Tooth brushing partition detection method, toothbrush and storage medium

Abstract

A tooth brushing partition detection method, a toothbrush, and a storage medium, the method being applied to the toothbrush, the method comprising: obtaining distance data and a roll angle of the toothbrush, the distance data comprising a distance from a face and / or an object outside the face detected by a first sensor to the first sensor, the roll angle of the toothbrush is a rotation angle detected by the second sensor and corresponding to the rotation of the toothbrush by taking the long axis of the toothbrush as a rotation axis; based on the distance data and the roll angle of the toothbrush, it is determined that the brushing zone is a left zone or a right zone. By adopting the tooth brushing partition detection method provided by the invention, the detection results of every two tooth brushing partitions do not have a dependency relationship, so that the probability of occurrence of a successive error phenomenon in the tooth brushing partition detection can be effectively reduced, and the accuracy of the tooth brushing partition detection is improved.

Description

Technical Field

[0001] This application relates to the technical field of electric toothbrushes, and particularly to a method for detecting brushing areas, a toothbrush, and a storage medium. Background Art

[0002] Electric toothbrushes are favored by a large number of users for their strong cleaning ability, convenience, and labor-saving features. The earliest electric toothbrushes had only one speed and one brush head, without a zoning function. With the development of technology, electric toothbrushes have become more and more intelligent, and the zoning function has emerged. For example, these toothbrushes can automatically adjust the speed and strength of the brush head according to different oral regions and / or tooth surface types.

[0003] Generally, different brushing areas are mainly obtained by different combinations of the left and right, upper and lower, incisor surfaces, and the side and molar surfaces of the teeth in the oral cavity. In some area determination methods, the processor determines whether the current brushing area of the user belongs to the left area or the right area by combining the previous area detection result and the change in the heading angle of the toothbrush. For example, if the previous brushing area was the left area and the change in the heading angle corresponding to the current toothbrush rotating to the right area is greater than a certain angle, it is determined that the current brushing area has switched from the left area to the right area. However, since the change in the heading angle of the toothbrush may sometimes be caused by the user's head turning left and right, rather than the change in the position of the toothbrush relative to the oral cavity, it is easy to have a misdetection phenomenon of switching between the left and right brushing areas.

[0004] Therefore, how to improve the accuracy of brushing area detection has become a key research topic for those skilled in the art. Summary of the Invention

[0005] This application provides a method for detecting brushing areas, a toothbrush, and a storage medium to improve the accuracy of brushing area detection.

[0006] In a first aspect, this application provides a method for detecting brushing areas, which is applied to a toothbrush. The toothbrush is configured with a first sensor and a second sensor. The method includes: obtaining distance data and the roll angle of the toothbrush. The distance data includes the distance from the face and / or an object outside the face detected by the first sensor to the first sensor. The roll angle of the toothbrush is the rotation angle corresponding to the toothbrush rotating around its long axis detected by the second sensor; based on the distance data and the roll angle of the toothbrush, determining that the brushing area is the left area or the right area.

[0007] By using the toothbrushing area detection method provided in this application, when the position of the toothbrush relative to the oral cavity remains unchanged, since the face will also rotate synchronously when the human head rotates left and right, the distance data will not change significantly due to the left-right rotation of the head. Moreover, since the left-right rotation of the human head does not rotate around the long axis of the toothbrush, the roll angle of the toothbrush will not change due to the left-right rotation of the head. Therefore, based on this distance data and the roll angle of the toothbrush to determine the left and right areas of the toothbrushing area can reduce the probability of misdetecting the left-right switching of the toothbrushing area caused by the left-right rotation of the human head, and further improve the accuracy of toothbrushing area detection.

[0008] In some possible implementation manners, determining that the toothbrushing area is a left area or a right area based on the distance data and the roll angle of the toothbrush includes: determining a first type of parameter of the toothbrushing area based on the distance data, where the first type of parameter includes a lingual side area and a buccal side area; determining a second type of parameter of the toothbrushing area based on the roll angle, where the second type of parameter includes a first side and a second side, and among them, the buccal surfaces of the teeth on the left side of the oral cavity and the lingual surfaces of the teeth on the right side of the oral cavity belong to the first side, and the lingual surfaces of the teeth on the left side of the oral cavity and the buccal surfaces of the teeth on the right side of the oral cavity belong to the second side; determining a third type of parameter of the toothbrushing area based on the first type of parameter and the second type of parameter of the toothbrushing area, where the third type of parameter includes at least one of the following: left outer area, right inner area, left inner area, right outer area.

[0009] Exemplarily, the toothbrush head includes bristles, and the detection direction of the first sensor is opposite to the orientation of the bristles. The distance data is used to determine whether the reflector with the maximum reflected energy currently detected by the first sensor is from the face or from other objects outside the face. If it is determined based on the distance data that the reflector with the maximum reflected energy detected by the first sensor is from the face, the first type of parameter is the lingual side area; if it is determined based on the distance data that the reflector with the maximum reflected energy detected by the first sensor is from a rear reflector outside the face, the first type of parameter is the buccal side area.

[0010] It can be understood that during the toothbrushing process, when the user's head rotates left and right and the position of the toothbrush relative to the oral cavity does not change, the user's face, toothbrush, and the first sensor will also rotate synchronously, and the relative position between the first sensor and the face will not change during the rotation.

[0011] Among them, if before rotation, the first sensor determines based on the distance data that the reflector with the maximum detected reflected energy comes from the face, that is, the first type parameter of the brushing area is the lingual area. Since the relative position between the first sensor and the face has not changed, after rotation, the first type parameter of the brushing area determined based on the distance data is still the lingual area. Conversely, if before rotation, the first sensor determines based on the distance data that the reflector with the maximum detected reflected energy does not come from the face, that is, comes from other objects outside the face, such as a wall behind the face, that is, the first type parameter of the brushing area is the buccal area, then after rotation, the reflector with the maximum detected reflected energy determined by the first sensor based on the distance data cannot come from the face either. That is to say, the first type parameter determined based on the distance data does not change with the rotation of the human head.

[0012] Moreover, since the left - right rotation of the human head does not rotate around the long axis of the toothbrush, the left - right rotation of the human head will not change the roll angle of the toothbrush either. The second type parameter determined based on the roll angle of the toothbrush will not change due to the left - right rotation of the human head.

[0013] Therefore, by using the brushing area detection method provided in this application to determine the third type parameter based on the above - mentioned first type parameter and second type parameter, the probability of mis - detecting the left - right switching of the brushing area caused by the left - right rotation of the human head can be improved, and the accuracy of brushing area detection can be enhanced.

[0014] In some possible implementation manners, the toothbrush includes bristles, the detection direction of the first sensor is opposite to the orientation of the bristles, the distance data includes a second distance and a third distance. Among them, the second distance is the distance of the reflector with the maximum detected reflected energy detected by the first sensor, and the third distance is the distance of the reflector with the second - ranked detected reflected energy detected by the first sensor; determining the first type parameter of the brushing area based on the distance data includes: when the second distance is less than the third distance, determining the first type parameter of the brushing area as the lingual area; when the second distance is greater than the third distance, determining the first type parameter of the brushing area as the buccal area.

[0015] By adopting this method, since both the second distance and the third distance are objective data detected by the first sensor, they are more objective than distance thresholds (the first threshold and / or the second threshold). Therefore, determining the first type parameter based on the comparison of the second distance and the third distance can avoid the problem of incorrect judgment of the brushing area caused by unreasonable setting of the distance threshold, and further improve the accuracy of brushing area detection.

[0016] In some possible implementation manners, the toothbrush includes bristles. The detection direction of the first sensor is opposite to the orientation of the bristles. The distance data includes a first distance, where the first distance is the distance of the reflector with the maximum reflected energy detected by the first sensor. The determining of the first type parameter of the brushing area based on the distance data includes: when the first distance is less than or equal to a first threshold, determining the first type parameter of the brushing area as the lingual area; when the first distance is greater than a second threshold, determining the first type parameter of the brushing area as the buccal area, where the first threshold is less than or equal to the second threshold.

[0017] It can be understood that if the first sensor is a laser sensor (the detection range is almost a ray), the probability that the first sensor simultaneously detects reflectors on the face and behind the face with relatively small differences in reflected energy is almost 0. Then, based on the distance data, it is possible to more accurately distinguish whether the first type parameter of the current brushing area is the lingual area or the buccal area, which can further improve the accuracy of brushing area detection. However, if the first sensor is a laser sensor, there will also be a problem that the distance data may only include one valid data (such as the above-mentioned first distance). In this case, the implementation manner of determining the first type parameter of the brushing area based on the size relationship of the first distance, the first threshold, and the second threshold can be used. That is, the implementation manner of determining the first type parameter based on the distance data provided in this application is flexible and has good applicability.

[0018] In some possible implementation manners, when the first type parameter of the brushing area is the lingual area and the second type parameter of the brushing area is the first side, the third type parameter is the right medial area; when the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the first side, the third type parameter is the left lateral area; when the first type parameter of the brushing area is the lingual area and the second type parameter of the brushing area is the second side, the third type parameter is the left medial area; when the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the second side, the third type parameter is the right lateral area.

