Dental work tip rotation control method, device and equipment and storage medium

Abstract

The invention belongs to the field of medical instruments, and relates to a dental tip rotation control method, device and equipment and a storage medium, and the method comprises the following steps: obtaining tip rotation angle information; judging whether the working tip rotation angle information is within a preset angular position range or not; if the work tip rotation angle information is within the preset angular position range, a first preset speed is obtained, and the work tip is controlled to rotate according to the first preset speed; if the work tip rotation angle information is out of the preset angular position range, a second preset speed is obtained, the work tip is controlled to rotate according to the second preset speed, and the second preset speed is larger than the first preset speed. The working tip can be controlled to accurately control the rotating speed according to whether the current angular position of the working tip is within the preset angular position range or not.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a method, device, computer equipment and storage medium for controlling the rotation of a dental working tip. Background Art

[0002] As an important innovation in the field of oral medicine, sonic irrigating technology has quickly become a leader in oral medical devices since its introduction, especially in the field of root canal treatment, showing an irreplaceable role. Compared with ultrasonic equipment, sonic irrigating equipment stands out for its unique operating frequency and amplitude characteristics. The operating frequency of ultrasonic equipment is usually between 25 and 40kHz, while sonic irrigating equipment uses a lower operating frequency accompanied by a larger amplitude. This design enables sound waves to produce less shear stress during root canal treatment, thereby ensuring the treatment effect while reducing potential damage to the patient's oral tissue.

[0003] The core of the sonic irrigation technology is to use the mechanical vibration effect caused by sound waves in the liquid in the root canal. This vibration can not only effectively break the air blockage of the root canal at the apex, but also promote the smooth penetration of the irrigation solution into the apex area, thereby completely removing bacteria, necrotic tissue and residues in the root canal, laying a solid foundation for the success of root canal treatment.

[0004] However, during operation, traditional ultrasonic cleaning equipment lacks precise control over the rotation speed of the working tip, making it difficult to quickly and effectively manipulate and accurately position the working tip, which brings certain difficulties to the use of the working tip and is not conducive to the development of ultrasonic cleaning technology. Summary of the invention

[0005] The purpose of this application is to propose a dental working tip rotation control method, device, computer equipment and storage medium to solve the problem that it is difficult to control the working tip to accurately control the rotation speed according to the current position of the working tip, so as to improve the control accuracy and positioning accuracy of the working tip.

[0006] In order to solve the above technical problems, the embodiment of the present application provides a method for controlling the rotation of a dental working tip, which adopts the following technical solution:

[0007] Get the working tip rotation angle information;

[0008] Determining whether the working tip rotation angle information is within a preset angle position range;

[0009] If the working tip rotation angle information is within the preset angle position range, obtaining a first preset speed, and controlling the working tip to rotate according to the first preset speed;

[0010] If the working tip rotation angle information is outside the preset angular position range, a second preset speed is acquired, and the working tip is controlled to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed.

[0011] Furthermore, before the step of obtaining the working tip rotation angle information, the method further includes the following steps:

[0012] Get key detection information;

[0013] Determining whether the key detection information is a first detection result or a second detection result;

[0014] If the key detection information is the first detection result, outputting a first driving instruction to control the working tip to rotate clockwise;

[0015] If the key detection information is the second detection result, a second driving instruction is output to control the working tip to rotate counterclockwise.

[0016] Furthermore, the step of determining whether the key detection information is the first detection result or the second detection result specifically includes:

[0017] identifying whether the key detection information includes a first key switch signal or includes a first key switch signal and a second key switch signal;

[0018] If the key detection information includes the first key switch signal, determining that the key detection information is the first detection result;

[0019] If the key detection information includes the first key switch signal and the second key switch signal, the key detection information is determined to be the second detection result.

[0020] Furthermore, the step of obtaining the working tip rotation angle information specifically includes:

[0021] Get the dynamically generated information extraction identifier and current timestamp;

[0022] The working tip rotation angle information is extracted from the sensor storage area according to the information extraction identifier and the current timestamp.

[0023] Furthermore, the step of determining whether the working tip rotation angle information is within a preset angle position range specifically includes:

[0024] The preset angular position range is analyzed to obtain a first angular position range, a second angular position range, a third angular position range, and a fourth angular position range;

[0025] The working tip rotation angle information is compared with the first angular position range, the second angular position range, the third angular position range, and the fourth angular position range.

