Position identification method and system of electric toothbrush, electric toothbrush and storage medium

Abstract

The embodiment of the invention discloses a position identification method and system of an electric toothbrush, the electric toothbrush and a storage medium, and the position identification method of the electric toothbrush comprises the steps: building a relative coordinate system based on a first position sensor, and collecting three-dimensional data in an oral cavity; performing regional division on the three-dimensional data to obtain regional division data; when the electric toothbrush is used, a brushing area of the electric toothbrush relative to the oral cavity is determined based on the first position sensor, and a brushing area of the electric toothbrush is determined based on the second position sensor. According to the position identification method of the electric toothbrush, the tooth brushing area is accurately identified by combining the first position sensor with the second position sensor, and misjudgment is reduced.

Description

Technical Field

[0001] The present application relates to the field of electric toothbrushes, and in particular to a method and system for identifying a position of an electric toothbrush, an electric toothbrush and a storage medium. Background Art

[0002] Electric toothbrushes are already a relatively mature product in the human care market. Some products are labeled as AI and smart. One of the most important functions is brushing gesture recognition. The original intention of the brushing gesture recognition function is to detect the user's brushing posture and the position of the brushing area, etc., to correct and remind users to develop correct brushing habits.

[0003] In the prior art, a first position sensor is usually used to implement a gesture recognition function for brushing teeth. The first position sensor is set on the electric toothbrush to collect three-dimensional data through the first position sensor. When using the electric toothbrush, the first position information of the electric toothbrush is obtained in real time through the three-dimensional data, so as to determine the brushing area where the electric toothbrush brushes the teeth in the oral cavity through the relationship between the first position information and the three-dimensional data. When brushing the tooth surfaces on the same side of the maxillary teeth and the mandibular teeth with an electric toothbrush, for example, when brushing the left outer tooth surface and the right inner tooth surface of the mandibular teeth with an electric toothbrush, since the posture of the electric toothbrush is very close, the first position information of the left outer tooth surface and the right inner tooth surface of the mandibular teeth detected by the first position sensor is also very close, so it is very easy to be confused when performing gesture recognition when brushing the left outer tooth surface and the right inner tooth surface of the mandibular teeth with an electric toothbrush.

[0004] The above contents are only used to assist in understanding the technical solution of the invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] In view of the above-mentioned problem that gesture recognition is easily confused when brushing the tooth surface of the same jaw facing the same side, the present invention proposes a position recognition method for an electric toothbrush, which solves the technical problem that gesture recognition is easily confused when brushing the tooth surface of the same jaw facing the same side.

[0006] To achieve the above object, the present invention provides a method for identifying the position of an electric toothbrush, comprising the steps of:

[0007] Establishing a relative coordinate system based on the first position sensor and collecting three-dimensional data in the oral cavity;

[0008] Performing region division on the three-dimensional data to obtain region division data;

[0009] When using an electric toothbrush, the brushing area of ​​the electric toothbrush relative to the oral cavity is determined based on the first position sensor, and the brushing zone of the electric toothbrush is determined based on the second position sensor.

[0010] In one embodiment, when using an electric toothbrush, after the step of determining the brushing area of ​​the electric toothbrush relative to the oral cavity based on the first position sensor and determining the brushing zone of the electric toothbrush based on the second position sensor, the step of:

[0011] Record and store the brushing time of the electric toothbrush in each brushing area;

[0012] Compare the brushing time value with the preset time value to determine the teeth cleaning degree information of each brushing area;

[0013] A brushing report is generated based on the cleaning degree information of each brushing area and displayed.

[0014] In one embodiment, before the step of comparing the brushing time value with the preset time value to determine the teeth cleaning degree information of each brushing area, the method further includes the following steps:

[0015] Detecting the acceleration value of the electric toothbrush based on an acceleration sensor;

[0016] The acceleration value is compared with the acceleration threshold. When the acceleration value is greater than the acceleration threshold, the electric toothbrush adaptively adjusts the preset duration value.

[0017] In one embodiment, the three-dimensional data includes at least the lower left external tooth surface, the lower left internal tooth surface, the lower left groove tooth surface, the upper left external tooth surface, the upper left internal tooth surface, the upper left groove tooth surface, the lower right external tooth surface, the lower right internal tooth surface, the lower right groove tooth surface, the upper right external tooth surface, the upper right internal tooth surface, and the upper right groove tooth surface.

[0018] In one embodiment, performing region division on the three-dimensional data to obtain region division data specifically includes:

[0019] Establish a neural network model based on three-dimensional data;

[0020] The neural network model trains the three-dimensional data according to the tooth surface orientations of the maxillary teeth and the mandibular teeth in the oral cavity and performs region division to obtain region division data.

[0021] In one embodiment, the region division data includes dividing the lower left external tooth surface and the lower right internal tooth surface into the left side region of the mandibular teeth, dividing the lower left internal tooth surface and the lower right external tooth surface into the right side region of the mandibular teeth, dividing the lower left molar tooth surface and the lower right molar tooth surface into the mandibular alveolar tooth region, dividing the upper left external tooth surface and the upper right internal tooth surface into the left side region of the maxillary teeth, dividing the upper left internal tooth surface and the upper right external tooth surface into the right side region of the maxillary teeth, and dividing the upper left molar tooth surface and the upper right molar tooth surface into the maxillary alveolar tooth region.

[0022] In one embodiment, determining the brushing area of ​​the electric toothbrush based on the first position sensor specifically includes:

[0023] Acquire first position information of the electric toothbrush based on the first position sensor;

[0024] The brushing area of ​​the electric toothbrush is determined according to the first position information.