[0019] In some possible implementation manners, the method further includes: determining a fourth type of parameter of the brushing area based on the roll angle of the toothbrush, where the fourth type of parameter includes an upper jaw area or a lower jaw area; determining a fifth type of parameter of the brushing area based on the third type of parameter and the fourth type of parameter, where the fifth type of parameter includes at least one of the following: an upper left outer area, a lower left outer area, an upper left inner area, a lower left inner area, an upper right inner area, a lower right inner area, an upper right outer area, and a lower right outer area.

[0020] It can be understood that the brushing area detection method provided in this application can be applicable to multiple partitioning schemes. For example, it is applicable to a partitioning scheme including the above third type of parameter and is also applicable to a partitioning scheme including the fifth type of parameter, with good applicability.

[0021] In some possible implementation manners, the toothbrush includes a brush handle and a brush head, and the first sensor is disposed on the brush handle.

[0022] In this way, if the first sensor is a millimeter-wave radar sensor, the radar beam width θ of the millimeter-wave radar sensor bw is smaller, the probability that the main lobe of the millimeter-wave radar sensor simultaneously detects the face and the rear reflector outside the face is smaller, and the accuracy of determining the first type of parameter of the brushing area based on the above distance data is higher. However, the radar beam width θ of the millimeter-wave radar sensor bw is inversely proportional to the antenna aperture L of the millimeter-wave radar sensor a There is an inverse relationship. The smaller the radar beam width θ bw the larger the antenna aperture L a (that is, the larger the volume of the first sensor). Therefore, setting the first sensor at the brush handle can provide a larger accommodation space for the first sensor, and further enable the radar beam width θ bw to be designed as small as possible, thereby further improving the accuracy of brushing area detection.

[0023] In some possible implementation manners, the first sensor is an optoelectronic ranging sensor, a microwave ranging sensor, or an acoustic wave sensor. The optoelectronic ranging sensor includes a laser sensor, and the acoustic wave ranging sensor includes a millimeter-wave radar sensor.

[0024] Second aspect, the present application provides a toothbrush, the toothbrush is configured with a first sensor, a second sensor, and a processor, the processor is electrically connected to the first sensor and the second sensor; the processor is used to obtain distance data and the roll angle of the toothbrush, the distance data includes the distance from the face and / or an object outside the face detected by the first sensor to the first sensor, and the roll angle of the toothbrush is the rotation angle corresponding to the rotation of the toothbrush with the long axis of the toothbrush as the rotation axis detected by the second sensor; the processor is further used to determine that the brushing area is a left area or a right area based on the distance data and the roll angle of the toothbrush.

[0025] In some possible implementation manners, the processor is specifically used to determine a first type parameter of the brushing area based on the distance data, the first type parameter includes a lingual side area and a buccal side area; the processor is further specifically used to determine a second type parameter of the brushing area based on the roll angle, the second type parameter includes a first side and a second side, wherein the buccal sides of the teeth on the left side of the oral cavity and the lingual sides of the teeth on the right side of the oral cavity belong to the first side, and the lingual sides of the teeth on the left side of the oral cavity and the buccal sides of the teeth on the right side of the oral cavity belong to the second side; the processor is further specifically used to determine a third type parameter of the brushing area based on the first type parameter and the second type parameter of the brushing area, the third type parameter includes at least one of the following: left outer area, right inner area, left inner area or right outer area.

[0026] In some possible implementation manners, the toothbrush includes bristles, the detection direction of the first sensor is opposite to the orientation of the bristles, the distance data includes a first distance, the first distance is the distance of the reflector with the maximum reflected energy detected by the first sensor; the processor is specifically used to determine that the first type parameter of the brushing area is the lingual side area when the first distance is less than or equal to a first threshold; the processor is further specifically used to determine that the first type parameter of the brushing area is the buccal side area when the first distance is greater than a second threshold, and the first threshold is less than or equal to the second threshold.

[0027] In some possible implementation manners, the toothbrush includes bristles, the detection direction of the first sensor is opposite to the orientation of the bristles, the distance data includes a second distance and a third distance, where the second distance is the distance of the reflector with the maximum reflected energy detected by the first sensor, and the third distance is the distance of the reflector with the second-highest reflected energy detected by the first sensor; the processor is specifically configured to determine that the first type parameter of the brushing area is the lingual area when the second distance is less than the third distance; the processor is further specifically configured to determine that the first type parameter of the brushing area is the buccal area when the second distance is greater than the third distance.

[0028] In some possible implementation manners, when the first type parameter of the brushing area is the lingual area and the second type parameter of the brushing area is the first side, the third type parameter is the right medial area; when the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the first side, the third type parameter is the left lateral area; when the first type parameter of the brushing area is the lingual area and the second type parameter of the brushing area is the second side, the third type parameter is the left medial area; when the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the second side, the third type parameter is the right lateral area.

[0029] In some possible implementation manners, the processor is further configured to determine a fourth type parameter of the brushing area based on the roll angle of the toothbrush, the fourth type parameter including the maxillary area or the mandibular area; the processor is further configured to determine a fifth type parameter of the brushing area based on the third type parameter and the fourth type parameter, the fifth type parameter including at least one of the following: the upper left lateral area, the lower left lateral area, the upper left medial area, or the lower left medial area, the upper right medial area, the lower right medial area, the upper right lateral area, the lower right lateral area.

[0030] In some possible implementation manners, the toothbrush includes a brush handle and a brush head, and the first sensor is disposed on the brush handle.

[0031] In some possible implementation manners, the first sensor is an optoelectronic ranging sensor, a microwave ranging sensor, or an acoustic wave sensor, the optoelectronic ranging sensor includes a laser sensor, and the acoustic wave ranging sensor includes a millimeter-wave radar sensor.

[0032] In a third aspect, the present application further provides a computer-readable storage medium storing a computer program or instructions, which, when executed, implement the method in the above embodiments.

[0033] In a fourth aspect, the present application further provides a computer program product containing instructions, which, when run on a computer, cause the computer to execute the method in the above embodiments.

[0034] In a fifth aspect, the present application further provides a computer program for implementing the method in the above embodiments.

[0035] In a sixth aspect, an embodiment of the present application further provides a circuit coupled to a memory and configured to execute the method shown in the above embodiments. The circuit may include a chip circuit.

[0036] In a seventh aspect, the present application further provides a chip system, including: at least one processor and an interface, where the at least one processor is coupled to a memory through the interface, and when the at least one processor runs the computer program or instructions in the memory, the chip system executes the method in any of the above method embodiments. Optionally, the chip system may be composed of chips or may include chips and other discrete devices, and the embodiments of the present application do not make specific limitations in this regard.

[0037] It can be understood that the above-provided toothbrush, computer storage medium, computer program, computer program product, and chip system are all used to execute the method shown in any implementation manner in the first aspect of the embodiments of the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A It is a schematic diagram of the attitude angle of a toothbrush provided by an embodiment of the present application;

[0039] Figures 1B - 1D They are schematic diagrams of the roll angle, heading angle, and pitch angle of a toothbrush provided by embodiments of the present application, respectively;

[0040] Figure 2 It is a schematic diagram of the three-axis attitude angle of an IMU provided by an embodiment of the present application;

[0041] Figure 3 It is a schematic diagram of the beam range of a millimeter-wave radar sensor provided by an embodiment of the present application;

[0042] Figure 4 It is a schematic diagram of some toothbrushing partition schemes in the industry provided by an embodiment of the present application;

[0043] Figure 5Schematic flowchart of another toothbrushing area detection method provided by an embodiment of the present application;

[0044] Figure 6 Schematic comparison diagram of similar toothbrush postures corresponding to the inner right lower and outer left lower toothbrushing areas respectively provided by an embodiment of the present application;

[0045] Figure 7 Schematic flowchart of a toothbrushing area detection method provided by an embodiment of the present application;

[0046] Figure 8 Schematic flowchart of yet another toothbrushing area detection method provided by an embodiment of the present application;

[0047] Figure 9 Schematic flowchart of yet another toothbrushing area detection method provided by an embodiment of the present application;

[0048] Figure 10 Schematic diagram of the lingual area and the buccal area provided by an embodiment of the present application;

[0049] Figure 11 Schematic diagram of the position of the first sensor in the toothbrush provided by an embodiment of the present application;

[0050] Figure 12 Schematic diagram of the difference in the distance values from the face and the rear reflector to the corresponding point on the same ray extending from a point in the middle of the toothbrush in the scenarios of the lingual area and the buccal area provided by an embodiment of the present application;

[0051] Figure 13A Schematic diagram of the positional relationship of the toothbrush relative to the head when the user places the toothbrush at the lingual teeth on the lower right side of the oral cavity for toothbrushing;

[0052] Figure 13B In an embodiment of the present application Figure 13A Schematic diagram of the positional relationship between the radar beam scanning range in the first sensor and the face or other objects outside the face in the scenario shown;

[0053] Figure 13C In an embodiment of the present application Figure 13A Schematic diagram of the distance data detected by the first sensor in the scenario shown;

[0054] Figure 14A Schematic diagram of the positional relationship of the toothbrush relative to the head when the user places the toothbrush at the buccal teeth on the left side of the oral cavity for toothbrushing;

[0055] Figure 14B In an embodiment of the present applicationFigure 14A Schematic diagram of the positional relationship between the radar beam scanning range in the first sensor and the position of the face or other objects outside the face in the shown scenario;

[0056] Figure 14C A kind provided by the embodiment of the present application in Figure 14A Schematic diagram of the distance data detected by the first sensor in the shown scenario;

[0057] Figure 15A and Figure 15B Schematic diagram of a first side and a second side provided by the embodiment of the present application;

[0058] Figure 16 Schematic diagram of determining the third type of parameter of the brushing area based on the first type of parameter and the second type of parameter of the brushing area provided by the embodiment of the present application;

[0059] Figure 17 Schematic diagram of the structure of a toothbrush provided by the embodiment of the present application. Detailed implementation manners

[0060] The following introduces the terms that the present application may involve.