[0026] Furthermore, the step of obtaining the first preset speed and controlling the working tip to rotate according to the first preset speed specifically includes:

[0027] Obtaining a first preset speed;

[0028] determining whether the first preset speed is within a preset first rotation speed range;

[0029] If the first preset speed is within the first rotation speed range, the first preset speed is sent to the motor drive module to control the working tip to perform a rotation operation;

[0030] If the first preset speed does not meet the first rotation speed range, the first preset speed is iteratively optimized according to the preset first control coefficient until the optimized first preset speed meets the first rotation speed range, and the optimized first preset speed is sent to the motor drive module to control the working tip to perform a rotation operation.

[0031] Furthermore, the step of obtaining the second preset speed and controlling the working tip to rotate according to the second preset speed specifically includes:

[0032] Obtaining a second preset speed;

[0033] determining whether the second preset speed is within a preset second rotation speed range;

[0034] If the second preset speed is within the second rotation speed range, the second preset speed is sent to the motor drive module to control the working tip to perform a rotation operation;

[0035] If the second preset speed does not meet the second rotation speed range, the second preset speed is iteratively optimized according to the preset second control coefficient until the optimized second preset speed meets the second rotation speed range, and the optimized second preset speed is sent to the motor drive module to control the working tip to perform a rotation operation.

[0036] In order to solve the above technical problems, the embodiment of the present application further provides a dental working tip rotation control device, which adopts the following technical solution:

[0037] An information acquisition module is used to acquire the rotation angle information of the working tip;

[0038] A range judgment module, used to judge whether the rotation angle information of the working tip is within a preset angle position range;

[0039] A first control module, configured to obtain a first preset speed if the working tip rotation angle information is within the preset angular position range, and control the working tip to rotate according to the first preset speed;

[0040] The second control module is used to obtain a second preset speed if the working tip rotation angle information is outside the preset angular position range, and control the working tip to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed.

[0041] In order to solve the above technical problems, the embodiment of the present application further provides a computer device, which adopts the following technical solution:

[0042] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned dental work tip rotation control method when executing the computer program.

[0043] In order to solve the above technical problems, the embodiment of the present application further provides a computer-readable storage medium, which adopts the following technical solution:

[0044] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the dental work tip rotation control method are implemented.

[0045] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0046] The present application obtains the rotation angle information of the working tip; determines whether the rotation angle information of the working tip is within the preset angular position range; if the rotation angle information of the working tip is within the preset angular position range, obtains the first preset speed, and controls the working tip to rotate according to the first preset speed; if the rotation angle information of the working tip is outside the preset angular position range, obtains the second preset speed, and controls the working tip to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed. Thus, it is effectively realized that the working tip is controlled to rotate at a corresponding speed according to whether the current angular position of the working tip is within the preset angular position range, so that the working tip speeds up when it is outside the preset angular position range to reach the preset angular position range faster, and slows down when it is within the preset angular position range, so as to improve the control accuracy of the working tip and make the manipulation of the working tip more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the scheme in the present application, a brief introduction is given below to the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 A flow chart of an embodiment of a dental working tip rotation control method according to the present application;

[0049] Figure 2 yes Figure 1 A flowchart of a specific implementation of step S10;

[0050] Figure 3 yes Figure 1 A flowchart of a specific implementation of step S20;

[0051] Figure 4 yes Figure 1 A flowchart of a specific implementation of step S30;

[0052] Figure 5 yes Figure 1 A flowchart of a specific implementation of step S40;

[0053] Figure 6 is a schematic structural diagram of an embodiment of a dental working tip rotation control device according to the present application;

[0054] Figure 7 It is a structural diagram of an embodiment of a computer device according to the present application. DETAILED DESCRIPTION

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of the present application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0056] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0057] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0058] refer to Figure 1 , shows a flow chart of an embodiment of a dental work tip rotation control method according to the present application. The dental work tip rotation control method comprises the following steps:

[0059] Step S10, obtaining the working tip rotation angle information;

[0060] In this embodiment, the working tip is connected to a driving device, and the driving device includes a motor, a power supply, a rotary switch button, a rotary reversing button / vibration switch button, and a Hall sensor. Among them, the working tip is a needle-shaped body with a certain direction, and the rotary button switch and the rotary reversing button / vibration switch button on the driving device are arranged in parallel. The working tip rotation angle information refers to the rotation angle formed by the working tip relative to the initial reference position during the rotation process. The working tip is installed at one end of the driving device, and the direction of the working tip and the rotary reversing button / vibration switch button on the same axis is the initial reference position. When the working tip rotates, the angle between its real-time position and the initial reference position is the rotation angle. The working tip rotation angle information is measured and obtained by the Hall sensor installed on the driving device. A magnetic part is installed on the working tip. When the magnetic part rotates with the working tip, the Hall sensor collects the angle signal generated by the rotation of the working tip and returns a voltage analog signal (0-3.3V) to convert the corresponding working tip rotation angle information.