[0025] In one embodiment, determining the brushing area of ​​the electric toothbrush based on the second position sensor specifically includes:

[0026] Acquire second position information of the electric toothbrush and the face based on the second position sensor;

[0027] The brushing area of ​​the electric toothbrush is determined according to the second position information.

[0028] In one embodiment, when the brushing area of ​​the electric toothbrush is determined to be the mandibular alveolar teeth area or the maxillary alveolar teeth area according to the first position information, the current brushing area of ​​the electric toothbrush is determined according to the brushing area of ​​the previous electric toothbrush.

[0029] In one embodiment, when it is determined according to the first position information that the brushing area of ​​the electric toothbrush is the mandibular alveolar teeth area or the maxillary alveolar teeth area, the method further includes the following steps:

[0030] Acquire second position information of the electric toothbrush and the face respectively based on two second position sensors;

[0031] The brushing area of ​​the electric toothbrush is determined according to the two second position information.

[0032] In one embodiment, one of the two second position sensors is in a normally open state, and the other second position sensor is in a normally closed state. When it is determined according to the first position information that the brushing area of ​​the electric toothbrush is the mandibular alveolar tooth area or the maxillary alveolar tooth area, the second position sensor in the normally closed state is turned on.

[0033] The present invention also provides a position recognition system for an electric toothbrush, comprising:

[0034] Acquisition module: used to establish a relative coordinate system and acquire three-dimensional data in the oral cavity through a first position sensor provided on the electric toothbrush;

[0035] Division module: used for performing regional division on the three-dimensional data collected by the collection module to obtain regional division data;

[0036] Identification module: used to determine the brushing area of ​​the electric toothbrush equivalent to the oral cavity through the first position sensor when the electric toothbrush is used, and to determine the brushing area of ​​the electric toothbrush through the second position sensor.

[0037] In one embodiment, a brush handle, a first position sensor, a second position sensor and a brush head are included;

[0038] in,

[0039] The first position sensor and the second position sensor are arranged in the brush handle;

[0040] The brush head is movably arranged at one end of the brush handle.

[0041] In one embodiment, the second position sensor is disposed at an end of the brush handle where the brush head is disposed.

[0042] In one embodiment, at least two second position sensors are disposed at one end of the brush handle where the brush head is disposed, and the two second position sensors are disposed side by side in the brush handle.

[0043] The present invention also provides a readable storage medium, which stores a control program for an electric toothbrush. When the control program for the electric toothbrush is executed by a processor, the steps of the method for identifying the position of an electric toothbrush as provided above are implemented.

[0044] In a position recognition method for an electric toothbrush of the present invention, when gesture recognition is performed through a first position sensor and a second position sensor, the first position sensor is first used to divide the area, and then the second position sensor is used to identify the specific brushing area. Compared with gesture recognition performed only through the first position sensor, the recognition accuracy is higher; at the same time, a brushing report is generated based on the recognized brushing area, so that the user can adjust the brushing gesture in time. Therefore, the cleaning degree of the user's teeth is more comprehensive, the protection of the teeth is better, and the user can develop good brushing habits. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 A schematic diagram showing the steps of an embodiment of a method for identifying a position of an electric toothbrush according to the present invention;

[0047] Figure 2 for Figure 1 A schematic diagram of the step flow of an embodiment of step S200;

[0048] Figure 3 for Figure 1 A schematic diagram of the step flow of an embodiment of step S300;

[0049] Figure 4 for Figure 1 A schematic diagram of a step flow chart of another embodiment of step S300;

[0050] Figure 5 for Figure 1 FIG. 5 is a flowchart of another embodiment of step S300.

[0051] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that the combination of such technical solutions does not exist and is not within the scope of protection required by the present invention.

[0053] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0054] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or a solution that satisfies both A and B.

[0055] The present invention proposes a method for identifying the position of an electric toothbrush, which is used to identify the gesture of a user when brushing teeth, and to determine whether the teeth are cleaned thoroughly based on the identified gesture. Specifically, the method comprises the following steps: establishing a relative coordinate system based on a first position sensor and collecting three-dimensional data in the oral cavity; performing regional division on the three-dimensional data to obtain regional division data; when using an electric toothbrush, determining the brushing area of ​​the electric toothbrush relative to the oral cavity based on the first position sensor, and determining the brushing area of ​​the electric toothbrush based on the second position sensor.

[0056] In an embodiment of the present invention, the first position sensor is fixedly disposed in the electric toothbrush. Figure 1 As shown, the position recognition method of the electric toothbrush comprises the following steps:

[0057] Step S100: Establish a relative coordinate system based on the first position sensor and collect three-dimensional data in the oral cavity. It should be noted that the first position sensor described in this embodiment refers to a sensor that can simultaneously measure the force and torque of the electric toothbrush in six degrees of freedom in three-dimensional space, including forces in three directions and torques in three directions, such as a six-axis sensor. The relative coordinate system is a three-dimensional space coordinate system. The three-dimensional data refers to the oral cavity model established in the relative coordinate system by the data obtained by the first position sensor when brushing teeth with an electric toothbrush, and the data is the oral cavity data. It should be noted that the teeth in the oral cavity are the oral cavity model, and the oral cavity model includes the lower left outer tooth surface, the lower left inner tooth surface, the lower left groove tooth surface, the upper left outer tooth surface, the upper left inner tooth surface, the upper left groove tooth surface, the lower right outer tooth surface, the lower right inner tooth surface, the lower right groove tooth surface, the upper right outer tooth surface, the upper right inner tooth surface, and the upper right groove tooth surface. It should be noted that the three-dimensional data includes but is not limited to being obtained by the user when the electric toothbrush is used for the first time, and can also be configured by the manufacturer when leaving the factory.