[0061] (1) Attitude angles (roll angle, heading angle, pitch angle) of the toothbrush

[0062] In the embodiment of the present application, different from the bending angle of the toothbrush itself, the attitude angle of the toothbrush refers to the three-axis attitude angle of the toothbrush. As Figure 1A shown, the x-axis, y-axis, and z-axis in the three-axis attitude angle are the roll angle, pitch angle, and heading angle respectively. The x-axis and y-axis are parallel to the horizontal plane, and the z-axis is perpendicular to the horizontal plane. The horizontal plane can be the plane perpendicular to the bristles of the toothbrush. During the rotation of the toothbrush, as the direction of the bristles of the toothbrush changes, the horizontal plane will also change accordingly. For example Figure 1A shown, when the bristles of the toothbrush are facing up and placed horizontally on the table, the horizontal plane is the tabletop.

[0063] Among them, the roll angle of the toothbrush is the rotation angle of the first attitude of the toothbrush relative to the initial attitude. The initial attitude is the attitude corresponding to the zero position of the roll angle of the toothbrush, and the first attitude is the attitude obtained by rotating the toothbrush around the long axis of the toothbrush.

[0064] As an example, the initial attitude of the toothbrush is the attitude when the bristles of the toothbrush are facing up and placed horizontally on the horizontal plane. The long axis of the toothbrush is the central axis of the brush body perpendicular to the bristles of the toothbrush, and the first attitude can be the attitude obtained by rotating the toothbrush around the long axis of the toothbrush by any angle on the basis of the initial attitude.

[0065] As an example, as Figure 1BAs shown, the attitude with a roll angle of 0° is the initial attitude of the toothbrush, and the rotation axis shown by the dashed line is the long axis of the toothbrush. For example, rotating 90° clockwise with the long axis of the toothbrush as the rotation axis can obtain the a attitude as shown in Figure 1B and rotating 90° counterclockwise can obtain the b attitude as shown in Figure 1B . It should be noted that clockwise and counterclockwise are relative. The attitude obtained by rotating counterclockwise with the long axis of the toothbrush as the rotation axis can also be obtained by rotating clockwise with the long axis of the toothbrush as the rotation axis. For example, rotating 270° clockwise with the long axis of the toothbrush as the rotation axis can also obtain the b attitude as shown in Figure 1B .

[0066] As an example, referring again to Figure 1B , the value range of the roll angle of the toothbrush can be divided into greater than or equal to 0° and less than or equal to +180°, and less than 0° and greater than -180°, where the toothbrush attitudes corresponding to +180° and -180° are the same. It should be noted that the division of the value range of the roll angle of the toothbrush here is only an example, and there can be other appropriate range division methods, which are not limited in this article. For example, the value range of the roll angle of the toothbrush can also be greater than or equal to 0° and less than or equal to 360°, where the toothbrush attitudes corresponding to 0° and 360° are the same.

[0067] The heading angle of the toothbrush is the rotation angle of the projection of the long axis of the toothbrush in the horizontal plane in the second attitude of the toothbrush relative to the projection of the long axis of the toothbrush in the horizontal plane in the initial attitude of the toothbrush. This initial attitude is the attitude corresponding to the zero position of the heading angle of the toothbrush, and this horizontal plane can be a plane perpendicular to the bristles of the toothbrush.

[0068] As an example, as shown in Figure 1C , taking the tabletop perpendicular to the bristles of the toothbrush as the horizontal plane, the initial attitude and the c attitude of the toothbrush are both with the long axis of the toothbrush close to the tabletop. Then, the included angle between the projection of the long axis of the toothbrush in the horizontal plane in the initial attitude of the toothbrush and the projection of the long axis of the toothbrush in the horizontal plane in the c attitude (second attitude) is the heading angle.

[0069] The pitch angle of the toothbrush is the included angle between the projection of the long axis of the toothbrush in the horizontal plane in the third attitude of the toothbrush and the long axis of the toothbrush in the third attitude.

[0070] As an example, as shown in Figure 1D , taking the tabletop perpendicular to the bristles of the toothbrush as the horizontal plane, the included angle between the projection of the long axis of the toothbrush in the horizontal plane in the d attitude (third attitude) of the toothbrush and the long axis of the toothbrush in the third attitude is the pitch angle of the toothbrush. Among them, the projection of the long axis of the toothbrush in the horizontal plane in the d attitude can also be understood as the long axis of the toothbrush when the pitch angle of the toothbrush is at the zero position.

[0071] In some possible implementations, the triaxial attitude angles of the toothbrush can be detected based on an inertial measurement unit (IMU). An IMU is a device used to measure the triaxial attitude angles (or angular rates) and accelerations of an object. Generally, an IMU includes triaxial gyroscopes and triaxial accelerometers, and some also include triaxial magnetometers. Among them, the accelerometer detects the acceleration signals of the object on the independent three axes of the carrier coordinate system, while the gyroscope detects the angular velocity signals of the carrier relative to the navigation coordinate system, measures the angular velocity and acceleration of the object in three-dimensional space, and calculates the attitude angles of the object based on this. As Figure 2 shown is a schematic diagram of the external form of the IMU and three axes among the triaxial attitude angles of the IMU.

[0072] (2) Millimeter-wave radar sensor

[0073] Generally, according to the radiation intensity of the signal beam emitted by the millimeter-wave radar sensor for detecting reflectors, the signal beam can be divided into a main lobe and side lobes. Generally, the number of main lobes is one, and the number of side lobes is greater than or equal to 1. As Figure 3 shown, the signal beam emitted by this millimeter-wave radar sensor includes one main lobe and two side lobes. Among them, the lobe corresponding to the beam with the strongest radiation intensity is the main lobe, and the remaining lobes are called side lobes.

[0074] The following introduces the development history of the electric toothbrush and the advantages of the toothbrushing area detection method provided in this application compared with other toothbrushing area detection methods.

[0075] The earliest electric toothbrushes had only one speed and one brush head and did not have a zoning function. Later, with the development of technology, electric toothbrushes became more and more intelligent, and the zoning function began to appear. These toothbrushes with zoning functions can automatically adjust the speed and strength of the brush head according to different areas and tooth types. These toothbrushes usually have multiple modes, such as cleaning mode, massage mode, and rinsing mode, etc. Over time, the zoning function of the toothbrush has become more intelligent and personalized. Currently, electric toothbrushes can be connected to a smartphone application and automatically adjust the speed, strength, and time of the brush head according to the user's oral health condition and personal preferences. Some electric toothbrushes can also help users better control the brushing time and method through sound prompts, vibrations, and light displays, etc.

[0076] The main purpose of toothbrush zoning is to enable people to be more targeted and effective when brushing their teeth, ensuring that every tooth is thoroughly cleaned and making people's teeth healthier. Toothbrush zoning detection mainly uses artificial intelligence algorithms to identify the area to which the tooth being brushed by the user belongs. The zoning mainly includes left, right, upper, lower, and occlusal surfaces. A single tooth includes the side (inner and outer) and the molar surface. According to the complexity of the algorithm, industry zoning schemes include 4-zone, 5-zone, 8-zone, 12-zone, and 16-zone. As Figure 4 shown are the zoning schematic diagrams corresponding to these zoning schemes (in Figure 4 the positive integers are used to label the zones in each zoning scheme in sequence).

[0077] In some other zoning detection methods, it is determined by combining the zoning information of the previous moment and the attitude angle of the toothbrush calculated currently. Among them, the principle of distinguishing the left zone and the right zone is as Figure 5 shown. Among them, the attitude angle of the toothbrush is obtained through the IMU. When the change in the attitude angle of the toothbrush meets certain conditions, combined with the historical zoning information (the historical zoning information can also be understood as the state of the toothbrush determined last time), the algorithm determines whether the brushing zone is the left zone or the right zone based on the historical zoning information and the change in the attitude angle. For example, if the brushing zone at the previous moment is the left zone and the change in the heading angle corresponding to the current right rotation of the toothbrush is greater than a certain angle, it is determined that the current brushing zone has switched from the left zone to the right zone.

[0078] In this zoning detection method, an important parameter for distinguishing the left zone and the right zone is the heading angle of the toothbrush. However, since the change in the heading angle of the toothbrush may sometimes be caused by the left or right rotation of the human head (the head rotates to the left or the head rotates to the right), rather than necessarily due to the change in the position of the toothbrush relative to the oral cavity, it is prone to misdetection of the left and right switching of the brushing zone.

[0079] In view of this, the present application provides a zoning detection method, which includes: a processing unit obtains distance data and the roll angle of the toothbrush. The distance data includes the distance from the face and / or an object outside the face detected by a first sensor to the first sensor, and the roll angle of the toothbrush is the rotation angle corresponding to the rotation of the toothbrush around its long axis detected by a second sensor; the processing unit determines whether the brushing zone is the left zone or the right zone based on the distance data and the roll angle of the toothbrush.