[0061] Step S20, determining whether the working tip rotation angle information is within a preset angle position range;

[0062] In this embodiment, the preset angle position range refers to the preset common angle of the working tip, which is the common working position angle of the working tip. The common angles of the working tip are four angles: up, down, left, and right. The initial reference position is taken as the top, and the top is defined as 0 degrees, the right is defined as 90 degrees, the bottom is defined as 180 degrees, and the left is defined as 270 degrees. The four angle ranges of plus or minus 15 degrees of the top, bottom, left, and right are defined as the preset angle position range of the working tip. For example, when the working tip is at 45 degrees, it indicates that the working tip is outside the preset angle position range; when the working tip is over 10 degrees, it indicates that the working tip is within the preset angle position range; within the ranges between 15 degrees and 75 degrees, 105 degrees and 165 degrees, 195 degrees and 255 degrees, and 285 degrees and 345 degrees, they all belong to the preset angle position range. Similarly, angles outside the above angle ranges belong to the preset angle position range. The above preset angle position range can be adjusted accordingly according to actual conditions.

[0063] Step S30, if the working tip rotation angle information is within the preset angle position range, obtaining a first preset speed, and controlling the working tip to rotate according to the first preset speed;

[0064] In this embodiment, the first preset speed is a predefined slow rotation speed, which meets the preset first rotation speed range. In this embodiment, the first preset speed is set to 3.33RPM, and the first rotation speed range is 2.5-4.5RPM, which can be set and adjusted accordingly according to actual conditions. The working tip is rotated and controlled at the first preset speed to improve control accuracy and enhance reliability.

[0065] Step S40: if the working tip rotation angle information is outside the preset angular position range, a second preset speed is obtained, and the working tip is controlled to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed.

[0066] In this embodiment, the second preset speed is a predefined rapid rotation speed, which meets the preset second rotation speed range. In this embodiment, the second preset speed is set to 20RPM, and the second rotation speed range is 18-22RPM, which can be set and adjusted accordingly according to actual conditions. The working tip is rotated and controlled at the second preset speed to improve control convenience and enhance reliability.

[0067] The present application obtains the rotation angle information of the working tip; determines whether the rotation angle information of the working tip is within the preset angular position range; if the rotation angle information of the working tip is within the preset angular position range, obtains the first preset speed, and controls the working tip to rotate according to the first preset speed; if the rotation angle information of the working tip is outside the preset angular position range, obtains the second preset speed, and controls the working tip to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed. Thus, it is effectively realized that the working tip is controlled to rotate at a corresponding speed according to whether the current angular position of the working tip is within the preset angular position range, so that the working tip speeds up when it is outside the preset angular position range to reach the preset angular position range faster, and slows down when it is within the preset angular position range, so as to improve the control accuracy of the working tip and make the manipulation of the working tip more accurate.

[0068] In some optional implementations of this embodiment, before step S10, the following steps are further included:

[0069] Get key detection information;

[0070] In this embodiment, the key detection information is a key switch signal emitted when the rotary switch key, rotary reversing key / vibration switch key is pressed, and whether the key detection information belongs to the first detection result or the second detection result is determined based on the key switch signal.

[0071] Determining whether the key detection information is a first detection result or a second detection result;

[0072] In this embodiment, the first detection result corresponds to the situation where the rotary switch button is pressed and reaches a preset time threshold. In this embodiment, the preset time threshold is set to 3s. For example, when the rotary switch button is pressed for 3s, the key detection information generated is the first detection result. The second detection result corresponds to the situation where the rotary switch is pressed for a long time to reach the preset time threshold, and the rotary reversing button / vibration switch button is pressed. For example, when the rotary switch button is pressed for 3s, and then the rotary reversing button / vibration switch button is pressed, the key detection information generated is the second detection result.

[0073] If the key detection information is the first detection result, outputting a first driving instruction to control the working tip to rotate clockwise;

[0074] In this embodiment, when the rotary switch button is pressed, the system starts timing, and when the rotary switch button is pressed for 3 seconds, the system generates a first drive instruction and outputs it to the motor for drive control. The first drive instruction includes a first preset initial speed and clockwise rotation direction information.

[0075] If the key detection information is the second detection result, a second driving instruction is output to control the working tip to rotate counterclockwise.

[0076] In this embodiment, when the rotary switch button is pressed, the system will start timing. When the rotary switch button is pressed for 3 seconds, the system will detect whether the rotary reversing button / vibration switch button is pressed. When the rotary reversing button / vibration switch button is pressed, the system will generate a second drive instruction and output it to the motor for drive control. The second drive instruction includes the second preset initial speed and counterclockwise rotation direction information.