[0058] Step S200: perform regional division on the three-dimensional data collected in step S100. Specifically, the lower left outer tooth surface, lower left inner tooth surface, lower left molar tooth surface, upper left outer tooth surface, upper left inner tooth surface, upper left molar tooth surface, lower right outer tooth surface, lower right inner tooth surface, lower right molar tooth surface, upper right outer tooth surface, upper right inner tooth surface, and upper right molar tooth surface in the above step S100 are regionally divided according to the direction of the tooth surface to obtain regional division data. Specifically, the oral model includes maxillary teeth and mandibular teeth, and the maxillary teeth include the upper left outer tooth surface, the upper left inner tooth surface, the upper left molar tooth surface, the upper right outer tooth surface, the upper right inner tooth surface, and the upper right molar tooth surface, and the mandibular teeth include the lower left outer tooth surface, the lower left inner tooth surface, the lower left molar tooth surface, the lower right outer tooth surface, the lower right inner tooth surface, and the lower right molar tooth surface. When performing regional division, the lower left external tooth surface and the lower right internal tooth surface are divided into the left area of ​​mandibular teeth, the lower left internal tooth surface and the lower right external tooth surface are divided into the right area of ​​mandibular teeth, the lower left molar tooth surface and the lower right molar tooth surface are divided into the mandibular alveolar tooth area, the upper left external tooth surface and the upper right internal tooth surface are divided into the left area of ​​maxillary teeth, the upper left internal tooth surface and the upper right external tooth surface are divided into the right area of ​​maxillary teeth, and the upper left molar tooth surface and the upper right molar tooth surface are divided into the maxillary alveolar tooth area.

[0059] Step S300: When using an electric toothbrush, determine the brushing area of ​​the electric toothbrush based on the first position sensor, and determine the brushing zone of the electric toothbrush based on the second position sensor. Specifically, when using an electric toothbrush, first determine the brushing area of ​​the electric toothbrush through the first position sensor. The brushing area is the area divided by the above-mentioned maxillary teeth and mandibular teeth facing the same tooth surface. The brushing area specifically includes the left area of ​​the mandibular teeth, the right area of ​​the mandibular teeth, the mandibular alveolar teeth area, the left area of ​​the maxillary teeth, the right area of ​​the maxillary teeth, and the maxillary alveolar teeth area. It should be noted that the second position sensor described in this embodiment refers to a sensor that can use laser ranging to determine the second position information between the electric toothbrush and the face. It should be noted that the second position information refers to the distance between the electric toothbrush and the face. In this embodiment, the left area of ​​the mandibular teeth is used as an example. Since the posture and gesture of the electric toothbrush are quite similar when the electric toothbrush is brushing the lower left outer tooth surface and the lower right inner tooth surface of the mandibular teeth, it is easy to confuse and difficult to distinguish when the gesture recognition is performed only through the first position sensor. Therefore, if the user is brushing the lower left outer tooth surface or the lower right inner tooth surface, the first position sensor determines that the brushing area is the left area of ​​the mandibular teeth. After determining that it is the left area of ​​the mandibular teeth, the second position sensor determines the specific brushing area of ​​the electric toothbrush. When the second position sensor is used to determine the specific brushing area of ​​the electric toothbrush, due to the facial structure, when brushing the lower left outer surface, the laser emitted by the second position sensor is irradiated on the cheek of the human face, and when brushing the lower right inner surface, the laser emitted by the second position sensor is irradiated on the lips of the human face. Therefore, when brushing the lower left outer tooth surface, the second position information between the electric toothbrush and the face is significantly greater than the second position information between the electric toothbrush and the face when brushing the lower right inner tooth surface, so as to determine the actual brushing area of ​​the electric toothbrush.

[0060] It should be noted that the second position information between the electric toothbrush and the face is 30mm to 50mm when brushing the left outer side, and the second position information between the electric toothbrush and the face is 180mm to 220mm when brushing the lower right inner side. It should be noted that the electric toothbrush usually includes a brush head and a brush handle, and the first position sensor and the second position sensor are both arranged in the brush handle, and the brush handle is provided with a brush shaft, and the brush head is detachably arranged on the brush shaft, so the actual second position information also depends on the length of the brush shaft.

[0061] In this embodiment, when gesture recognition is performed through the first position sensor and the second position sensor, the area is first divided through the first position sensor, and then the specific brushing area is identified through the second position sensor. Compared with when gesture recognition is performed only through the first position sensor, the recognition accuracy is higher; at the same time, a brushing report is generated based on the identified brushing area, so that the user can make timely adjustments to the brushing gesture, thereby achieving a more comprehensive cleaning of the user's teeth and better protection of the teeth.

[0062] Furthermore, when using an electric toothbrush, after the step of determining that the electric toothbrush corresponds to the brushing area of ​​the oral cavity based on the first position sensor and determining the brushing zone of the electric toothbrush based on the second position sensor, the method also includes the following steps: recording and storing the brushing time value of the electric toothbrush in each brushing zone; comparing the brushing time value with the preset time value to determine the cleaning degree information of each brushing zone; generating a brushing report based on the cleaning degree information of each brushing zone, and displaying the brushing report.

[0063] In this embodiment, after the above step S300, the following steps are also included:

[0064] Step S400: Record and store the brushing time value of the electric toothbrush in each brushing area. That is, when the electric toothbrush is identified in the above step S300 as brushing the lower left outer tooth surface, the timing starts, and the timing stops when the electric toothbrush identifies that the electric toothbrush moves to brush other tooth surfaces or stops brushing, so as to obtain the brushing time value of the lower left outer surface.