[0080] When the position of the toothbrush relative to the oral cavity does not change, neither the distance data nor the roll angle of the toothbrush will change significantly due to the left or right rotation of the head. Therefore, determining the left and right zones of the brushing zone based on the distance data and the roll angle of the toothbrush can reduce the probability of misdetection of the left and right switching of the brushing zone caused by the left or right rotation of the human head, and further improve the accuracy of toothbrush zoning detection.

[0081] For example, during the toothbrush brushing process, if the user's head turns left or right and the position of the toothbrush relative to the oral cavity does not change, the user's face, toothbrush, and first sensor will also rotate synchronously, and the relative position between the first sensor and the face will not change during the rotation. In other words, if the first sensor can detect the face before the head turns left or right, then the first sensor can still detect the face after the rotation, and the reflected energy remains unchanged. In addition, since the maximum amplitude of the head rotation left or right is 90° to the left or 90° to the right, the first sensor rotates within this angle range. If the first sensor can detect a rear reflective object other than the face (for example, the rear reflective object is a wall) before the rotation, then after the rotation, the first sensor will most likely be able to detect the rear reflective object, and the reflected energy remains unchanged.

[0082] Also, when the position of the toothbrush relative to the oral cavity does not change, the left and right rotation of the human head does not rotate around the long axis of the toothbrush, and thus the left and right rotation of the human head will not change the roll angle of the toothbrush.

[0083] On the other hand, the above-mentioned other partition detection methods that combine historical partition information and the current toothbrush posture angle to determine the brushing partition, the detection of the brushing partition must rely on historical partition information. In a brushing process, if the partition judgment at the previous moment is wrong, the subsequent partition judgments will be wrong one after another, unless the toothbrush is restarted and the default parameters are restored before restarting the partition detection.

[0084] However, by using the tooth brushing zone detection method provided in the present application, the detection of tooth brushing zones does not rely on historical zone information, thereby effectively reducing the probability of successive errors in tooth brushing zone detection and improving the accuracy of tooth brushing zone detection.

[0085] On the other hand, in the above-mentioned other partition detection methods that combine historical partition information and the current toothbrush posture angle to determine the brushing partition, an important parameter for distinguishing the left partition and the right partition is the heading angle of the toothbrush. Figure 6 As shown (or you can also compare Figure 13A and Figure 14A ), since the corresponding toothbrush postures when the user brushes the teeth in the lower left outer partition and the lower right inner partition are very similar, it may happen that the posture of the toothbrush sometimes changes very little and the heading angle change does not meet the threshold, making it difficult to detect whether the left and right partitions are switched. The accuracy of partition detection needs to be improved.

[0086] However, when using the method provided in the embodiments of the present application, although the toothbrush postures corresponding to the lower left outer partition and the lower right inner partition (or the lower left inner partition and the lower right outer partition, or the upper left inner partition and the upper right outer partition, or the upper left outer partition and the upper right inner partition) are similar, there are significant differences in the corresponding distance data. Therefore, the method of this solution can improve the discrimination of partitions with similar toothbrush postures, thereby improving the accuracy of brushing area detection.

[0087] The embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

[0088] The following combination Figure 7 A brushing area detection method provided by the embodiments of the present application is described. This method is applied to a toothbrush, which is configured with a first sensor and a second sensor. The execution subject of this method is a processing unit, and the processing unit is electrically connected to the first sensor and the processing unit is also electrically connected to the second sensor. The processing unit can be a processor configured in the toothbrush or other processing circuits or electronic devices with processing functions, and this is not limited herein.

[0089] As Figure 7 shown, the method includes:

[0090] S701, the processing unit obtains distance data and the roll angle of the toothbrush. The distance data includes the distance from the face and / or an object outside the face detected by the first sensor to the first sensor.

[0091] In the embodiments of the present application, the distance data includes the distance from the face and / or an object outside the face detected by the first sensor to the first sensor, and the roll angle of the toothbrush is the rotation angle corresponding to the rotation of the toothbrush with the long axis of the toothbrush as the rotation axis detected by the second sensor. It can also be understood that the roll angle of the toothbrush is the rotation angle of the first posture of the toothbrush relative to the initial posture, and the initial posture is the posture corresponding to the zero position of the roll angle of the toothbrush, and the first posture is the posture obtained by rotating the toothbrush with the long axis of the toothbrush as the rotation axis.

[0092] In the embodiments of the present application, the first sensor has the function of measuring the distance to an obstacle. The obstacle refers to an obstacle that appears in the transmission direction of the signal (such as an optical signal or an acoustic signal) of the first sensor, and the obstacle includes the face and / or an object outside the face.

[0093] As an example, the first sensor can be an optoelectronic distance measurement sensor, a microwave distance measurement sensor, or an acoustic wave sensor. Among them, the optoelectronic distance measurement sensor includes a laser sensor, and the acoustic wave distance measurement sensor includes a millimeter wave radar sensor.

[0094] In an embodiment of the present application, the second sensor is capable of detecting the three-axis attitude angle (or angular rate) and acceleration of an object. As an example, the second sensor may be an IMU.

[0095] In some possible implementation manners, the first sensor and the second sensor may be the same sensor, such as a multi-functional sensor, which simultaneously has the function of detecting the distance to an obstacle and the function of detecting the three-axis attitude angle of an object.

[0096] In some possible implementation manners, a grip force sensor (or pressure sensor) is further disposed at the brush handle of the toothbrush, and the grip force sensor is electrically connected to the processing unit. Before performing step S701, the processing unit may first obtain the target grip force value detected by the grip force sensor; if the target grip force value is greater than the preset grip force value, steps S701 and S702 are executed. If the target grip force value is less than or equal to the preset grip force value, the processing unit may not perform the toothbrushing area detection. Among them, the target grip force value being greater than the preset grip force value is used to indicate that the user is using the toothbrush.

[0097] S702. The processing unit determines that the toothbrushing area is the left area or the right area based on the distance data and the roll angle of the toothbrush.

[0098] In a possible implementation manner, please refer to Figure 8 , step S702 specifically includes:

[0099] S7021. The processing unit determines the first type parameter of the toothbrushing area based on the distance data, and the first type parameter includes the lingual side area and the buccal side area.

[0100] As an example, please refer to Figure 10 , the side of the teeth close to the cheek in the left and right sides of the oral cavity is the buccal side area, and the side of the teeth close to the tongue in the left and right sides of the oral cavity is the lingual side area. Among them, the left side of the oral cavity is on the same side as the left hand side of the human body. For example, Figure 10 the oral cavity model shown may be the maxillary or mandibular model of the oral cavity, which is not limited herein.

[0101] As an example, please refer to Figure 11 , the toothbrush includes a brush handle and a brush head. The end where the brush handle is connected to the brush head is called the first end, and the first sensor is disposed on the brush handle and close to the first end. Referring again to Figure 12 , the transmission direction of the signal for detecting the distance in the first sensor is as Figure 12As shown by the direction of the dotted line, the angle between the transmission direction of the signal and the brush head can be approximately 30°, which can also be understood as a ray extending from a point in the middle of the toothbrush, and the angle between this ray and the brush head is approximately 30°. When the current brushing area of the user is the right inner area (belonging to the lingual area), the distance obtained by the first sensor is d, and this d is the distance from the face to the first sensor. When the current brushing area of the user is the left outer area (belonging to the buccal area), the distance obtained by the first sensor is D, and this D is the distance from other objects outside the face (reflectors behind the face, such as a wall) to the first sensor. There is a large difference between this d value and this D, so it is possible to determine whether the current brushing area belongs to the buccal area or the lingual area based on whether the distance detected by the first sensor is closer to this d or closer to this D.

[0102] Exemplarily, the brush head of the toothbrush is configured with bristles, and the detection direction of the first sensor is opposite to the orientation of the bristles. Then, the processing unit can determine whether the reflector with the maximum reflected energy currently detected by the first sensor is from the face or from other objects outside the face based on the distance data. The distance data includes the distance from the face and / or objects outside the face detected by the first sensor to the first sensor. When the distance data includes both the distance from the face to the first sensor and the distance from objects outside the face to the first sensor, the reflected energies corresponding to the distance from the face to the first sensor and the distance from objects outside the face to the first sensor are different. If the processing unit determines based on the distance data that the reflector with the maximum reflected energy detected by the first sensor is from the face, the first type parameter is the lingual area; if the processing unit determines based on the distance data that the reflector with the maximum reflected energy detected by the first sensor is not from the face (i.e., from the rear reflector outside the face), the first type parameter is the buccal area.

[0103] Exemplarily, there are two implementation manners (Manner 1 and Manner 2) on how the processing unit specifically determines the first type parameter of the brushing area based on the distance data (step S7021).

[0104] Manner 1:

[0105] The above distance data includes a first distance, and this first distance is the distance of the reflector with the maximum reflected energy detected by the first sensor. The processing unit determines the first type parameter of the brushing area based on the distance data, specifically including: when the first distance is less than or equal to a first threshold, the processing unit determines that the first type parameter of the brushing area is the lingual area; when the first distance is greater than a second threshold, the processing unit determines that the first type parameter of the brushing area is the buccal area, and the first threshold is less than or equal to the second threshold.