[0077] This embodiment obtains key detection information; determines whether the key detection information is the first detection result or the second detection result; if the key detection information is the first detection result, outputs a first drive instruction to control the working tip to rotate clockwise; if the key detection information is the second detection result, outputs a second drive instruction to control the working tip to rotate counterclockwise. Thus, the working tip can be effectively controlled to rotate in corresponding directions according to different key output instructions, thereby improving the flexibility of working tip control.

[0078] In some optional implementations of this embodiment, determining whether the key detection information is the first detection result or the second detection result includes the following steps:

[0079] identifying whether the key detection information includes a first key switch signal or includes a first key switch signal and a second key switch signal;

[0080] In this embodiment, the first key switch signal is generated after the rotary switch button is pressed, and the second key switch signal is generated after the rotary switch button is pressed and the rotary reversing button / vibration switch button is pressed. The first key switch signal and the second key switch signal can be identified by comparing signal characteristics (such as voltage, current, duration, frequency, etc.).

[0081] If the key detection information includes the first key switch signal, determining that the key detection information is the first detection result;

[0082] In this embodiment, the key detection information can be used as the first detection result only when the key detection information includes only the first key switch signal and the duration of the first key switch signal reaches 3 seconds.

[0083] If the key detection information includes the first key switch signal and the second key switch signal, the key detection information is determined to be the second detection result.

[0084] In this embodiment, the key detection information can be used as the second detection result only when the key detection information includes the first key switch signal, the duration of the first key switch signal reaches 3 seconds, and the second key switch signal is also included.

[0085] This embodiment identifies whether the key detection information includes the first key switch signal or the first key switch signal and the second key switch signal; if the key detection information includes the first key switch signal, the key detection information is determined to be the first detection result; if the key detection information includes the first key switch signal and the second key switch signal, the key detection information is determined to be the second detection result. Thus, the actual situation of key touch pressure is effectively identified according to the detected key detection information, so as to facilitate the subsequent corresponding dental work tip rotation control according to the identified detection result.

[0086] Continue to refer Figure 2 , shows a flowchart of a specific embodiment of step S10, comprising the following steps:

[0087] Step S101, obtaining a dynamically generated information extraction identifier and a current timestamp;

[0088] In this embodiment, the information extraction identifier is the unique identification information corresponding to the working rotation angle information. The information extraction identifier can be an information ID or a UUID. The current timestamp refers to the time value corresponding to the current moment, which can be obtained by reading the program clock. The information extraction identifier can be dynamically generated by the driver of the motor drive module after detecting the key detection information. Specifically, when the key is pressed, the hardware will send a signal to the software layer, indicating that the key event has occurred. In the software layer of the program, an event processing mechanism is set to respond to the key event. The key event can be an interrupt service routine (ISR), a callback function in an event loop, or a listener mode. When the event processing mechanism is triggered, an information extraction identifier will be generated and the specific time of the program clock will be obtained to obtain the working tip rotation angle information set.

[0089] Step S102: extracting the working tip rotation angle information set from the sensor storage area according to the information extraction identifier and the current timestamp.

[0090] In this embodiment, the sensor storage area refers to the sensor data storage area or cache area of ​​the Hall sensor. The information extraction identifier is used as a query condition to traverse and match in the sensor storage area to obtain the working tip rotation angle information set recorded by the sensor, and then the information is filtered from the working tip rotation angle information set according to the current timestamp to obtain the working tip rotation angle information set corresponding to the current moment.

[0091] This embodiment obtains the information extraction identifier and the current timestamp; extracts the working tip rotation angle information from the sensor storage area according to the information extraction identifier and the current timestamp, thereby effectively achieving real-time acquisition of the working tip rotation angle information at the current moment, so as to facilitate subsequent judgment of whether the working tip rotation angle information is within the preset angular position range.

[0092] Continue to refer Figure 3 , shows a flowchart of a specific embodiment of step S20, comprising the following steps:

[0093] Step S201, analyzing the preset angular position range to obtain a first angular position range, a second angular position range, a third angular position range, and a fourth angular position range;

[0094] In this embodiment, the working tip commonly uses four angles: up, down, left, and right. The initial reference position is taken as the top, and the top is defined as 0 degrees, the right is defined as 90 degrees, the bottom is defined as 180 degrees, and the left is defined as 270 degrees. The four angle ranges of plus or minus 15 degrees of the top, bottom, left, and right are defined as the preset angle position ranges of the working tip. The first angle position range corresponds to -15 degrees to 15 degrees, the second angle position range corresponds to 75 degrees to 105 degrees, the third angle position range corresponds to 165 degrees to 195 degrees, and the fourth angle position range corresponds to 255 degrees to 285 degrees. The first angle position range, the second angle position range, the third angle position range, and the fourth angle position range can be adjusted accordingly according to actual conditions.