[0065] Step S500: Compare the brushing time value with the preset time value to determine the cleaning degree information of each brushing area. That is, the brushing time value recorded and stored when the electric toothbrush brushes the lower left outer tooth surface in the above step S400 is compared with the preset time value, so as to judge whether the brushing of the lower left outer tooth surface is cleaned according to the actual brushing time value and the preset brushing time value. It should be noted that the preset time value in this embodiment can be set by the user according to his own needs, and can also be set by the manufacturer. When the manufacturer sets it, it follows the requirements of the "Bass Brushing Method". In addition, this embodiment can set different preset time values ​​for different tooth surfaces, or set the same preset time value for different tooth surfaces.

[0066] S600: Generate a toothbrushing report based on the tooth cleaning degree information of each toothbrushing area determined in the above step S500, and display the toothbrushing report on the electric toothbrush or mobile terminal. It should be noted that in step S500, the tooth cleaning degree information of each toothbrushing area is displayed through step S600 after brushing each toothbrushing area, or, after brushing all the toothbrushing areas in step S500, it is displayed through step S600. It should be noted that when the electric toothbrush in this embodiment is displayed, a display unit is provided on the electric toothbrush to display the toothbrushing report through the display unit; when the mobile terminal is displayed, the electric toothbrush provided in this embodiment can connect and communicate with the mobile terminal to send the toothbrushing report to the mobile terminal for display. The mobile terminal described in this embodiment includes but is not limited to mobile phones, tablets, computers, smart electronic watches, etc.

[0067] In this embodiment, the brushing time value of each brushing area is compared with the preset time value to determine the cleaning degree information of the brushing area, and a brushing report is generated based on the brushing degree information for display, so that customers can intuitively see their usual brushing habits and protect their oral cavity. At the same time, the brushing report is used to remind users of brushing areas that have not been brushed properly, so that users can pay attention to the brushing area, clean it again, or improve it the next time they brush their teeth, so as to prevent oral diseases.

[0068] Furthermore, before the step of comparing the brushing time value with the preset time value to determine the cleaning degree information of each brushing area, the method also includes the following steps: detecting the acceleration value of the electric toothbrush based on an acceleration sensor; comparing the acceleration value with an acceleration threshold, and when the acceleration value is greater than the acceleration threshold, the electric toothbrush adaptively adjusts the preset time value.

[0069] In this embodiment, an acceleration sensor is also provided in the handle of the electric toothbrush. The acceleration sensor is used to detect the acceleration value of the electric toothbrush, and an acceleration threshold is also provided in the electric toothbrush. The specific steps are as follows:

[0070] Step S700: After the duration value is recorded and stored in step S400, the acceleration value of the electric toothbrush is detected by an acceleration sensor. The acceleration value may be the acceleration value of a certain action or the average value of acceleration values ​​of certain actions.

[0071] Step S800: After the acceleration sensor obtains the acceleration value of the electric toothbrush, it is compared with the acceleration threshold. When the acceleration value is greater than the acceleration threshold, the electric toothbrush adaptively adjusts the preset duration value. That is, in this embodiment, when the user brushes his teeth by moving the electric toothbrush quickly, that is, when the acceleration value is greater than the acceleration threshold, the brushing frequency is faster at this time, so the brushing can be completed without reaching the preset duration value. That is, when the acceleration value is greater than the acceleration threshold, the acceleration value is inversely proportional to the preset duration value. The larger the acceleration value, the smaller the preset duration value, and the smaller the acceleration value, the larger the preset duration value. It should be noted that when the acceleration value is less than or equal to the acceleration threshold, the preset duration value does not change.

[0072] In this embodiment, by setting up an acceleration sensor, the cleaning effect can also be achieved when the user is in a hurry and brushes his teeth at a high frequency, and the preset time value is adaptively adjusted according to the acceleration value to realize the intelligent recognition of the electric toothbrush, so that the brushing report of the electric toothbrush is not unique, and can be adaptively adjusted according to the actual usage of the user.

[0073] Furthermore, dividing the three-dimensional data into regions to obtain the region division data specifically includes: establishing a neural network model based on the three-dimensional data; the neural network model trains the three-dimensional data according to the tooth surface orientations of the maxillary teeth and mandibular teeth in the oral cavity and divides the three-dimensional data into regions to obtain the region division data.

[0074] In this embodiment, see Figure 1 and Figure 2 As shown, the above step S200 will be described in detail. Step S200 specifically includes the following steps:

[0075] Step S210: Establishing a neural network model based on the three-dimensional data collected in the above step S100. It should be noted that the neural network model described here is the oral cavity model established in the three-dimensional space.

[0076] Step S220: Based on the neural network model established in step S210, the three-dimensional data is trained and region-divided according to the tooth surface orientation of the upper and lower teeth in the oral cavity to obtain region-divided data. It should be noted that the specific division here refers to the above description, and no specific description is given here.

[0077] In this embodiment, the tooth surfaces of the maxillary teeth and the mandibular teeth facing the same direction are divided into a separate area, and then the second position sensor is used to identify the specific tooth surfaces when brushing the teeth. Compared with judging only by the first position sensor, it is less likely to make misjudgments due to the same direction of the tooth surfaces of the maxillary teeth or the mandibular teeth, and therefore the recognition accuracy is more accurate.

[0078] Furthermore, determining the brushing area of ​​the electric toothbrush based on the first position sensor specifically includes: acquiring first position information of the electric toothbrush based on the first position sensor; and determining the brushing area of ​​the electric toothbrush according to the first position information.