[0106] As an example, referring again to Figure 11and Figure 12 If the position of the first sensor in the brush handle is as shown in Figure 11 , and the transmission direction of the signal for detecting the distance in the first sensor is as shown in Figure 12 , and d is less than or equal to 0.1 meter (m), and D is greater than 0.8 m, then the first threshold can be 0.1 m, and the second threshold can be 0.8 m. In some other possible implementation manners, the second threshold can also be equal to the first threshold. For example, both the first threshold and the second threshold are 0.5 m, and this is not limited herein. It can be understood that the description of the first threshold being 0.1 m, the second threshold being 0.8 m, or both the first threshold and the second threshold being 50 centimeters is only an example. The first threshold and the second threshold can also have other suitable values according to specific situations, as long as the other suitable values can be used to distinguish whether the first type parameter of the brushing area is the buccal area or the lingual area. The specific values of the first threshold and the second threshold are not limited herein.

[0107] As an example, taking the first sensor as a millimeter-wave radar sensor, the following describes how the processing unit specifically determines the first type parameter of the brushing area based on this method 1. Figures 13A to 14C

[0108] As shown in Figure 13A , it is the positional relationship between the toothbrush and the head when the user places the toothbrush at the lingual teeth on the lower right side of the oral cavity for brushing. Among them, the radar beam width corresponding to the main lobe of the radar beam in the first sensor is θ bw , for example, this θ bw can be 20°, and the included angle between the first beam in the main lobe beam emitted by the first sensor and the brush head is approximately 30°, and this first beam is the beam closest to the brush head.

[0109] In the scenario shown in Figure 13A , the positional relationship between the radar beam scanning range in the first sensor and the face or other objects outside the face is as shown in Figure 13B . Among them, Figure 13B point A shown in it represents a position on the face, point B represents the position of the reflector behind the head, the perpendicular distance from point A to the first sensor is d = 0.1 meter (m), and the perpendicular distance from point B to the first sensor is D = 0.88 m.

[0110] In the scenario shown in Figure 13A , the distance data detected by the first sensor can include the data as shown in Figure 13C . In Figure 13C ​Among them, the X-axis is the distance value of the object detected by the first sensor (shown as Range in the figure, unit: m), the Y-axis is the reflection energy value of the object detected by the first sensor (shown as Amplitude in the figure, unit: decibel dB), and the distance resolution is about 0.294 m.

[0111] Among them, based on Figure 13C the distance data, the processing unit can determine that the object with the maximum reflection energy is the sampling point corresponding to 0 m on the curve (sampling point 1). It can be understood that the sampling point corresponding to 0 m is Figure 13B the point A shown in , because the distance between point A and the first sensor is 0.1 m. However, due to the distance resolution of 0.294 m, compared with 0.294 m, 0.1 m is closer to 0 m, so point A is identified as the sampling point corresponding to 0 m. The processing unit determines that the first type parameter of the brushing area is the lingual area based on the distance (0 m) corresponding to this sampling point A being less than the first threshold (for example, the first threshold is 10 cm).

[0112] Figure 13C The other data on the curve of except for sampling point 1 can be understood as distance noise. Among them, the sampling point with the second-highest reflection energy value on the curve (that is, the sampling point 2 corresponding to 0.88 m) can also be understood as the above-mentioned point B. However, the reflection energy value corresponding to this point B detected by the first sensor is smaller than the reflection energy value of this point A. Possible reasons include: this point B is farther from the first sensor and / or the beam detecting this point B belongs to the sidelobe beam emitted by the first sensor, and the beam intensity of the sidelobe beam is smaller than that of the main lobe beam.

[0113] As Figure 14A shown, it is the positional relationship between the toothbrush and the head when the user places the toothbrush at the buccal teeth on the left side of the oral cavity for brushing.

[0114] In Figure 14A the shown scenario, the positional relationship between the radar beam scanning range in the first sensor and other objects outside the face or face is as Figure 14B shown. Among them, Figure 14B the point E shown in represents the position of the reflector behind the head, the point F represents a position on the face, the vertical distance from point A to the first sensor is d = 0.1 meter (m), and the vertical distance from point B to the first sensor is D = 0.88 m.

[0115] In Figure 14A the shown scenario, the distance data detected by the first sensor can include the data as Figure 14C shown. In Figure 14C Among them, the X-axis is the distance value of the object detected by the first sensor, the Y-axis is the reflection energy value of the object detected by the first sensor, and the distance resolution is about 0.294 m.

[0116] Among them, based on Figure 14C the distance data shown, the processing unit can determine that the object with the maximum reflected energy is the sampling point (sampling point 3) corresponding to 0.88 m on the curve. It is understandable that the sampling point corresponding to 0.88 m is Figure 14B the E point shown. Based on the distance corresponding to this sampling point 3 being greater than the first threshold (for example, the first threshold is 0.8 m), the processing unit determines that the first type parameter of the brushing area is the buccal area.

[0117] Figure 14C The other data on the curve except for the sampling point 3 with the maximum reflected energy can be understood as distance noise. Among them, the point with the second-largest reflected energy value on the curve can also be understood as the above-mentioned F point (that is, the sampling point 4 corresponding to 0 m), but the reflected energy value corresponding to this F point detected by the first sensor is smaller than the emitted energy value corresponding to the E point. The possible reason is that the beam detecting this F point belongs to the sidelobe beam in the first sensor.

[0118] Method 2:

[0119] The above distance data includes a second distance and a third distance. Among them, the second distance is the distance of the reflector with the maximum reflected energy detected by the first sensor, and the third distance is the distance of the reflector with the second-largest reflected energy detected by the first sensor. The processing unit determines the first type parameter of the brushing area based on the distance data. Specifically, it can also be: when the second distance is less than the third distance, the processing unit determines that the first type parameter of the brushing area is the lingual area; when the second distance is greater than the third distance, the processing unit determines that the first type parameter of the brushing area is the buccal area.

[0120] As an example, taking the first sensor as a millimeter-wave radar sensor, referring to Figure 13C again, based on Figure 13C the distance data, the processing unit can determine that the distance (that is, the second distance) corresponding to the reflector with the maximum reflected energy (A sampling point) is 0 m, and the distance (that is, the third distance) corresponding to the reflector with the second-largest reflected energy is 0.88 m. Since this second distance (0 m) is less than the third distance (0.88 m), it indicates that this second distance comes from the face (or this second distance is the face distance), and the third distance is the distance from the reflector behind the face to the first sensor. The reflected energy detected by the first sensor from the face is greater than the reflected energy from the reflector behind the face. Then the processing unit can determine that the first type parameter of this brushing area is the lingual area.

[0121] Or, referring to Figure 14C again, based on Figure 14CBased on the distance data shown, it can be determined that the distance corresponding to the reflector with the maximum reflected energy (i.e., sampling point 3) (i.e., the second distance) is 0.88 m, and the distance corresponding to the reflector with the second-highest reflected energy (i.e., sampling point 4) (i.e., the third distance) is 0 m. Since this second distance (0.88 m) is less than the third distance (0 m), it indicates that the second distance is the distance to a rear reflector outside the face, and the third distance is the face distance. The reflected energy of the rear reflector outside the face detected by the first sensor is greater than the reflected energy of the face. The processing unit determines that the first type parameter of this brushing area is the buccal area.

[0122] S7022. The processing unit determines the second type parameter of the brushing area based on the roll angle of the toothbrush. The second type parameter includes a first side and a second side. Among them, the buccal surfaces of the teeth on the left side of the oral cavity and the lingual surfaces of the teeth on the right side of the oral cavity belong to the first side, and the lingual surfaces of the teeth on the left side of the oral cavity and the buccal surfaces of the teeth on the right side of the oral cavity belong to the second side.

[0123] As an example, please refer to Figure 15A . Figure 15A In, the occlusal surface of a tooth is marked with '2'; the left side (first side) of the tooth is marked with '0'; the right side (second side) of the tooth is marked with '1'. Then corresponding to the oral cavity, please refer to Figure 15B , the buccal surfaces of the teeth on the left side of the oral cavity and the lingual surfaces of the teeth on the right side of the oral cavity are the first side (marked with '0'), and the lingual surfaces of the teeth on the left side of the oral cavity and the buccal surfaces of the teeth on the right side of the oral cavity are the second side (marked with '1').

[0124] It can be understood that referring to the above again Figures 10 - 15B , when the processing unit determines that the first type parameter of the brushing area is the buccal area, since the sides of the teeth against the cheeks on both the left and right sides of the oral cavity are the buccal area, the processing unit cannot determine whether the current brushing area belongs to the left area or the right area based only on this first type parameter, let alone determine the third type parameter of the brushing area. In addition, when the processing unit determines that the second type parameter of the brushing area is the first side, since the buccal surfaces of the teeth on the left side of the oral cavity and the lingual surfaces of the teeth on the right side of the oral cavity are both the first side ('0'), the processing unit cannot determine whether the current brushing area belongs to the left area or the right area based only on this second type parameter, let alone determine the third type parameter of the brushing area.

[0125] S7023. The processing unit determines the third type parameter of the brushing area based on the first type parameter and the second type parameter of the brushing area. The third type parameter includes the left outer area, the right inner area, the left inner area, or the right outer area.

[0126] It should be noted that S7021 and S7022 can be executed simultaneously or successively, and the present text does not limit their execution order.

