Multi-mode control method for electric toothbrush, electric toothbrush and storage medium

Abstract

The invention relates to a multi-mode control method for an electric toothbrush, the electric toothbrush and a storage medium. The method comprises the following steps: collecting linear speed data of the toothbrush in real time; calculating the current position of the toothbrush according to the current linear speed data; according to the position relation between the current position of the toothbrush and the upper and lower tooth boundaries and the inner and outer tooth boundaries, selecting the movement mode of bristles; and controlling the motor to operate at the motor speed and the swing angle corresponding to the motion mode according to the motion mode of the bristles. According to the invention, the swinging mode of the bristles can be automatically adjusted according to different tooth parts, and the tooth cleaning efficiency and effect are improved.

Description

Technical Field

[0001] The present invention relates to the field of electric toothbrushes, and in particular to an electric toothbrush multi-mode control method, an electric toothbrush and a storage medium. Background Art

[0002] The electric toothbrushes currently on the market generally use a single swinging method to clean teeth. This cleaning method cannot be adjusted according to the different parts of the teeth and cleaning needs, resulting in unsatisfactory cleaning effects. Summary of the invention

[0003] In order to solve the above problems, the present invention proposes a multi-mode control method for an electric toothbrush, an electric toothbrush and a storage medium.

[0004] The specific plan is as follows:

[0005] A multi-mode control method for an electric toothbrush comprises the following steps:

[0006] Collect the linear speed data of the toothbrush in real time;

[0007] Calculate the current position of the toothbrush according to the current linear velocity data;

[0008] Selecting a bristle movement mode according to the current position of the toothbrush and the positional relationship between the upper and lower tooth boundaries and the inner and outer tooth boundaries;

[0009] According to the movement pattern of the bristles, the motor is controlled to run at a motor speed and a swing angle corresponding to the movement pattern.

[0010] Furthermore, linear velocity data is collected through a velocity sensor; before execution, the method also includes initializing the toothbrush posture; the initialization process includes: establishing a reference coordinate system with the user's mouth as a reference; after issuing an instruction for the user to move the toothbrush to the position corresponding to the coordinate origin of the reference coordinate system, obtaining sensor data (i.e., linear velocity data) after the user moves according to the instruction, and using the position information calculated based on the obtained sensor data as the initial posture information.

[0011] Furthermore, the reference coordinate system is a three-dimensional coordinate system, whose origin is located in the middle position between the upper and lower teeth, and the three coordinate axes are represented as X-axis, Y-axis and Z-axis, respectively, wherein the X-axis points to the right side of the user, the Y-axis points upward, and the Z-axis is perpendicular to the tooth surface and points to the inside of the mouth.

[0012] Furthermore, it also includes converting the collected sensor data into a reference coordinate system for subsequent use.

[0013] Furthermore, there are three types of motion modes, and the corresponding position relationships are:

[0014] (1) If |x(t)| <x threshold And y(t)>y threshold , the movement mode executed is the upward sweep mode;

[0015] (2) If |x(t)| <x threshold And y(t)<-y threshold , the movement mode executed is the downward sweep mode;

[0016] (3) If |x(t)|≥x threshold ,The movement pattern performed is a forward and backward linear movement pattern;

[0017] Where x(t) and y(t) represent the position of the toothbrush on the teeth at time t relative to the X-axis and Y-axis directions respectively; threshold Indicates the horizontal threshold, which is used to distinguish the position of inner teeth and other teeth in the X-axis direction, threshold Represents the vertical threshold, which is used to distinguish the positions of the upper teeth and the lower teeth in the Y-axis direction.

[0018] Furthermore, each motion mode requires setting a corresponding motor speed, wherein the motor speeds of the upward sweep mode and the downward sweep mode are calculated based on the set swing angle and swing frequency, and the motor speed of the forward and backward linear motion mode is calculated based on the set linear motion distance and motion frequency.

[0019] Furthermore, the motor speed is adjusted by changing the frequency of the PWM signal corresponding to the motor; and the swing angle is adjusted by changing the duty cycle of the PWM signal.

[0020] Furthermore, it also includes real-time collection of angular velocity data of the toothbrush, and calculation of the angle of the toothbrush based on the angular velocity data; judging the tooth part where the toothbrush is located based on the angle of the toothbrush and the current position, and recording the number of brushing times for each tooth part; when moving to a certain tooth part for brushing, if the number of brushing times for this tooth part meets the set condition of a smaller number, then increasing the motor speed and swing angle in the motion mode used for this brushing.

