Sensing method and device

Abstract

The invention discloses a sensing method and device. The method is applied to the oral cavity cleaning device, the oral cavity cleaning device comprises an inertial measurement unit IMU, and the method comprises the following steps: sending a radio signal; receiving a reflected signal of the radio signal; and according to the reflected signal, executing a first operation associated with the oral partition of the user, the first operation comprising calibrating the IMU and / or determining the hand of the user holding the oral cleaning device. Thus, the oral cavity cleaning device can automatically and intelligently calibrate the IMU or recognize the hand of the user holding the oral cavity cleaning device according to the reflection condition of the radio signal. In the process, the user does not need to set through a complex APP interface, and the efficiency of intelligent partition recognition is improved.

Description

Technical Field

[0001] This application relates to the technical field of terminals, and in particular, to a perception method and device. Background Art

[0002] At present, some intelligent electric toothbrushes support intelligent partition recognition functions, which can identify different areas of the oral cavity to effectively prevent missed brushing and maintain oral health. However, due to different brushing methods and habits of each person, the same partition algorithm may not be applicable to all users. In some solutions, calibration functions and left / right hand recognition functions can be used to assist in realizing the oral cavity partition of users. For example, before brushing teeth, the user manually activates the calibration function of the toothbrush and inputs whether they are left-handed or right-handed for brushing teeth in the application (APP) interface of the mobile phone. The mobile phone controls the toothbrush to perform intelligent partition recognition according to the result of the calibration function and the user's input of the preferred hand for brushing teeth. Currently, the efficiency of the toothbrush performing intelligent partition recognition on the oral cavity is relatively low. Summary of the Invention

[0003] This application provides a perception method and device, which can intelligently and automatically trigger operations associated with the oral cavity partition of the user, improving the efficiency of intelligent partition recognition.

[0004] To achieve the above object, the embodiments of this application adopt the following technical solutions.

[0005] In a first aspect, this application provides a perception method, which is applied to an oral cavity cleaning device. The device can be a device or a component located in a device (such as a chip, a chip system, or a processor, etc.). Hereinafter, the description will be given taking the execution subject as a device as an example. The oral cavity cleaning device includes an Inertial Measurement Unit (IMU). The method includes: sending a radio signal; receiving a reflected signal of the radio signal; and performing a first operation associated with the oral cavity partition of the user according to the reflected signal. The first operation includes: calibrating the IMU and / or determining the hand used by the user to hold the oral cavity cleaning device.

[0006] In this application, the oral cavity cleaning device can automatically and intelligently calibrate the IMU or identify the hand used by the user to hold the oral cavity cleaning device according to the reflection situation of the radio signal. During this process, there is no need for the user to set through a complex APP interface, which helps to improve the efficiency of intelligent partition recognition.

[0007] In a possible design, calibrating the IMU according to the reflected signal includes: if it is determined according to the reflected signal that there is a user near the oral cavity cleaning device, then calibrating the IMU.

[0008] In this method, it can be understood that when someone approaches the toothbrush (one of the oral cleaning devices), it means that the probability of the user using the toothbrush is relatively high. In such a case, the toothbrush automatically wakes up the IMU calibration function. It can automatically perform IMU calibration in the scenario where the user needs to calibrate the toothbrush IMU, with high efficiency of IMU calibration and no need for the user to manually trigger the IMU calibration, reducing the complexity.

[0009] In a possible design, determining that there is a user near the oral cleaning device according to the reflection signal includes:

[0010] According to the reflection signal, if it is determined that the distance between the user and the oral cleaning device is less than a first distance threshold and the speed of the user relative to the oral cleaning device is greater than a first speed threshold, it is determined that there is a user near the oral cleaning device.

[0011] In a possible design, calibrating the IMU according to the reflection signal includes:

[0012] According to the reflection signal, if it is determined that there is a user near the oral cleaning device at a first moment and the time interval between the first moment and a second moment is greater than a time threshold, then calibrate the IMU; the second moment is the moment when it was last determined that there was a user near the oral cleaning device.

[0013] In this method, only when the time interval between the user's current approach to the toothbrush and the last approach to the toothbrush is relatively long, the IMU calibration is performed. It can reduce the power consumption of the toothbrush.

[0014] In a possible design, the oral cleaning device is provided with an antenna, and the sending of the radio signal includes:

[0015] Sending a radio signal through the antenna;

[0016] Receiving the reflection signal of the radio signal includes:

[0017] Receiving the reflection signal of the radio signal through the antenna.

[0018] In a possible design, the antenna includes a first antenna unit, and the beam width of the first antenna unit is in the range of 100 degrees - 150 degrees. In this way, through the first antenna unit with a large beam width and a wide detection range, the perception of nearby users can be realized, with relatively low power consumption.

[0019] Optionally, the radio signal sent by the antenna can be but is not limited to a millimeter wave signal.

[0020] When only one antenna is provided on the toothbrush, the antenna unit can be understood as an antenna channel. For example, when only one antenna is provided on the toothbrush, the toothbrush can send a radio signal through one channel of the antenna (an example of the first antenna unit), receive the corresponding reflected signal, and perform IMU calibration based on the reflected signal. The beam width of this channel is in the range of 100 degrees to 150 degrees.

[0021] For another example, when multiple antennas are provided on the toothbrush, the toothbrush can send a radio signal through one of the multiple antennas (an example of the first antenna unit), receive the corresponding reflected signal, and perform IMU calibration based on the reflected signal. The beam width of this one antenna is in the range of 100 degrees to 150 degrees.