[0079] In this embodiment, see Figure 3 As shown, the above step S300 is described in detail. In the above step S300, when the brushing area of ​​the electric toothbrush is determined based on the first position sensor, the following steps are included:

[0080] Step S310: Acquire first position information of the electric toothbrush based on the first position sensor. It should be noted that the first position information refers to the motion trajectory information of the electric toothbrush in three-dimensional space.

[0081] Step S320: Determine the brushing area of ​​the electric toothbrush according to the first position information obtained in the above step S310. It should be noted that the brushing area of ​​the electric toothbrush determined according to the first position information in this step S320 refers to the relationship between the motion trajectory information of the electric toothbrush in the three-dimensional space in the above step 310 and the oral model. For example, when the electric toothbrush in the three-dimensional space brushes the left area of ​​the lower jaw in the oral model, it actually means that the electric toothbrush is brushing the left area of ​​the lower jaw of the teeth in the user's mouth.

[0082] In this embodiment, the state information of the electric toothbrush is obtained by the first position sensor to simulate the movement trajectory of the electric toothbrush in real time in the three-dimensional space, so as to determine the relationship between the electric toothbrush and the oral model in the three-dimensional space, and then determine the relationship between the teeth in the actual user's mouth and the electric toothbrush. The relationship between the electric toothbrush and the teeth in the mouth is not determined only by the posture of the electric toothbrush. When the relationship between the electric toothbrush and the teeth in the mouth is determined only by the posture of the electric toothbrush, the electric toothbrush may not clean the teeth in the mouth, but appear in the posture of the electric toothbrush when cleaning the teeth in the mouth, thereby causing misjudgment. When the relationship between the electric toothbrush and the oral model in the three-dimensional space is used to determine the relationship between the teeth in the actual user's mouth and the electric toothbrush, the above-mentioned misjudgment can be effectively avoided, and thus the recognition accuracy is higher.

[0083] Furthermore, determining the brushing zone of the electric toothbrush based on the second position sensor specifically includes: acquiring second position information of the electric toothbrush and the face based on the second position sensor; and determining the brushing zone of the electric toothbrush according to the second position information.

[0084] In this embodiment, Figure 1 See also Figure 4 As shown, the above step S300 is described in detail again. In the above step S300, judging the brushing area of ​​the electric toothbrush based on the second position sensor specifically includes the following steps:

[0085] Step S330: Obtain the distance between the electric toothbrush and the face based on the second position sensor. It should be noted that the second position sensor refers to a sensor that can measure distance through laser, and due to the structure of the human face, it can determine the second position information between the electric toothbrush and the face. It should be noted that the specific content is referred to the above description, and no detailed description is given here.

[0086] Step S340: Determine the brushing area of ​​the electric toothbrush according to the second position information. It should be noted that due to the structure of the human face, when brushing the outside of the teeth in the oral cavity, the laser emitted by the second position sensor is irradiated on the cheek, and when brushing the inside of the teeth in the oral cavity, the laser emitted by the second position sensor is irradiated on the lips. In the same divided brushing area, there is and only includes an outer brushing area and an inner brushing area. Therefore, the brushing area in each individual brushing area can be determined by the second position sensor. It should be noted that this part is described in detail in the aforementioned content and will not be described again here.

[0087] In this embodiment, when the specific brushing area is determined by the laser ranging of the second position sensor, it is more accurate than when only the first position sensor is used to determine the brushing area. At the same time, the cost of the second position sensor is relatively low, and high-precision detection can be achieved at a low cost to improve the user experience.

[0088] Further, when it is determined according to the first position information that the brushing area of ​​the electric toothbrush is the mandibular alveolar teeth area or the maxillary alveolar teeth area, the current brushing area of ​​the electric toothbrush is determined according to the brushing area of ​​the previous electric toothbrush.

[0089] In this embodiment, how to identify the mandibular alveolar area and the mandibular alveolar area is described in detail. Specifically, according to the user's habit of cleaning the teeth in the oral cavity, the order of brushing teeth is to first thoroughly clean the teeth on the same side of the maxillary teeth or mandibular teeth before changing to the other side. At the same time, when brushing the teeth on the same side, the side teeth will be brushed first before brushing the alveolar tooth surface. For example, when brushing the left side of the mandibular teeth, usually the lower left outer tooth surface and / or the lower left inner tooth surface will be brushed before brushing the lower left alveolar tooth surface. After brushing the left side of the mandibular teeth, the right side of the mandibular teeth will be brushed, and the lower right outer inner tooth surface and / or the lower right inner tooth surface will be brushed first, and then the lower right alveolar tooth surface will be brushed. In summary, the gesture of the tooth surface when brushing teeth can be further determined through this habit. It should be noted that when brushing the lower left molar surface and the lower right molar surface, since the second position information of the electric toothbrush and the face obtained by the second position sensor is basically the same, misjudgment may still occur. In this embodiment, the brushing area of ​​the previous electric toothbrush is used to determine whether to brush the lower left molar surface or the lower right molar surface. For example, when the brushing area is determined to be the mandibular alveolar tooth area based on the first position sensor, the stored brushing area of ​​the previous electric toothbrush is directly obtained. When the current brushing area is the lower left outer tooth surface or the lower left inner tooth surface, the current gesture is to use the electric toothbrush to brush the lower left molar surface. When the current brushing area is the lower right outer tooth surface or the lower right inner tooth surface, the current gesture is to use the electric toothbrush to brush the lower right molar surface.