[0095] Step S202: Compare the working tip rotation angle information with the first angular position range, the second angular position range, the third angular position range, and the fourth angular position range.

[0096] In this embodiment, by comparing the working tip rotation angle information with the first angular position range, the second angular position range, the third angular position range, and the fourth angular position range one by one, it is effectively determined to which angular position range it specifically belongs, so as to facilitate the acquisition of the specific rotation position of the working tip.

[0097] In this embodiment, the preset angular position range is analyzed to obtain the first angular position range, the second angular position range, the third angular position range, and the fourth angular position range; the working tip rotation angle information is compared with the first angular position range, the second angular position range, the third angular position range, and the fourth angular position range. This effectively realizes the specific judgment of whether the working tip rotation position is within the preset angular position range, so as to facilitate the subsequent corresponding working tip rotation control according to the working tip rotation position.

[0098] Continue to refer Figure 4 , shows a flowchart of a specific embodiment of step S30, comprising the following steps:

[0099] Step S301, obtaining a first preset speed;

[0100] In this embodiment, the first preset speed is a preset speed value for controlling the motor to rotate slowly. The first preset speed is set to 3.33 RPM and can be extracted from the database through the first speed extraction identifier.

[0101] In this embodiment, an angular velocity sensor and an acceleration sensor can also be installed at the motor position of the driving device, and the angular velocity sensor and the acceleration sensor are used to obtain the angular velocity sensing information and the acceleration sensing information. Then, a weighted calculation is performed according to the angular velocity sensing information and the acceleration sensing information to obtain a first speed control value, and the first preset speed is adjusted and optimized in real time by the first speed control value to make it more consistent with the rotation mode of the current working tip. In specific implementation, a weighted calculation can be performed according to the angular velocity weight and the acceleration weight of the preset angular velocity sensing information and the acceleration sensing information. The weight can be determined by experiments, experience or optimization algorithms to ensure that the speed control value after weighted calculation can accurately reflect the actual motion state of the rotating object. In this embodiment, the angular velocity weight and the acceleration weight are 0.5 respectively, and can be adjusted according to actual conditions. By performing standard numerical processing on the angular velocity sensing information and the acceleration sensing information, and multiplying them by their weights respectively. Then, the weighted angular velocity and acceleration values ​​are added to obtain the first speed control value. The first speed control value is added and summed with the first preset speed to obtain the adjusted first preset speed.

[0102] Step S302, determining whether the first preset speed meets a preset first rotation speed range;

[0103] In this embodiment, the first preset speed is matched with the preset first rotation speed range by speed value matching to determine whether the first preset speed is within the first rotation speed range.

[0104] Step S303, if the first preset speed meets the first rotation speed range, sending the first preset speed to the motor driving module to control the working tip to perform a rotation operation;

[0105] In this embodiment, the working tip is connected to the driving device, the motor of the driving device is connected to the motor driving module, and the motor driving module is used to control the motor to rotate at a first preset speed, thereby causing the working tip connected to the motor to rotate at the first preset speed. The motor driving module can generate a first rotation operation instruction according to the first preset speed, and send the first rotation operation instruction to the motor, so that the motor drives the working tip to rotate slowly at the first preset speed according to the direction and speed value of the first preset speed.

[0106] Step S304: if the first preset speed does not meet the first rotation speed range, the first preset speed is iteratively optimized according to the preset first control coefficient until the optimized first preset speed meets the first rotation speed range, and the optimized first preset speed is sent to the motor drive module to control the working tip to perform a rotation operation.

[0107] In this embodiment, the first control coefficient is set to 10%. Optimizing the first preset speed according to the first control coefficient means increasing or decreasing the current first preset speed according to the value of the first control coefficient. The first control coefficient can be adjusted accordingly according to the actual situation. The corresponding increasing or decreasing optimization can be performed by judging whether the first preset speed is greater than the first rotation speed range or less than the first rotation speed range. For example, if the first preset speed is 2RPM, the first rotation speed range is 2.5-4.5RPM, and the first preset speed is less than the first rotation speed range, the first preset speed is increased by 10% according to the first control coefficient to obtain the increased 2.2RPM, and the 2.2RPM is compared with the first rotation speed range again, and the increasing operation is repeated again until the increased first preset speed meets the first rotation speed range. Similarly, when the first preset speed is greater than the first rotation speed range, the first preset speed can be decreased and optimized with the first control coefficient until the decreased first preset speed meets the first rotation speed range. By iteratively optimizing the first preset speed with the first control coefficient, erroneous input of the first preset speed during setting is effectively prevented, thereby effectively improving the safety and reliability of the working tip control.

