below. Figure 14a As shown, the pitch angle does not meet the requirements, and the start-up fails; Figure 14b As shown, the roll angle does not meet the requirements, and the start-up fails; Figure 14c As shown, both the pitch and roll angles meet the requirements, and the user successfully starts the oral care tool.

[0076] 1204: Allows users to enable care tools and oral positioning; updates the second location to the start location.

[0077] 1205: Obtain the third location (i.e., the aforementioned usage location): Obtain the location of the user's oral care process in real time.

[0078] 1206: Oral cavity positioning algorithm analyzes nursing location.

[0079] 1207: The terminal displays and provides feedback on reports and suggestions. Figure 15 A schematic diagram of a terminal interface according to a specific embodiment of this application is shown, such as... Figure 15 As shown, users can hold the device according to the prompts on the terminal interface, and the algorithm described above will determine whether the holding posture is correct.

[0080] In a specific embodiment, the oral cavity positioning algorithm in this application is a gyroscope positioning method based on a deep network algorithm. It is adaptable to oral care tools and testing tools, such as handheld devices like water flossers, oral endoscopes, electric toothbrushes, and toothbrush peripherals. The device has a control circuit board embedded with a gyroscope. The device acquires real-time attitude data from the gyroscope and transmits the data to a terminal device such as a mobile device using a wireless communication module like Bluetooth on the control circuit board. The algorithm model in the mobile device calculates the oral cavity positioning information and displays it on the mobile device. Mobile devices include, but are not limited to, mobile phones and tablets. This oral cavity positioning model relatively fixes a consumer-grade six-axis gyroscope and an industrial-grade nine-axis high-precision gyroscope, with the X, Y, and Z axes all having the same direction. The fixed module is fixed to the device for use and real-time data acquisition, real-time annotation of the device's motion state, and the algorithm fits the angle error of the six-axis gyroscope data. The generated model observes and filters the oral cavity positioning results. 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, roll angle, yaw angle, timestamp, and its positioning area number; and 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 it through a deep network, and generate oral cavity localization models applicable to different scenarios. Its output represents different regions of the oral cavity. Specific usage scenarios, depending on different devices, user habits, and localization requirements, include the following:

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

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

[0084] Different positioning needs: including 8 areas (left, right, top, bottom, inside, outside), 16 areas, 28 areas, etc., each area has corresponding left and right sides, top and bottom sides, and internal and external occlusal surfaces of the oral cavity.

[0085] The movement states of oral care tools include: prohibition, horizontal brushing, vertical brushing, inward flipping, outward flipping, leftward turning, rightward turning, etc.; the display effects of mobile devices include multiple modes, and the oral cavity is divided into different fixed areas according to product definition and user needs.

[0086] This invention ensures that oral care tools are activated in a standard posture by setting initial placement data and posture requirements, reducing user arbitrariness and improving the reliability of position recognition. During use, oral positioning information is displayed through algorithm models and virtual tooth models, enhancing user experience and satisfaction. Preset position data and angle parameters can recognize user gestures, adjust the positioning algorithm, and improve recognition accuracy. Combining deep network algorithms and high-precision sensor data, positioning errors are effectively filtered and corrected to ensure accurate positioning information.

[0087] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A method for activating an oral care tool, characterized in that, include: S1: Use the position sensor on the oral care tool to obtain the initial placement position data of the oral care tool, the initial placement position data including one or a combination of pitch angle, roll angle and 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 and the initial placement position data. In response to the angle change value of the trigger position data and the initial placement position data satisfying the preset value, determine that the oral care tool is activated and record it as activation position data. The initial placement data refers to the position data of the oral care tool placed in the initial position fixing seat before leaving the factory. The initial position fixing seat is a tooling structure that matches the oral care tool. The tooling ensures that the initial pitch angle and roll angle of the oral care tool are aligned with the horizontal plane each time.

2. The method for activating the 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 the location recognition function on the oral care tool.

3. The method for activating the oral care tool according to claim 1, characterized in that, Specifically, S3 includes: when the pitch angle difference and roll angle difference between 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.

4. The method for activating the oral care tool according to claim 1, characterized in that, Based on the trigger position data or the start position data, determine whether the user is holding the device with their left or right hand, and initialize the orientation angle of the oral care tool.

5. A method for positioning an oral care tool, characterized in that, The method for starting up as described in any one of claims 1-4 further includes: recording the usage location data of the oral care tool in real time when using the oral care tool, and determining the position of the oral care tool in the oral cavity by means of an oral cavity positioning algorithm based on the usage location data and the starting location data.

6. The positioning method for oral care tools according to claim 5, characterized in that, The oral cavity localization algorithm includes: Collect real-time attitude data of the oral care tool, including triaxial angular velocity, triaxial acceleration, pitch angle, roll angle, yaw angle and timestamp; The motion state of the oral care tool is identified by analyzing the real-time posture data using a hidden Markov model. The yaw angle in the real-time attitude data is corrected using a trained long short-term memory network model; based on the corrected yaw angle and the remaining real-time attitude data, the position of the oral care tool in the oral cavity is located.

7. The method for positioning an oral care tool according to claim 6, characterized in that, The real-time attitude data is acquired by a gyroscope mounted 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 the timestamps.

8. The method for positioning an oral care tool according to claim 7, characterized in that, The long short-term memory network model adopts a bidirectional long short-term memory network model structure during training, taking the data collected by the first gyroscope and the motion state as input, and outputting the yaw angle correction value; during real-time positioning, it adopts a unidirectional long short-term memory network model structure, taking the real-time attitude data collected by the first gyroscope as input, and outputting the yaw angle correction value.

9. A starting system for an oral care tool, characterized in that, include: 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 pitch angle, roll angle and yaw angle; Trigger position acquisition unit: configured to respond to a user holding and triggering the oral care tool, wherein the position sensor records the trigger position data of the oral care tool; Activation unit: configured to compare the trigger position data and the initial placement position data, and in response to the angle change value of 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 activation position data; The initial placement data refers to the position data of the oral care tool placed in the initial position fixing seat before leaving the factory. The initial position fixing seat is a tooling structure that matches the oral care tool. The tooling ensures that the initial pitch angle and roll angle of the oral care tool are aligned with the horizontal plane each time.

10. A positioning system for an oral care tool, characterized in that, The system includes the starting system as described in claim 9, and further includes a positioning unit configured to record the usage location 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 based on the usage location data and the starting location data through an oral cavity positioning algorithm.

11. A positioning device for an oral care tool, characterized in that, The invention includes an oral care tool and a terminal device. The oral care tool is equipped 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 starting method of the oral care tool according to any one of claims 1-4 and the positioning method of the oral care tool according to any one of claims 5-8 to control the starting of the oral care tool and determine the position of the oral care tool during use based on the starting position data.

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