[0021] An electric toothbrush comprises a motor, a gyroscope, a speed sensor, a processor, a memory and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the method described above in the embodiment of the present invention are implemented.

[0022] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described above in an embodiment of the present invention are implemented.

[0023] The present invention adopts the above technical solution, which can automatically adjust the swinging mode of the bristles according to different tooth parts, thereby improving the efficiency and effect of tooth cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Shown is a flow chart of a method according to a first embodiment of the present invention.

[0025] Figure 2 The figure shows the corresponding relationship between the duty cycle and the swing angle in this embodiment. DETAILED DESCRIPTION

[0026] To further illustrate various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in this field should be able to understand other possible implementations and advantages of the present invention.

[0027] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0028] Embodiment 1:

[0029] The embodiment of the present invention provides a multi-mode control method for an electric toothbrush, such as Figure 1 As shown, the method comprises the following steps:

[0030] S1: Collect the angular velocity data and linear velocity data of the toothbrush in real time.

[0031] Before executing step S1, the toothbrush posture needs to be initialized. Before initialization, it is necessary to establish a reference coordinate system with the user's mouth as a reference. The reference coordinate system is a three-dimensional coordinate system, in which the origin is located at the middle position of the upper and lower teeth (i.e., the center position of the mouth), and the three coordinate axes are respectively represented as the X-axis, the Y-axis and the Z-axis, wherein the X-axis points to the right side of the user (horizontally to the right), the Y-axis points upward (vertically), and the Z-axis is perpendicular to the tooth surface and points to the inside of the mouth (horizontally backward). After that, every time the user uses the toothbrush, the posture initialization work is performed to obtain the initial posture information of the toothbrush at the origin position, which is used as a reference for subsequent position calculations. In the posture initialization work, after issuing an instruction for the user to place the toothbrush at the middle position of the upper and lower teeth, the angle and position of the brush head obtained can be used as the initial posture information of the toothbrush. The instruction issued by the toothbrush for the user to place the toothbrush at the middle position of the upper and lower teeth can be issued by voice broadcast. The initial posture information is obtained by the sensor data after the user moves according to the instruction.

[0032] The sensors installed in the toothbrush in this embodiment include a gyroscope and a velocity sensor, wherein the gyroscope is used to detect the angular velocity (ω) of the toothbrush, in radians per second (rad / s); the velocity sensor is used to detect the linear velocity (v) of the toothbrush, in meters per second (m / s). The sensor coordinate system used by the above-mentioned sensor is not the same coordinate system as the reference coordinate system constructed in this embodiment, so the data obtained by the sensor needs to be converted to the reference coordinate system, which can be specifically converted by a direction cosine matrix (DCM) or a quaternion. After each sensor data is obtained, the data in the sensor coordinate system is converted to the reference coordinate system using a pre-established DCM or quaternion, thereby obtaining the accurate position of the brush head in the oral cavity.

[0033] During the brushing process after initialization is completed, it is necessary to collect data through sensors in real time and convert the collected data into a reference coordinate system to obtain the real-time angle and position of the brush head in the mouth.

[0034] S2: Calculate the current angle of the toothbrush according to the current angular velocity data; calculate the current position of the toothbrush according to the current linear velocity data.

[0035] In this embodiment, the angle and position are calculated in the following manner.

[0036] The gyroscope provides angular velocity data (ω), which can be integrated over time to obtain the current angle of the toothbrush (θ):

[0037]

[0038] Here, θ0 represents the initial angle.

[0039] Combining the linear velocity data from the velocity sensor with the time, the position (x, y) of the toothbrush on the teeth can be estimated:

[0040]

[0041] Among them, (x0, y0) represents the initial position, v x ,v y They represent the velocity components of the toothbrush in the X-axis direction and the Y-axis direction respectively.

[0042] S3: Selecting a movement mode of the bristles according to the positional relationship between the current position of the toothbrush and the upper and lower tooth boundaries and the inner and outer tooth boundaries.

[0043] In this embodiment, three bristle movement modes are set, and the corresponding position relationships are as follows.

[0044] (1) If |x(t)| <x threshold And y(t)>y threshold, it is considered that the toothbrush is on the upper teeth and the motion mode performed is the upward sweeping mode;

[0045] (2) If |x(t)| <x threshold And y(t)<-y threshold , it is considered that the toothbrush is on the lower teeth and the motion mode performed is the downward sweeping mode;

[0046] (3) If |x(t)|≥x threshold , it is considered that the toothbrush is on the inner teeth, performing a back-and-forth linear motion pattern.