[0108] This embodiment obtains a first preset speed; determines whether the first preset speed meets the preset first rotation speed range; if the first preset speed meets the first rotation speed range, the first preset speed is sent to the motor drive module to control the working tip to perform a rotation operation; if the first preset speed does not meet the first rotation speed range, the first preset speed is iteratively optimized according to a preset first control coefficient until the optimized first preset speed meets the first rotation speed range, and the optimized first preset speed is sent to the motor drive module to control the working tip to perform a rotation operation. This effectively realizes the rotation control of the working tip at the first preset speed when the working tip is within the preset angular position range, so as to facilitate the positioning of the working tip and make the control of the working tip more accurate and effective.

[0109] Continue to refer Figure 5 , shows a flowchart of a specific embodiment of step S40, comprising the following steps:

[0110] Step S401, obtaining a second preset speed;

[0111] In this embodiment, the second preset speed is a preset speed value for controlling the motor to rotate quickly. The second preset speed is set to 20RPM, which can be extracted from the database through the second speed extraction identifier. In this embodiment, weighted calculation can also be performed based on the angular velocity sensor information and the acceleration sensor information to obtain the second speed control value, and the second preset speed is adjusted and optimized in real time with the second speed control value to make it more consistent with the current rotation mode of the working tip. The specific implementation steps of the adjustment and optimization of the second preset speed by the second speed control value are the same as the specific implementation steps of the adjustment and optimization of the first preset speed by the first speed control value mentioned above, and the settings of the angular velocity weight and the acceleration weight are also the same, which will not be repeated here.

[0112] Step S402, determining whether the second preset speed meets a preset second rotation speed range;

[0113] In this embodiment, the second preset speed is compared with the preset second rotation speed range to determine whether the second preset speed is within the second rotation speed range.

[0114] Step S403, if the second preset speed meets the second rotation speed range, sending the second preset speed to the motor driving module to control the working tip to perform a rotation operation;

[0115] In this embodiment, the motor is controlled by the motor driving module to rotate at the second preset speed, so that the working tip connected to the motor rotates at the second preset speed. The motor driving module can generate a second rotation operation instruction according to the second preset speed, and send the second rotation operation instruction to the motor, so that the motor drives the working tip to rotate rapidly at the second preset speed according to the direction and speed value of the second preset speed.

[0116] S404, if the second preset speed does not meet the second rotation speed range, iteratively optimize the second preset speed according to the preset second control coefficient until the optimized second preset speed meets the second rotation speed range, and send the optimized second preset speed to the motor drive module to control the working tip to perform a rotation operation.

[0117] In this embodiment, the second control coefficient is set to 10%. Optimizing the second preset speed according to the second control coefficient means increasing or decreasing the current second preset speed according to the value of the second control coefficient. The second control coefficient can be adjusted accordingly according to the actual situation. The corresponding increasing or decreasing optimization can be performed by judging whether the second preset speed is greater than the second rotation speed range or less than the second rotation speed range. The iterative optimization step of the second control coefficient for the second preset speed is the same as the iterative optimization step of the first control coefficient for the first preset speed, which will not be repeated here.

[0118] This embodiment obtains the second preset speed; determines whether the second preset speed meets the preset second rotation speed range; if the second preset speed meets the second rotation speed range, the second preset speed is sent to the motor drive module to control the working tip to perform a rotation operation; if the second preset speed does not meet the second rotation speed range, the second preset speed is iteratively optimized according to the preset second control coefficient until the optimized second preset speed meets the second rotation speed range, and the optimized second preset speed is sent to the motor drive module to control the working tip to perform a rotation operation. This effectively realizes the rotation control of the working tip at the second preset speed when the working tip is outside the preset angular position range, so as to facilitate the working tip to quickly enter the preset angle range, making the control of the working tip more convenient.

[0119] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the aforementioned storage medium can be a non-volatile storage medium such as a disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0120] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0121] Further references Figure 6 , as a response to the above Figure 1 In order to realize the method shown in the figure, the present application provides an embodiment of a risk determination device, and the device embodiment is Figure 1 Corresponding to the method embodiment shown, the device can be specifically applied to various electronic devices.

[0122] like Figure 6 As shown, the dental working tip rotation control device 500 described in this embodiment includes: an information acquisition module 501 , a range judgment module 502 , a first control module 503 , and a second control module 504 .