[0090] In the present embodiment, when the brushing area is the mandibular alveolar tooth area or the maxillary alveolar tooth area, when the brushing area is judged by the preceding electric toothbrush, it is less likely to make a misjudgment and the judgment is more accurate than when the first position sensor and / or the second position sensor is used for judgment; at the same time, the number of working items of the second position sensor is reduced, and the judgment is made directly by the preceding brushing area, which makes the judgment faster, reduces the power consumption, and improves the battery life of the electric toothbrush.

[0091] Furthermore, when the brushing area of ​​the electric toothbrush is determined to be the mandibular alveolar tooth area or the maxillary alveolar tooth area based on the first position information, the method further includes the steps of: obtaining second position information of the electric toothbrush and the face based on two second position sensors respectively; and determining the brushing area of ​​the electric toothbrush based on the two second position information.

[0092] In this embodiment, see Figure 1 and Figure 5 Another embodiment of how to identify the mandibular alveolar area and the mandibular alveolar area will be described in detail. First, two second position sensors are provided on the electric toothbrush, and the two second position sensors are arranged side by side on the brush handle of the electric toothbrush, and the two second position sensors are both arranged at one end of the brush handle where the brush head is provided. Specifically, the following steps are included:

[0093] Step S350: obtaining the second position information of the electric toothbrush and the face respectively based on the two second position sensors, that is, the second position information of the electric toothbrush and the face obtained includes two pieces, respectively obtained by the two second position sensors.

[0094] Step S360: Determine the brushing area of ​​the electric toothbrush according to the two second position information obtained in step S350.

[0095] If a description is needed, the specific principle of this embodiment is described in detail here. Since the two second position sensors are fixed and arranged side by side on the electric toothbrush, although the brush head is detachable, the brush head is usually not infinitely detachable on the brush handle, but needs to be detached in a fixed direction. In this embodiment, the bristles of the brush head and the two second position sensors on the brush handle are arranged on the same side of the electric toothbrush for description and implementation. When using the electric toothbrush to brush the left lower molar surface, the bristles are generally in the growth direction of the teeth, and the two second position sensors on the brush handle are arranged on the left and right. The second position sensor at the left end of the two second position sensors is relatively far away from the lips of the human face, and the second position sensor at the right end is relatively close to the lips of the human face. Therefore, the second position information obtained by the second position sensor at the left end far away from the lips of the human face is the distance between the electric toothbrush and the corners of the mouth, cheeks and other parts, and the second position information obtained by the second position sensor at the right end close to the lips of the human face is the distance between the electric toothbrush and the parts such as the lip beads of the human face. Therefore, it is obvious that the second position information obtained by the second position sensor at the right end is smaller than the second position information obtained by the second position sensor at the right end, so as to determine the specific brushing area when the brushing area is determined to be the mandibular alveolar tooth area or the maxillary alveolar tooth area by the first position sensor.

[0096] In the present embodiment, when the brushing area is the mandibular alveolar tooth area or the maxillary alveolar tooth area, when the brushing area of ​​the electric toothbrush is determined by two side-by-side second position sensors, compared to when only the first position sensor is used to determine, misjudgment may occur because the brushing gestures in the mandibular alveolar tooth area or the maxillary alveolar tooth area are too close. After determination through this scheme, misjudgment of the brushing area in the mandibular alveolar tooth area or the maxillary alveolar tooth area can be effectively avoided.

[0097] Furthermore, one of the two second position sensors is in a normally open state, and the other second position sensor is in a normally closed state. When it is determined according to the first position information that the brushing area of ​​the electric toothbrush is the mandibular alveolar tooth area or the maxillary alveolar tooth area, the second position sensor in the normally closed state is turned on.

[0098] In this embodiment, of the two second position sensors provided in the above embodiment, one of the second position sensors is in a normally open state to support obtaining the second position information between the electric toothbrush and the face when brushing the left area of ​​the mandibular teeth, the right area of ​​the mandibular teeth, the left area of ​​the maxillary teeth, and the right area of ​​the mandibular teeth, and the other second position sensor is in a normally closed state, that is, the second position sensor in a normally closed state is only turned on when the brushing area of ​​the electric toothbrush is the mandibular alveolar teeth area and the maxillary alveolar teeth area. In this embodiment, by setting one of the second position sensors to a normally closed state, when determining the brushing area of ​​the left area of ​​the mandibular teeth, the right area of ​​the mandibular teeth, the left area of ​​the maxillary teeth, and the right area of ​​the mandibular teeth, the second position information between the electric toothbrush and the face is obtained through the second position sensor in a normally open state, and the other second position sensor is in a closed state, compared with when both second position sensors are set to a normally open state, the power consumption of the electric toothbrush is reduced to improve the battery life of the electric toothbrush.

[0099] The present invention also provides a position recognition system for an electric toothbrush, the system comprising:

[0100] Acquisition module: used to establish a relative coordinate system and collect three-dimensional data in the oral cavity through the first position sensor provided on the electric toothbrush. Used to establish a relative coordinate system and collect three-dimensional data of teeth in the oral cavity through the first position sensor. It should be noted that the first position sensor described in this embodiment refers to a sensor that can simultaneously measure the force and torque of the electric toothbrush in six degrees of freedom in three-dimensional space, including forces in three directions and torques in three directions, such as a six-axis sensor. The relative coordinate system is the three-dimensional space coordinate system. The three-dimensional data refers to the oral model established in the relative coordinate system by the data obtained by the first position sensor when brushing teeth with an electric toothbrush, and the data is the oral data. It should be noted that the oral model of the teeth in the oral cavity of the three-dimensional data includes the lower left outer tooth surface, the lower left inner tooth surface, the lower left groove tooth surface, the upper left outer tooth surface, the upper left inner tooth surface, the upper left groove tooth surface, the lower right outer tooth surface, the lower right inner tooth surface, the lower right groove tooth surface, the upper right outer tooth surface, the upper right inner tooth surface, and the upper right groove tooth surface. It should be noted that the three-dimensional data includes but is not limited to being obtained by the user when the user uses the electric toothbrush for the first time, and can also be configured by the manufacturer when the electric toothbrush leaves the factory.