[0047] In other positions other than the above three position relationships (such as |x(t)| <x threshold And -y threshold ≤y(t)≤y threshold ), use the default mode of the toothbrush (such as vibration).

[0048] Vertical threshold y threshold and the horizontal threshold x threshold To distinguish different tooth areas (y threshold is the vertical position threshold for distinguishing upper and lower teeth, x threshold The horizontal position threshold for distinguishing the inner teeth from other tooth areas) can be adjusted by those skilled in the art according to the oral structure and brushing habits of the user. In this embodiment, it is preferably set to y threshold =3cm, x threshold =2cm.

[0049] S4: According to the movement mode of the bristles, the motor is controlled to operate at a motor speed and a swing angle corresponding to the movement mode.

[0050] In each mode, the corresponding angle and speed of the motor are:

[0051] (1) Swipe up mode:

[0052] The motor tilts in the positive direction (α) at ​​a set swing angle, causing the bristles to sweep upward.

[0053] The motor speed is adjusted to v up .

[0054] (2) Swipe down mode:

[0055] The motor tilts in the negative direction (-α) at ​​a set swing angle, causing the bristles to sweep downward.

[0056] The motor speed is adjusted to v down .

[0057] (3) Front-to-back linear motion mode:

[0058] The motor performs linear reciprocating motion, i.e. the swing angle is 0, moving the bristles back and forth.

[0059] The motor speed is adjusted to v linear .

[0060] The motor speed and swing angle corresponding to each mode are determined as follows.

[0061] (1) When the toothbrush is in the upward sweeping mode, in order to achieve the upward sweeping, the swing angle can be in the range of [5, 30] degrees, and the swing frequency range is [300, 400] Hz. According to the set swing angle and frequency, the motor speed v can be calculated according to the number of upward sweeps completed per second. up :

[0062] (2) When the toothbrush is in the downward sweeping mode, similar to the upward sweeping mode, in order to achieve the downward sweeping, the swing angle value range can be [5, 30] degrees, and the swing frequency range is [300, 400] Hz. According to the set swing angle and frequency, the motor speed v can be calculated according to the number of upward sweeps completed per second. down :

[0063] (3) When the toothbrush is in the forward and backward linear motion mode, the speed of the motor is used to achieve the forward and backward linear motion. In this embodiment, the linear motion distance range is set to [5, 15] mm, and the motion frequency range is [100, 200] Hz. According to the set linear motion distance and frequency, the motor speed v can be calculated according to the number of forward and backward linear motions completed per second. linear :

[0064] In this embodiment, the speed of the motor is controlled by changing the frequency of the PWM signal (control signal). The faster the frequency of the PWM signal, the faster the speed of the motor. The swing angle is changed by changing the duty cycle of the PWM signal. The larger the duty cycle, the higher the average input voltage of the motor, and the greater the force pushing the spring adjacent to it, thereby increasing the swing angle; the smaller the duty cycle, the lower the average input voltage of the motor, and the smaller the force pushing the spring adjacent to it, thereby reducing the swing angle. The corresponding relationship between the duty cycle and the swing angle is as follows: Figure 2 shown.

[0065] The duty cycle of the PWM signal determines the average input voltage of the motor. The duty cycle is calculated as:

[0066]

[0067] Among them, T on Indicates the high level time of the PWM signal, Ttotal Indicates one cycle time of PWM signal.

[0068] The average input voltage of the motor is V motor It can be expressed as:

[0069] V motor =D×V supply

[0070] Where D represents the duty cycle, V supply Indicates the power supply voltage.

[0071] In this embodiment, an H-bridge chip (such as MX612E) is used to control the forward and reverse rotation and speed of the motor. In the specific control, a PWM signal is generated by a microcontroller (such as SLG47513 GreenPAK) to control the input end of the H-bridge chip, thereby controlling the operation of the motor.

[0072] Further, the above-mentioned position judgment can only judge the approximate position of the toothbrush. Combined with the angle obtained based on the angular velocity, the exact tooth part where the toothbrush is located can be judged. For example, the position data corresponding to the upper teeth and lower teeth in the inner teeth may be very different, but the angle data will be very different. In this embodiment, the tooth parts are divided into the left inner teeth upper teeth, the left inner teeth lower teeth, the right inner teeth upper teeth, the right inner teeth lower teeth, the front upper teeth and the front lower teeth. The specific division method can be divided by the technicians in this field according to actual needs, and it is not limited here. Every time you move to a certain tooth part for brushing, you will judge the tooth part according to the angle and position after the movement, and add 1 to the number of brushing times corresponding to the tooth part. When you move to a certain tooth part for brushing, if the number of brushing times of the tooth part meets the condition of a set number of times, the motor speed and swing angle in the motion mode used for brushing are increased (when the motion mode is the front and back linear motion mode, only the motor speed is increased; when the motion mode is the upward sweeping mode or the downward sweeping mode, the motor speed and swing angle are increased at the same time). The condition for fewer times may be the least or less than the average value, and the specific determination method may be set by oneself and is not limited here.