[0123] in:

[0124] An information acquisition module 501 is used to acquire the rotation angle information of the working tip;

[0125] A range determination module 502 is used to determine whether the working tip rotation angle information is within a preset angle position range;

[0126] A first control module 503 is configured to obtain a first preset speed if the working tip rotation angle information is within the preset angular position range, and control the working tip to rotate according to the first preset speed;

[0127] The second control module 504 is used to obtain a second preset speed if the working tip rotation angle information is outside the preset angular position range, and control the working tip to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed.

[0128] This embodiment, by adopting the above-mentioned risk determination device, can obtain the rotation angle information of the working tip; determine whether the rotation angle information of the working tip is within the preset angular position range; if the rotation angle information of the working tip is within the preset angular position range, obtain the first preset speed, and control the working tip to rotate according to the first preset speed; if the rotation angle information of the working tip is outside the preset angular position range, obtain the second preset speed, and control the working tip to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed. Thus, it is effectively realized that the working tip is controlled to rotate at a corresponding speed according to whether the current angular position of the working tip is within the preset angular position range, so that the working tip is accelerated when it is outside the preset angular position range to reach the preset angular position range faster, and the working tip is slowed down when it is within the preset angular position range, so as to improve the control accuracy of the working tip and make the manipulation of the working tip more accurate.

[0129] To solve the above technical problems, the present application also provides a computer device. Figure 7 , Figure 7 This is a basic structural block diagram of the computer device in this embodiment.

[0130] The computer device 6 includes a memory 61, a processor 62, and a network interface 63 that are interconnected through a system bus. It should be noted that the figure only shows a computer device 6 with components 61-63, but it should be understood that it is not required to implement all the components shown, and more or fewer components can be implemented instead. Among them, those skilled in the art can understand that the computer device here is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable gate arrays (Field-Programmable Gate Array, FPGA), digital processors (Digital Signal Processor, DSP), embedded devices, etc.

[0131] The computer device may be a computing device such as a desktop computer, a notebook, a PDA, a cloud server, etc. The computer device may interact with a user through a keyboard, a mouse, a remote controller, a touch pad, or a voice control device.

[0132] The memory 61 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 61 can be an internal storage unit of the computer device 6, such as a hard disk or memory of the computer device 6. In other embodiments, the memory 61 can also be an external storage device of the computer device 6, such as a plug-in hard disk equipped on the computer device 6, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Of course, the memory 61 can also include both the internal storage unit of the computer device 6 and its external storage device. In this embodiment, the memory 61 is generally used to store the operating system and various application software installed on the computer device 6, such as the program code of the dental work tip rotation control method, etc. In addition, the memory 61 can also be used to temporarily store various types of data that have been output or are to be output.

[0133] The processor 62 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips in some embodiments. The processor 62 is generally used to control the overall operation of the computer device 6. In this embodiment, the processor 62 is used to run the program code stored in the memory 61 or process data, such as running the program code of the dental work tip rotation control method.

[0134] The network interface 63 may include a wireless network interface or a wired network interface. The network interface 63 is generally used to establish a communication connection between the computer device 6 and other electronic devices.

[0135] By adopting the above-mentioned computer device, this embodiment can obtain the rotation angle information of the working tip; determine whether the rotation angle information of the working tip is within the preset angular position range; if the rotation angle information of the working tip is within the preset angular position range, obtain the first preset speed, and control the working tip to rotate according to the first preset speed; if the rotation angle information of the working tip is outside the preset angular position range, obtain the second preset speed, and control the working tip to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed. Thus, it is effectively realized that the working tip is controlled to rotate at a corresponding speed according to whether the current angular position of the working tip is within the preset angular position range, so that the working tip is accelerated when it is outside the preset angular position range to reach the preset angular position range faster, and the working tip is slowed down when it is within the preset angular position range, so as to improve the control accuracy of the working tip and make the manipulation of the working tip more accurate.

[0136] The present application also provides another embodiment, namely, providing a computer-readable storage medium, wherein the computer-readable storage medium stores a dental work tip rotation control program, and the dental work tip rotation control program can be executed by at least one processor so that the at least one processor performs the steps of the dental work tip rotation control method as described above.

[0137] By adopting the above-mentioned computer-readable storage medium, this embodiment can obtain the rotation angle information of the working tip; determine whether the rotation angle information of the working tip is within the preset angular position range; if the rotation angle information of the working tip is within the preset angular position range, obtain the first preset speed, and control the working tip to rotate according to the first preset speed; if the rotation angle information of the working tip is outside the preset angular position range, obtain the second preset speed, and control the working tip to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed. Thus, it is effectively realized that the working tip is controlled to rotate at a corresponding speed according to whether the current angular position of the working tip is within the preset angular position range, so that the working tip is accelerated when it is outside the preset angular position range to reach the preset angular position range faster, and the working tip is slowed down when it is within the preset angular position range, so as to improve the control accuracy of the working tip and make the manipulation of the working tip more accurate.