[0127] In some possible implementation manners, if the first sensor does not detect a face or other objects outside the face, it can also be understood that the information included in the distance data is empty or the distance data only includes some noise data with relatively low reflected energy (for example, lower than the reflected energy corresponding to the face), indicating that the current brushing area belongs to the buccal area and there are no obstacles within the detection range of the first sensor behind the user. Then, the processing unit determines that the first type of parameter is the buccal side.

[0128] In the brushing area detection method provided in the present application, the processing unit uniquely determines the third type of parameter of the brushing area based on the first type of parameter being the buccal area and the second type of parameter being the first side ('0'). Exemplarily, as Figure 16 shown, when the first type of parameter of the brushing area is the lingual area and the second type of parameter of the brushing area is the first side, the processing unit determines that the third type of parameter of the brushing area is the right inner area; when the first type of parameter of the brushing area is the buccal area and the second type of parameter of the brushing area is the first side, the processing unit determines that the third type of parameter of the brushing area is the left outer area; when the first type of parameter of the brushing area is the lingual area and the second type of parameter of the brushing area is the second side, the processing unit determines that the third type of parameter of the brushing area is the left inner area; when the first type of parameter of the brushing area is the buccal area and the second type of parameter of the brushing area is the second side, the processing unit determines that the third type of parameter of the brushing area is the right outer area.

[0129] By adopting the area detection method provided in the present application, on the one hand, compared with the heading angle parameter of the toothbrush, the above-mentioned distance data used in this solution for area judgment will not cause the detected area parameter to change from the lingual side to the buccal side due to the left - right rotation of the human head, and the roll angle of the toothbrush used will not cause the detected area parameter to change from the first side to the second side due to the left - right rotation of the human head, thereby reducing the probability of misdetection of the left - right area.

[0130] On the other hand, by adopting the area detection method provided in the present application, the detection of the current area can be independent of the historical area information. Instead, when it is necessary to update the brushing area, the distance data and the roll angle of the toothbrush obtained at the corresponding moment can be directly used to determine whether the brushing area is the left area or the right area. There is no dependency relationship between the detection results of each area, thereby effectively reducing the probability of consecutive errors in the brushing area detection.

[0131] On the other hand, although the corresponding postures of the toothbrush are similar when brushing the lower left outer area and the lower right inner area (or the lower left inner area and the lower right outer area, or the upper left inner area and the upper right outer area, or the upper left outer area and the upper right inner area), which is different from the heading angle parameter of the toothbrush, the distance data used in this solution for area judgment has a large difference between the distance data corresponding to the left outer area and the right inner area, or the distance data corresponding to the left inner area and the right outer area. Specifically, reference can also be made to the description of Figure 12 so that the method of this solution can improve the discrimination of areas with similar toothbrush postures, and further improve the accuracy of toothbrushing area detection.

[0132] In some possible implementation manners, Figure 13A or Figure 14A one or more parameter values of the corresponding first sensor (millimeter-wave radar sensor) are as follows:

[0133] Radar beam width θ bw = 20°.

[0134] The radar signal uses 60 gigahertz (GHz) millimeter waves, and the wavelength λ = 5 millimeters.

[0135] The radar signal bandwidth is 500 megahertz (MHz), and the radar signal wave is a frequency modulated continuous wave (FMCW).

[0136] It can be placed in the toothbrush chip.

[0137] Among these parameters, the smaller the radar beam width θ bw is, the smaller the probability that the main lobe of the millimeter-wave radar sensor simultaneously detects (that is, simultaneously detects a small difference in reflected energy) the face and the rear reflector outside the face, and the higher the accuracy of the processing unit in determining the first type parameter of the toothbrushing area based on the above distance data. However, there is an inverse relationship between the radar beam width θ bw and the antenna aperture L a That is, the smaller the radar beam width θ bw is, the larger the antenna aperture L a is (that is, the larger the volume of the first sensor). Therefore, the first sensor can be set on the toothbrush handle to provide a larger accommodation space for the first sensor, and then the radar beam width θ bw can be designed as small as possible, thereby further improving the accuracy of toothbrushing area detection.

[0138] It should be noted that the description that the first sensor is disposed on the brush handle and close to the first end, and the angle between the transmission direction of the detection signal closest to the brush head in the first sensor and the brush head is about 30° is only an example. The first sensor can also be disposed at other suitable positions of the toothbrush, and the angle between the transmission direction of the detection signal closest to the brush head in the first sensor and the brush head can also be other suitable values, as long as the distance value and the reflection energy value of the facial reflector detected by the first sensor at this position are significantly different from the distance value and the reflection energy value of the rear reflector outside the face. Exemplarily, the closer the first sensor is to the top of the brush head, the larger the angle between the transmission direction of the detection signal closest to the brush head in the first sensor and the brush head. In this way, when the user uses the toothbrush to brush the buccal teeth, the probability that the main lobe of the first sensor simultaneously detects the face and the rear reflector outside the face is relatively small, ensuring the accuracy of the brushing area detection.

[0139] In some other possible implementation manners, the first sensor is a laser sensor. The detection signal emitted by the laser sensor is a ray, which can make the probability that the first sensor simultaneously detects the face and the rear reflector outside the face with relatively small reflection energy difference almost 0, improving the accuracy of the brushing area detection. It should be noted that when the first sensor is a laser sensor, the distance data generally only includes one data (such as the above-mentioned first distance), and then the first type parameter of the brushing area can be determined by the above-mentioned method 1.

[0140] It should be noted that the above description that the detection direction of the first sensor is opposite to the orientation of the bristles is only an example. In the embodiments of the present application, the detection direction of the first sensor can also be the same as the orientation of the bristles. It's just that when the detection direction of the first sensor is the same as the orientation of the bristles, the first type parameter of the brushing area determined by the processing unit based on the above distance data is opposite to the first type parameter of the brushing area determined by the processing unit when the detection direction of the first sensor is the same as the orientation of the bristles. Exemplarily, when the detection direction of the first sensor is the same as the orientation of the bristles, there are two corresponding ways (way 3 and way 4) for the processing unit to determine the first type parameter of the brushing area based on the distance data.

[0141] Way 3: The above distance data includes a first distance, which is the distance of the reflector with the maximum reflection energy detected by the first sensor. The processing unit determines the first type parameter of the brushing area based on the distance data, specifically including: when the first distance is less than or equal to the first threshold, the processing unit determines that the first type parameter of the brushing area is the buccal area; when the first distance is greater than the second threshold, the processing unit determines that the first type parameter of the brushing area is the lingual area, and the first threshold is less than or equal to the second threshold.

[0142] Method 4: The above distance data includes a second distance and a third distance. Among them, the second distance is the distance of the reflector with the largest reflected energy detected by the first sensor, and the third distance is the distance of the reflector with the second largest reflected energy detected by the first sensor. The processing unit determines the first type parameter of the brushing area based on the distance data. Specifically, it can also be: when the second distance is less than the third distance, the processing unit determines that the first type parameter of the brushing area is the buccal area; when the second distance is greater than the third distance, the processing unit determines that the first type parameter of the brushing area is the lingual area.

[0143] It should be noted that in the embodiments of the present application, the distance data and the roll angle of the toothbrush obtained by the processing unit are data from the same time (which can also be understood as the same moment).

[0144] Please refer to Figure 9 , for another method for detecting the brushing area provided by the present application. This method includes:

[0145] S901, the processing unit obtains distance data and the roll angle of the toothbrush.

[0146] For a detailed description of step S901, reference can be made to the relevant descriptions above. For example, reference can be made to Figure 7 the relevant description of S701 in

[0147] S902, the processing unit determines the first type parameter of the brushing area based on the distance data, determines the second type parameter of the brushing area based on the roll angle of the toothbrush, and determines the third type parameter of the brushing area based on the first type parameter and the second type parameter.

[0148] In the embodiments of the present application, the third type parameter includes the left outer area, the right inner area, the left inner area, or the right outer area.

[0149] For a detailed description of the first type parameter, the second type parameter, and step S902, reference can be made to the relevant descriptions above. For example, reference can be made to Figure 7 the relevant description of S702 in Figure 8 and the relevant descriptions of S7021 to S7023 in

[0150] S903, the processing unit determines the fourth type parameter of the brushing area based on the roll angle of the toothbrush. The fourth type parameter includes the upper jaw area and the lower jaw area.

[0151] As an example, the initial posture of the toothbrush is the posture when the bristles of the toothbrush face upward and are horizontally placed on a horizontal plane. The range of values of the roll angle of the toothbrush is greater than or equal to 0° and less than or equal to +180°, and less than 0° and greater than -180°. Among them, the toothbrush postures corresponding to +180° and -180° are the same. Then, it can be assumed that the range where the roll angle of the toothbrush is greater than or equal to 0° and less than or equal to +90° and greater than or equal to -90° and less than 0° is the maxillary division, and the range where it is greater than +90° and less than or equal to +180° and less than -90° and less than -180° is the mandibular division.

[0152] S904, the processing unit determines the fifth type of parameter for the brushing area based on the above third type of parameter and the fourth type of parameter. The fifth type of parameter includes at least one of the following: the upper left outer division, the lower left outer division, the upper left inner division, or the lower left inner division, the upper right inner division, the lower right inner division, the upper right outer division, the lower right outer division.