[0101] Division module: used to divide the three-dimensional data collected by the acquisition module into regions to obtain region division data. The three-dimensional data collected by the acquisition module is divided into regions. Specifically, the lower left external tooth surface, lower left internal tooth surface, lower left molar tooth surface, upper left external tooth surface, upper left internal tooth surface, upper left molar tooth surface, lower right external tooth surface, lower right internal tooth surface, lower right molar tooth surface, upper right external tooth surface, upper right internal tooth surface, and upper right molar tooth surface in the above acquisition module are divided into regions according to the direction of the tooth surface to obtain region division data. Specifically, the oral model includes maxillary teeth and mandibular teeth, and the maxillary teeth include the upper left external tooth surface, upper left internal tooth surface, upper left molar tooth surface, upper right external tooth surface, upper right internal tooth surface, and upper right molar tooth surface, and the mandibular teeth include the lower left external tooth surface, lower left internal tooth surface, lower left molar tooth surface, lower right external tooth surface, lower right internal tooth surface, and lower right molar tooth surface. When performing regional division, the lower left external tooth surface and the lower right internal tooth surface are divided into the left area of ​​mandibular teeth, the lower left internal tooth surface and the lower right external tooth surface are divided into the right area of ​​mandibular teeth, the lower left molar tooth surface and the lower right molar tooth surface are divided into the mandibular alveolar tooth area, the upper left external tooth surface and the upper right internal tooth surface are divided into the left area of ​​maxillary teeth, the upper left internal tooth surface and the upper right external tooth surface are divided into the right area of ​​maxillary teeth, and the upper left molar tooth surface and the upper right molar tooth surface are divided into the maxillary alveolar tooth area.

[0102] Identification module: used to determine the brushing area of ​​the electric toothbrush through the first position sensor when using an electric toothbrush, and to determine the brushing area of ​​the electric toothbrush through the second position sensor. Used to determine the brushing area of ​​the electric toothbrush based on the first position sensor when using an electric toothbrush, and to determine the brushing area of ​​the electric toothbrush based on the second position sensor. Specifically, when using an electric toothbrush, first determine the brushing area of ​​the electric toothbrush through the first position sensor. The brushing area is the area where the upper and lower teeth are divided facing the same tooth surface. The brushing area specifically includes the left area of ​​the lower teeth, the right area of ​​the lower teeth, the area of ​​the lower alveolar teeth, the left area of ​​the upper teeth, the right area of ​​the upper teeth, and the area of ​​the upper alveolar teeth. It should be noted that the second position sensor described in this embodiment refers to a sensor that can use laser ranging to determine the second position information between the electric toothbrush and the face. It should be noted that the second position information refers to the distance between the electric toothbrush and the face. In this embodiment, the left area of ​​the mandibular teeth is used as an example. Since the posture and gesture of the electric toothbrush are quite similar when the electric toothbrush is brushing the lower left outer tooth surface and the lower right inner tooth surface of the mandibular teeth, it is easy to confuse and difficult to distinguish when the gesture recognition is performed only through the first position sensor. Therefore, if the user is brushing the lower left outer tooth surface or the lower right inner tooth surface, the first position sensor determines that the brushing area is the left area of ​​the mandibular teeth. After determining that it is the left area of ​​the mandibular teeth, the second position sensor determines the specific brushing area of ​​the electric toothbrush. When the second position sensor is used to determine the specific brushing area of ​​the electric toothbrush, due to the facial structure, when brushing the lower left outer surface, the laser emitted by the second position sensor is irradiated on the cheek of the face, and when brushing the lower right inner surface, the laser emitted by the second position sensor is irradiated on the lips of the face. Therefore, when brushing the lower left tooth surface, the second position information between the electric toothbrush and the face is significantly greater than the second position information between the electric toothbrush and the face when brushing the lower right inner tooth surface, so as to determine the actual brushing area of ​​the electric toothbrush.

[0103] It should be noted that, since the position recognition system of the electric toothbrush adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0104] The present invention further provides an electric toothbrush, which includes a brush handle, a first position sensor, a second position sensor and a brush head, wherein the first position sensor and the second position sensor are respectively arranged in the brush handle, and the brush head is movably arranged at one end of the brush handle. It should be noted that since the electric toothbrush adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0105] Furthermore, the second position sensor is arranged at one end of the brush handle where the brush head is arranged.

[0106] In this embodiment, the second position sensor is disposed at one end of the brush handle where the brush head is disposed.

[0107] Furthermore, at least two second position sensors are provided at one end of the brush handle where the brush head is provided, and the two second position sensors are arranged side by side in the brush handle.

[0108] In this embodiment, at least two second position sensors are included, and the two second position sensors are arranged side by side in the brush handle.

[0109] This embodiment also provides a computer-readable storage medium, which stores a control program of the position identification method of an electric toothbrush. When the control program of the position identification method of an electric toothbrush is executed by a processor, the steps of the position identification method of an electric toothbrush as described above are implemented.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for identifying the position of an electric toothbrush, characterized in that: Includes steps: Establishing a relative coordinate system based on the first position sensor to collect three-dimensional data in the oral cavity; Performing region division on the three-dimensional data to obtain region division data; When the electric toothbrush is used, the brushing area of ​​the electric toothbrush relative to the oral cavity is determined based on the first position sensor, and the brushing zone of the electric toothbrush is determined based on the second sensor.