[0138] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0139] Obviously, the embodiments described above are only some embodiments of the present application, rather than all embodiments. The preferred embodiments of the present application are given in the accompanying drawings, but they do not limit the patent scope of the present application. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive. Although the present application is described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific implementation methods, or to perform equivalent replacement of some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of this application, directly or indirectly used in other related technical fields, is similarly within the scope of patent protection of this application.

Claims

1. A method for controlling the rotation of a dental working tip, characterized in that: The steps include: Get the working tip rotation angle information; Determining whether the working tip rotation angle information is within a preset angle position range; If the working tip rotation angle information is within the preset angle position range, obtaining a first preset speed, and controlling the working tip to rotate according to the first preset speed; If the working tip rotation angle information is outside the preset angular position range, a second preset speed is acquired, and the working tip is controlled to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed.

2. The dental working tip rotation control method according to claim 1, characterized in that: Before the step of obtaining the working tip rotation angle information, the method further includes the following steps: Get key detection information; Determining whether the key detection information is a first detection result or a second detection result; If the key detection information is the first detection result, outputting a first driving instruction to control the working tip to rotate clockwise; If the key detection information is the second detection result, a second driving instruction is output to control the working tip to rotate counterclockwise.

3. The dental working tip rotation control method according to claim 2, characterized in that: The step of determining whether the key detection information is the first detection result or the second detection result specifically includes: identifying whether the key detection information includes a first key switch signal or includes a first key switch signal and a second key switch signal; If the key detection information includes the first key switch signal, determining that the key detection information is the first detection result; If the key detection information includes the first key switch signal and the second key switch signal, the key detection information is determined to be the second detection result.

4. The dental working tip rotation control method according to claim 1, characterized in that: The step of obtaining the working tip rotation angle information specifically includes: Get the dynamically generated information extraction identifier and current timestamp; The working tip rotation angle information is extracted from the sensor storage area according to the information extraction identifier and the current timestamp.

5. The dental working tip rotation control method according to claim 1, characterized in that: The step of determining whether the working tip rotation angle information is within a preset angle position range specifically includes: The preset angular position range is analyzed to obtain a first angular position range, a second angular position range, a third angular position range, and a fourth angular position range; The working tip rotation angle information is compared with the first angular position range, the second angular position range, the third angular position range, and the fourth angular position range.

6. The dental working tip rotation control method according to claim 1, characterized in that: The step of obtaining the first preset speed and controlling the working tip to rotate according to the first preset speed specifically includes: Obtaining a first preset speed; determining whether the first preset speed is within a preset first rotation speed range; If the first preset speed is within the first rotation speed range, the first preset speed is sent to the motor drive module to control the working tip to perform a rotation operation; If the first preset speed does not meet the first rotation speed range, the first preset speed is iteratively optimized according to the preset first control coefficient until the optimized first preset speed meets the first rotation speed range, and the optimized first preset speed is sent to the motor drive module to control the working tip to perform a rotation operation.

7. The dental working tip rotation control method according to claim 1, characterized in that: The step of obtaining the second preset speed and controlling the working tip to rotate according to the second preset speed specifically includes: Obtaining a second preset speed; determining whether the second preset speed is within a preset second rotation speed range; If the second preset speed is within the second rotation speed range, the second preset speed is sent to the motor drive module to control the working tip to perform a rotation operation; If the second preset speed does not meet the second rotation speed range, the second preset speed is iteratively optimized according to the preset second control coefficient until the optimized second preset speed meets the second rotation speed range, and the optimized second preset speed is sent to the motor drive module to control the working tip to perform a rotation operation.

8. A dental working tip rotation control device, characterized in that: include: An information acquisition module is used to acquire the rotation angle information of the working tip; A range judgment module, used to judge whether the rotation angle information of the working tip is within a preset angle position range; A first control module, configured to obtain a first preset speed if the working tip rotation angle information is within the preset angular position range, and control the working tip to rotate according to the first preset speed; The second control module is used to obtain a second preset speed if the working tip rotation angle information is outside the preset angular position range, and control the working tip to rotate according to the second preset speed, wherein the second preset speed is greater than the first preset speed.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory stores computer-readable instructions, and the processor implements the steps of the dental work tip rotation control method according to any one of claims 1 to 7 when executing the computer-readable instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the steps of the dental working tip rotation control method according to any one of claims 1 to 7 are implemented.

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