[0153] For example, the upper left outer division, the lower left outer division, the upper left inner division, or the lower left inner division, the upper right inner division, the lower right inner division, the upper right outer division, and the lower right outer division can respectively correspond to Figure 4 labels 1, 10, 3, 12, 6, 9, 4, and 7 in the 12-division scheme.

[0154] As an example, assume that the range where the roll angle of the toothbrush is greater than or equal to 0° and less than or equal to +90° and greater than or equal to -90° and less than 0° is the maxillary division, and the range where it is greater than +90° and less than or equal to +180° and less than -90° and less than -180° is the mandibular division. And, the range greater than or equal to 0° and less than or equal to +180° belongs to the first side, and the range greater than -180° and less than 0° belongs to the second side. Correspondingly, when the roll angle of the toothbrush is greater than or equal to 0° and less than or equal to +90°, the second type of parameter corresponding to the brushing area is the first side, and the corresponding fourth type of parameter is the maxillary division. When the roll angle of the toothbrush is greater than or equal to -90° and less than 0°, the second type of parameter corresponding to the brushing area is the second side, and the corresponding fourth type of parameter is the maxillary division. When the roll angle of the toothbrush is greater than +90° and less than or equal to +180°, the second type of parameter corresponding to the brushing area is the first side, and the corresponding fourth type of parameter is the mandibular division. When the roll angle of the toothbrush is less than -90° and less than -180°, the second type of parameter corresponding to the brushing area is the second side, and the corresponding fourth type of parameter is the mandibular division.

[0155] In some other possible implementation manners, the brushing area method provided in this application can be applied to any one of the division schemes as Figure 4 shown.

[0156] Exemplarily, based on the above-mentioned first type of parameter, second type of parameter, and fourth type of parameter, the above-mentioned fifth type of parameter can be determined. The fifth type of parameter may include the upper left outer partition, upper left molar surface partition, upper left inner partition, upper right outer partition, upper right molar surface partition, upper right inner partition, lower right outer partition, lower right molar surface partition, lower right inner partition, lower left outer partition, lower left molar surface partition, and lower left inner partition (corresponding to Figure 4 regions 1 to 12 in the 12-zone scheme shown).

[0157] Exemplarily, based on the above-mentioned first type of parameter, second type of parameter, and fourth type of parameter, a sixth type of parameter can be determined. The sixth type of parameter includes the upper left partition, upper right partition, lower left partition, and lower right partition (corresponding to Figure 4 regions 1 to 4 in the 4-zone scheme shown).

[0158] Exemplarily, based on the above-mentioned first type of parameter, second type of parameter, fourth type of parameter, and the pitch angle of the toothbrush, a seventh type of parameter is determined. The seventh type of parameter includes the upper left rear partition, upper front partition, upper right rear partition, lower right rear partition, lower front partition, and lower right rear partition (corresponding to Figure 4 regions 1 to 6 in the 6-zone scheme shown).

[0159] By analogy, based on the idea provided in this application of determining whether the brushing area belongs to the left area or the right area based on the distance data and the roll angle of the toothbrush, any one of the zoning schemes shown in Figure 4 can be executed on this basis. The zoning detection result has a lower probability of consecutive errors compared to executing any one of the zoning schemes shown in Figure 4 using other detection methods. The accuracy of the zoning detection result is improved. The other detection method may be determining whether the brushing area belongs to the left area or the right area based on the heading angle and historical zoning information.

[0160] Please refer to Figure 17 for a schematic structural diagram of a toothbrush 1700 provided by this application.

[0161] As shown in Figure 17 , a processor 1701, a first sensor 1702, and a second sensor 1703 are configured on the toothbrush 1700. The processor 1701 is in communication connection with the first sensor 1702, and the processor 1701 is in communication connection with the second sensor 1703.

[0162] The processor 1701 is configured to obtain distance data and the roll angle of the toothbrush. The distance data includes the distance from the face and / or an object outside the face detected by the first sensor 1702 to the first sensor 1702. The roll angle of the toothbrush is the rotation angle corresponding to the rotation of the toothbrush about the long axis of the toothbrush detected by the second sensor 1703.

[0163] The processor 1701 is further configured to determine, based on the distance data and the roll angle of the toothbrush, that the brushing area is a left area or a right area.

[0164] In some possible implementation manners, the above-mentioned toothbrush 1700 includes a brush handle 1704 and a brush head 1705. The first sensor 1702 and the second sensor 1703 are disposed on the brush handle 1704. The brush head 1705 includes bristles 17051.

[0165] In some possible implementation manners, the processor 1701 is specifically configured to determine a first type parameter of the brushing area based on the above-mentioned distance data; the processor 1701 is further specifically configured to determine a second type parameter of the brushing area based on the roll angle; the processor 1701 is further specifically configured to determine a third type parameter of the brushing area based on the first type parameter and the second type parameter of the brushing area. The third type parameter includes at least one of the following: left outer area, right inner area, left inner area, or right outer area.

[0166] In some possible implementation manners, the detection direction of the above-mentioned first sensor 1702 is opposite to the orientation of the bristles 17051. The processor 1701 is specifically configured to determine that the first type parameter of the brushing area is the lingual area when the first distance is less than or equal to a first threshold; the processor 1701 is further specifically configured to determine that the first type parameter of the brushing area is the buccal area when the first distance is greater than a second threshold, where the first threshold is less than or equal to the second threshold.

[0167] In some possible implementation manners, the processor 1701 is specifically configured to determine that the first type parameter of the brushing area is the lingual area when a second distance is less than a third distance; the processor is further specifically configured to determine that the first type parameter of the brushing area is the buccal area when the second distance is greater than the third distance.

[0168] In some possible implementation manners, the above-mentioned processor 1701 is further configured to determine a fourth type of parameter of the brushing area based on the roll angle of the toothbrush, where the fourth type of parameter includes an upper jaw area or a lower jaw area; the processor 1701 is further configured to determine a fifth type of parameter of the brushing area based on the third type of parameter and the fourth type of parameter, where the fifth type of parameter includes at least one of the following: upper left outer area, lower left outer area, upper left inner area, or lower left inner area, upper right inner area, lower right inner area, upper right outer area, and lower right outer area.

[0169] In some possible implementation manners, one or more of the above-mentioned processor 1701, the first sensor 1702, and the second sensor 1703 are in a coupling relationship.

[0170] Descriptions of the roll angle of the toothbrush, the initial posture of the toothbrush, the first posture, the first type of parameter, the second type of parameter, the third type of parameter, the fourth type of parameter, the fifth type of parameter, the lingual side area, the buccal side area, the first distance, the second distance, the third distance, the first threshold, the second threshold, the first sensor, and the second sensor can refer to the relevant descriptions above and will not be elaborated here.

[0171] It should be noted that the steps or functions executed by the above-mentioned processor 1701 can refer to the relevant descriptions in the above-mentioned brushing area detection method and will not be elaborated here.

[0172] The embodiment of the present application further provides a computer-readable storage medium, in which a computer program or instruction is stored, and when the computer program or instruction is executed, the method in the above-mentioned embodiment is implemented.

[0173] The embodiment of the present application further provides a computer program product containing instructions, and when the instructions run on a computer, the computer is enabled to execute the method in the above-mentioned embodiment.

[0174] The present application further provides a computer program, and the computer program is used to implement the method in the above-mentioned embodiment.

[0175] The embodiment of the present application further provides a circuit, which is coupled to a memory and is used to execute the method shown in the above-mentioned embodiment. The circuit may include a chip circuit.

[0176] It should be noted that one or more of the above units can be implemented by software, hardware, or a combination of both. When any of the above units is implemented by software, the software exists in the form of computer program instructions and is stored in a memory, and the processor can be used to execute the program instructions and implement the above method flow.

[0177] In this application, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or all or part of the circuits in the foregoing devices for implementing the processing function, which can implement or execute the various methods, steps, and logic block diagrams disclosed in this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the method disclosed in combination with this application can be directly embodied as being executed and completed by a hardware processor, or can be executed and completed by a combination of hardware and software modules in the processor.

[0178] When the above units or units are implemented in hardware, the hardware may be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, an SoC, an FPGA, a programmable logic device (PLD), a dedicated digital circuit, a hardware accelerator, or a non-integrated discrete device, which can run the necessary software or execute the above method flow without relying on software.

[0179] Optionally, the embodiment of this application further provides a chip system, including: at least one processor and an interface, and the at least one processor is coupled to a memory through the interface. When the at least one processor runs a computer program or instruction in the memory, the chip system executes the method in any one of the above method embodiments. Optionally, the chip system may be composed of chips or may include chips and other discrete devices, and the embodiment of this application does not make specific limitations thereon.

[0180] The memory in this application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data. The memory is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. For example, the memory may be a non-volatile memory, such as a digital versatile disc (DVD), a hard disk drive (HDD), or a solid-state drive (SSD), etc., or may also be a volatile memory, such as a random-access memory (RAM).

[0181] It should be understood that in the description of this application, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship. For example, A / B can represent A or B; where A and B can be singular or plural. Also, in the description of this application, unless otherwise specified, "a plurality of" means two or more than two. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of a single item or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple. Additionally, for the convenience of clearly describing the technical solutions of the embodiments of this application, in the embodiments of this application, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and roles. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and terms such as "first" and "second" do not necessarily mean different. For example, for the prefix "first" in the first carrier frequency, it is only for the convenience of distinguishing the first carrier frequency provided by the embodiments of this application for broadcasting N different PLMNs from some other carrier frequencies with similar functions, and does not indicate the sorting of the first carrier frequency among one or more master B carrier frequencies. Another example is that for the prefix "first" in the first operator network, it is only to specifically refer to the operator network corresponding to the terminal and does not indicate the sorting of the first operator network among the above N operator networks. At the same time, in the embodiments of this application, words such as "as an example", "exemplary", or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, using words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner for easy understanding.