[0073] Embodiment 2:

[0074] The present invention also provides an electric toothbrush, comprising a toothbrush body (conventional components such as a brush handle, a brush head, a motor, a battery, etc.), a gyroscope, a speed sensor, a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned method embodiment of the first embodiment of the present invention are implemented.

[0075] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in the embodiment of the present invention are implemented.

[0076] If the module / unit integrated in the method of embodiment 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) and software distribution medium, etc.

[0077] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A multi-mode control method for an electric toothbrush, characterized in that: The following steps are involved: Collect the linear speed data of the toothbrush in real time; Calculate the current position of the toothbrush according to the current linear velocity data; Selecting a bristle movement mode according to the current position of the toothbrush and the positional relationship between the upper and lower tooth boundaries and the inner and outer tooth boundaries; According to the movement pattern of the bristles, the motor is controlled to run at a motor speed and a swing angle corresponding to the movement pattern.

2. The electric toothbrush multi-mode control method according to claim 1, characterized in that: The linear velocity data is collected through a velocity sensor; before being executed, the method also includes initializing the toothbrush posture; the initialization process includes: establishing a reference coordinate system with the user's mouth as a reference; after issuing an instruction for the user to move the toothbrush to the position corresponding to the coordinate origin of the reference coordinate system, obtaining sensor data after the user moves according to the instruction, and using the position information calculated based on the obtained sensor data as the initial posture information.

3. The electric toothbrush multi-mode control method according to claim 2, characterized in that: The reference coordinate system is a three-dimensional coordinate system, whose origin is located in the middle of the upper and lower teeth. The three coordinate axes are represented as X-axis, Y-axis and Z-axis, where the X-axis points to the right side of the user, the Y-axis points upward, and the Z-axis is perpendicular to the tooth surface and points to the inside of the mouth.

4. The electric toothbrush multi-mode control method according to claim 2, characterized in that: It also includes converting the collected sensor data into a reference coordinate system for subsequent use.

5. The electric toothbrush multi-mode control method according to claim 1, characterized in that: There are three types of motion modes, and the corresponding position relationships are: (1) If |x(t)| <x threshold And y(t)>y threshold , the movement mode executed is the upward sweep mode; (2) If |x(t)| <x threshold And y(t)<-y threshold , the movement mode executed is the downward sweep mode; (3) If |x(t)|≥x threshold ,The movement pattern performed is a forward and backward linear movement pattern; Where x(t) and y(t) represent the position of the toothbrush on the teeth at time t relative to the X-axis and Y-axis directions respectively; threshold Indicates the horizontal threshold, which is used to distinguish the position of inner teeth and other teeth in the X-axis direction, threshold Represents the vertical threshold, which is used to distinguish the positions of the upper teeth and the lower teeth in the Y-axis direction.

6. The electric toothbrush multi-mode control method according to claim 5, characterized in that: Each motion mode requires setting the corresponding motor speed, wherein the motor speeds of the upward sweep mode and the downward sweep mode are calculated based on the set swing angle and swing frequency, and the motor speed of the forward and backward linear motion mode is calculated based on the set linear motion distance and motion frequency.

7. The electric toothbrush multi-mode control method according to claim 1, characterized in that: The motor speed is adjusted by changing the frequency of the PWM signal corresponding to the motor; the swing angle is adjusted by changing the duty cycle of the PWM signal.

8. The electric toothbrush multi-mode control method according to claim 1, characterized in that: It also includes real-time collection of the angular velocity data of the toothbrush, and calculation of the angle of the toothbrush based on the angular velocity data; judging the tooth part where the toothbrush is located based on the angle of the toothbrush and the current position, and recording the number of brushing times for each tooth part; when moving to a certain tooth part for brushing, if the number of brushing times for this tooth part meets the set condition of a smaller number, then increasing the motor speed and swing angle in the motion mode used for this brushing.

9. An electric toothbrush, characterized in that: The method comprises a motor, a gyroscope, a speed sensor, a processor, a memory, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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