2. The method for identifying the position of an electric toothbrush according to claim 1, characterized in that: When the electric toothbrush is used, the step of determining the brushing area of ​​the electric toothbrush relative to the oral cavity based on the first position sensor and determining the brushing zone of the electric toothbrush based on the second sensor further includes the following steps: Recording and storing the brushing time of the electric toothbrush in each brushing area; Comparing the brushing time value with a preset time value to determine the teeth cleaning degree information of each brushing area; A toothbrushing report is generated according to the tooth cleaning degree information of each toothbrushing area, and the toothbrushing report is displayed.

3. The method for identifying the position of an electric toothbrush according to claim 2, characterized in that: Before the step of comparing the brushing time value with the preset time value to determine the teeth cleaning degree information of each brushing area, the method further includes the following steps: Detecting the acceleration value of the electric toothbrush based on an acceleration sensor; The acceleration value is compared with an acceleration threshold value, and when the acceleration value is greater than the acceleration threshold value, the electric toothbrush adaptively adjusts the preset time value.

4. The method for identifying the position of an electric toothbrush according to claim 2 or 3, characterized in that: The three-dimensional data includes at least the lower left external tooth surface, the lower left internal tooth surface, the lower left groove tooth surface, the upper left external tooth surface, the upper left internal tooth surface, the upper left groove tooth surface, the lower right external tooth surface, the lower right internal tooth surface, the lower right groove tooth surface, the upper right external tooth surface, the upper right internal tooth surface, and the upper right groove tooth surface.

5. The method for identifying the position of an electric toothbrush according to claim 4, characterized in that: The step of dividing the three-dimensional data into regions to obtain region division data specifically includes: Establishing a neural network model according to the three-dimensional data; The neural network model trains the three-dimensional data according to the tooth surface orientations of the maxillary teeth and mandibular teeth in the oral cavity and performs region division to obtain the region division data.

6. The method for identifying the position of an electric toothbrush according to claim 5, characterized in that: The area division data includes dividing the lower left external tooth surface and the lower right internal tooth surface into the left area of ​​the mandibular teeth, dividing the lower left internal tooth surface and the lower right external tooth surface into the right area of ​​the mandibular teeth, dividing the lower left molar tooth surface and the lower right molar tooth surface into the mandibular alveolar tooth area, dividing the upper left external tooth surface and the upper right internal tooth surface into the left area of ​​the maxillary teeth, dividing the upper left internal tooth surface and the upper right external tooth surface into the right area of ​​the maxillary teeth, and dividing the upper left molar tooth surface and the upper right molar tooth surface into the maxillary alveolar tooth area.

7. The method for identifying the position of an electric toothbrush according to claim 6, characterized in that: The step of determining the brushing area of ​​the electric toothbrush based on the first position sensor specifically includes: Acquire first position information of the electric toothbrush based on the first position sensor; The brushing area of ​​the electric toothbrush is determined according to the first position information.

8. The method for identifying the position of an electric toothbrush according to claim 7, characterized in that: The method of determining the brushing area of ​​the electric toothbrush based on the second position sensor specifically includes: Acquiring second position information of the electric toothbrush and the face based on a second position sensor; The brushing area of ​​the electric toothbrush is determined according to the second position information.

9. The method for identifying the position of an electric toothbrush according to claim 8, characterized in that: When it is determined that the brushing area of ​​the electric toothbrush is the mandibular alveolar tooth area and the maxillary alveolar tooth area according to the first position information, the current brushing area of ​​the electric toothbrush is determined according to the brushing area of ​​the electric toothbrush described in the previous item.

10. The method for identifying the position of an electric toothbrush according to claim 8, characterized in that: When it is determined according to the first position information that the brushing area of ​​the electric toothbrush is the mandibular alveolar teeth area and the maxillary alveolar teeth area, the step further includes: Acquire second position information of the electric toothbrush and the face respectively based on the two second position sensors; The brushing area of ​​the electric toothbrush is determined according to the two pieces of the second position information.

11. The method for identifying the position of an electric toothbrush according to claim 10, characterized in that: One of the two second position sensors is in a normally open state, and the other second position sensor is in a normally closed state. When it is determined according to the first position information that the brushing area of ​​the electric toothbrush is the mandibular alveolar tooth area or the maxillary alveolar tooth area, the second position sensor in the normally closed state is turned on.

12. A position identification system for an electric toothbrush, characterized in that: include: Acquisition module: used to establish a relative coordinate system and acquire three-dimensional data in the oral cavity through a first position sensor provided on the electric toothbrush; A division module: used for performing region division on the three-dimensional data collected by the collection module to obtain region division data; Identification module: used for determining the brushing area of ​​the electric toothbrush relative to the oral cavity through the first position sensor when the electric toothbrush is used, and determining the brushing zone of the electric toothbrush through the second position sensor.

13. An electric toothbrush, characterized in that: It includes a brush handle, a first position sensor, a second position sensor and a brush head; wherein, The first position sensor and the second position sensor are arranged in the brush handle; The brush head is movably arranged at one end of the brush handle.

14. The electric toothbrush according to claim 13, characterized in that: The second position sensor is arranged at one end of the brush handle where the brush head is arranged.

15. The electric toothbrush according to claim 14, characterized in that: At least two second position sensors are disposed at one end of the brush handle where the brush head is disposed, and the two second position sensors are disposed side by side in the brush handle.

16. A readable storage medium storing a control program of an electric toothbrush, wherein the control program of the electric toothbrush, when executed by a processor, implements the steps of the position recognition method of the electric toothbrush according to any one of claims 1 to 11.

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