[0182] The "embodiments" mentioned herein mean that the specific features, structures, or characteristics described in combination with the embodiments can be included in one or more embodiments of this application. The appearance of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0183] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website, a computer, a server, or a data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).

[0184] Although the present application has been described in conjunction with various embodiments herein, however, in the process of implementing the claimed present application, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the accompanying drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit may implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0185] It can be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. The magnitude of the sequence numbers of the above processes does not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic.

[0186] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0187] The components in the device of the embodiments of the present application can be combined, divided, and deleted according to actual needs. Those skilled in the art can combine or combine the different embodiments and the features of different embodiments described in this specification.

[0188] In this application, on the premise of no logical contradiction, examples can refer to each other. For example, methods and / or terms between method embodiments can refer to each other, for example, functions and / or terms between device embodiments can refer to each other, and for example, functions and / or terms between device examples and method examples can refer to each other.

Claims

1. A method for detecting toothbrushing areas, characterized in that, Applied to a toothbrush, the toothbrush being configured with a first sensor and a second sensor, the method comprising: Obtaining distance data and the roll angle of the toothbrush, the distance data including the distance from the face and / or an object outside the face detected by the first sensor to the first sensor, and the roll angle of the toothbrush being the rotation angle corresponding to the rotation of the toothbrush about its long axis detected by the second sensor; Based on the distance data and the roll angle of the toothbrush, determining that the brushing area is a left-side area or a right-side area.

2. The method according to claim 1, characterized in that, The determining that the brushing area is a left-side area or a right-side area based on the distance data and the roll angle of the toothbrush includes: Determining a first type parameter of the brushing area based on the distance data, the first type parameter including a lingual side area and a buccal side area; Determining a second type parameter of the brushing area based on the roll angle, the second type parameter including a first side and a second side, wherein the buccal sides of the teeth on the left side of the oral cavity and the lingual sides of the teeth on the right side of the oral cavity belong to the first side, and the lingual sides of the teeth on the left side of the oral cavity and the buccal sides of the teeth on the right side of the oral cavity belong to the second side; Determining a third type parameter of the brushing area based on the first type parameter and the second type parameter of the brushing area, the third type parameter including at least one of the following: a left outer area, a right inner area, a left inner area, and a right outer area.

3. The method according to claim 2, wherein The toothbrush includes bristles, the detection direction of the first sensor is opposite to the orientation of the bristles, the distance data includes a first distance, and the first distance is the distance of the reflector with the maximum reflected energy detected by the first sensor; the determining the first type parameter of the brushing area based on the distance data includes: When the first distance is less than or equal to a first threshold, determining that the first type parameter of the brushing area is the lingual side area; When the first distance is greater than a second threshold, determining that the first type parameter of the brushing area is the buccal side area, the first threshold being less than or equal to the second threshold.

4. The method according to claim 2, wherein The toothbrush includes bristles, the detection direction of the first sensor is opposite to the orientation of the bristles, the distance data includes a second distance and a third distance, wherein the second distance is the distance of the reflector with the maximum reflected energy detected by the first sensor, and the third distance is the distance of the reflector with the second-highest reflected energy detected by the first sensor; the determining the first type parameter of the brushing area based on the distance data includes: When the second distance is less than the third distance, determining that the first type parameter of the brushing area is the lingual side area; When the second distance is greater than the third distance, determining that the first type parameter of the brushing area is the buccal side area.

5. The method according to any one of claims 2-4, wherein When the first type parameter of the brushing area is the lingual side area and the second type parameter of the brushing area is the first side, the third type parameter is the right inner area; When the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the first side, the third type parameter is the left outer area; When the first type parameter of the brushing area is the lingual area and the second type parameter of the brushing area is the second side, the third type parameter is the left inner area; When the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the second side, the third type parameter is the right outer area.

6. The method according to any one of claims 2-5, characterized in that The method further includes: determining a fourth type parameter of the brushing area based on the roll angle of the toothbrush, the fourth type parameter including an upper jaw area or a lower jaw area; determining a fifth type parameter of the brushing area based on the third type parameter and the fourth type parameter, the fifth type parameter including at least one of the following: upper left outer area, lower left outer area, upper left inner area, or lower left inner area, upper right inner area, lower right inner area, upper right outer area, lower right outer area.

7. The method according to any one of claims 1-6, characterized in that, The toothbrush includes a brush handle and a brush head, and the first sensor is disposed on the brush handle.

8. The method according to any one of claims 1 to 7, characterized in that The first sensor is an optoelectronic ranging sensor, a microwave ranging sensor, or an acoustic wave sensor, the optoelectronic ranging sensor includes a laser sensor, and the acoustic wave ranging sensor includes a millimeter wave radar sensor.

9. A toothbrush, characterized in that, The toothbrush is configured with a first sensor, a second sensor, and a processor, and the processor is electrically connected to the first sensor and the second sensor; The processor is configured to obtain distance data and the roll angle of the toothbrush, the distance data including the distance from the face and / or an object outside the face detected by the first sensor to the first sensor, and the roll angle of the toothbrush being the rotation angle corresponding to the rotation of the toothbrush around the long axis of the toothbrush detected by the second sensor; The processor is further configured to determine that the brushing area is a left area or a right area based on the distance data and the roll angle of the toothbrush.

10. The toothbrush according to claim 9, wherein the processor is specifically configured to determine a first type parameter of the brushing area based on the distance data, the first type parameter including a lingual area and a buccal area; the processor is further specifically configured to determine a second type parameter of the brushing area based on the roll angle, the second type parameter including a first side and a second side, wherein the buccal sides of the teeth on the left side of the oral cavity and the lingual sides of the teeth on the right side of the oral cavity belong to the first side, and the lingual sides of the teeth on the left side of the oral cavity and the buccal sides of the teeth on the right side of the oral cavity belong to the second side; the processor is further specifically configured to determine a third type parameter of the brushing area based on the first type parameter and the second type parameter of the brushing area, the third type parameter including at least one of the following: left outer area, right inner area, left inner area, or right outer area.

11. The toothbrush according to claim 10, characterized in that, The toothbrush includes bristles. The detection direction of the first sensor is opposite to the orientation of the bristles. The distance data includes a first distance, and the first distance is the distance of the reflector with the maximum reflected energy detected by the first sensor; The processor is specifically configured to determine that the first type parameter of the brushing area is the lingual side area when the first distance is less than or equal to a first threshold; The processor is further specifically configured to determine that the first type parameter of the brushing area is the buccal side area when the first distance is greater than a second threshold, and the first threshold is less than or equal to the second threshold.

12. The toothbrush according to claim 10, characterized in that, The toothbrush includes bristles. The detection direction of the first sensor is opposite to the orientation of the bristles. The distance data includes a second distance and a third distance. Among them, the second distance is the distance of the reflector with the maximum reflected energy detected by the first sensor, and the third distance is the distance of the reflector with the second-highest reflected energy detected by the first sensor; The processor is specifically configured to determine that the first type parameter of the brushing area is the lingual side area when the second distance is less than the third distance; The processor is further specifically configured to determine that the first type parameter of the brushing area is the buccal side area when the second distance is greater than the third distance.

13. The toothbrush according to any one of claims 10-12, characterized in that When the first type parameter of the brushing area is the lingual side area and the second type parameter of the brushing area is the first side, the third type parameter is the right inner area; When the first type parameter of the brushing area is the buccal side area and the second type parameter of the brushing area is the first side, the third type parameter is the left outer area; When the first type parameter of the brushing area is the lingual side area and the second type parameter of the brushing area is the second side, the third type parameter is the left inner area; When the first type parameter of the brushing area is the buccal side area and the second type parameter of the brushing area is the second side, the third type parameter is the right outer area.

14. The toothbrush according to any one of claims 10-13, characterized in that The processor is further configured to determine the fourth type parameter of the brushing area based on the roll angle of the toothbrush, and the fourth type parameter includes the upper jaw area or the lower jaw area; The processor is further configured to determine the fifth type parameter of the brushing area based on the third type parameter and the fourth type parameter, and the fifth type parameter includes at least one of the following: the upper left outer area, the lower left outer area, the upper left inner area, or the lower left inner area, the upper right inner area, the lower right inner area, the upper right outer area, the lower right outer area.

15. The toothbrush according to any one of claims 9-14, characterized in that, The toothbrush includes a brush handle and a brush head, and the first sensor is arranged on the brush handle.

16. The toothbrush according to any one of claims 9-15, characterized in that, The first sensor is an optoelectronic ranging sensor, a microwave ranging sensor, or an acoustic wave sensor. The optoelectronic ranging sensor includes a laser sensor, and the acoustic wave ranging sensor includes a millimeter wave radar sensor.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used for storing a computer program, and when the computer program is executed, the method according to any one of claims 1-8 is executed.

18. A computer program, characterized in that, When the computer program is executed, the method according to any one of claims 1-8 is executed.

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