[0022] In a possible design, the antenna further includes a second antenna unit and a third antenna unit; the second antenna unit is disposed at the left position on the handle of the oral cleaning device, and the third antenna unit is disposed at the right position on the handle of the oral cleaning device.

[0023] In a possible design, receiving the reflected signal of the radio signal includes: receiving a first reflected signal through the second antenna unit;

[0024] Determining the hand with which the user holds the oral cleaning device according to the reflected signal includes: determining that the hand with which the user holds the oral cleaning device is the left hand according to the first reflected signal.

[0025] In this way, the toothbrush can be provided with multiple antenna units, and perform left and right hand recognition according to the reflected signals received by the antennas at different positions, which can improve the efficiency of left and right hand recognition, and is simple, convenient and has low complexity.

[0026] In a possible design, receiving the reflected signal of the radio signal includes: receiving a second reflected signal through the third antenna unit;

[0027] Determining the hand with which the user holds the oral cleaning device according to the reflected signal includes: determining that the hand with which the user holds the oral cleaning device is the right hand according to the second reflected signal.

[0028] In this way, the toothbrush can determine the direction in which the user picks up the toothbrush according to the reflection of the radio signal, and automatically identify the left and right hands accordingly, improving the recognition efficiency.

[0029] In a possible design, determining that the hand with which the user holds the oral cleaning device is the left hand according to the first reflected signal includes:

[0030] Based on the first reflected signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, then it is determined that the hand used by the user to hold the oral cleaning device is the left hand;

[0031] Optionally, the toothbrush can also combine parameters other than speed and distance to perform left - right hand recognition. For example, the toothbrush performs left - right hand recognition based on the relative distance, relative speed, and relative acceleration between the object and the toothbrush.

[0032] In a possible design, determining that the hand used by the user to hold the oral cleaning device is the right hand according to the second reflected signal includes:

[0033] Based on the second reflected signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, then it is determined that the hand used by the user to hold the oral cleaning device is the right hand.

[0034] In a possible design, the beam width of the second antenna unit is in the range of 20 degrees - 30 degrees; and / or the beam width of the third antenna unit is in the range of 20 degrees - 30 degrees.

[0035] In a possible design, the antenna is installed at an upper position on the handle of the oral cleaning device.

[0036] In this method, since the antenna is installed at an upper position on the handle, it can reduce the influence of obstacles on the signal during the process of the antenna sending / receiving signals, and can improve the accuracy of detection.

[0037] In a second aspect, an oral cleaning device is provided. The oral cleaning device includes an inertial measurement unit (IMU), and:

[0038] An antenna for sending radio signals and receiving the reflected signals of the radio signals;

[0039] A processor for performing a first operation associated with the user's oral cavity partition according to the reflected signal, where the first operation includes: calibrating the IMU and / or determining the hand used by the user to hold the oral cleaning device.

[0040] In a possible design, calibrating the IMU according to the reflected signal includes:

[0041] If it is determined that there is a user near the oral cleaning device according to the reflected signal, then calibrate the IMU.

[0042] In a possible design, determining that there is a user near the oral cleaning device according to the reflected signal includes:

[0043] According to the reflected signal, if it is determined that the distance between the user and the oral cleaning device is less than a first distance threshold, and the speed of the user relative to the oral cleaning device is greater than a first speed threshold, it is determined that there is a user near the oral cleaning device.

[0044] In a possible design, calibrating the IMU according to the reflected signal includes:

[0045] According to the reflected signal, if it is determined that there is a user near the oral cleaning device at a first moment, and the time interval between the first moment and a second moment is greater than a time threshold, the IMU is calibrated; the second moment is the moment when it was last determined that there is a user near the oral cleaning device.

[0046] In a possible design, the antenna includes a first antenna unit, and the beam width of the first antenna unit is in the range of 100 degrees to 150 degrees.

[0047] In a possible design, the antenna further includes a second antenna unit and a third antenna unit; the second antenna unit is disposed at a left position on the handle of the oral cleaning device, and the third antenna unit is disposed at a right position on the handle of the oral cleaning device.

[0048] In a possible design, receiving the reflected signal of the radio signal includes: receiving a first reflected signal through the second antenna unit;

[0049] According to the reflected signal, determining the hand with which the user holds the oral cleaning device includes: according to the first reflected signal, determining that the hand with which the user holds the oral cleaning device is the left hand.

[0050] In a possible design, receiving the reflected signal of the radio signal includes: receiving a second reflected signal through the third antenna unit;

[0051] According to the reflected signal, determining the hand with which the user holds the oral cleaning device includes: according to the second reflected signal, determining that the hand with which the user holds the oral cleaning device is the right hand.

[0052] In a possible design, determining that the hand with which the user holds the oral cleaning device is the left hand according to the first reflected signal includes:

[0053] Based on the first reflection signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold, and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, then it is determined that the hand used by the user to hold the oral cleaning device is the left hand;

[0054] In a possible design, determining that the hand used by the user to hold the oral cleaning device is the right hand according to the second reflection signal includes:

[0055] Based on the second reflection signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold, and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, then it is determined that the hand used by the user to hold the oral cleaning device is the right hand.

[0056] In a possible design, the beam width of the second antenna unit is in the range of 20 degrees - 30 degrees; and / or the beam width of the third antenna unit is in the range of 20 degrees - 30 degrees.

[0057] In a possible design, the antenna is installed at an upper position on the handle of the oral cleaning device.

[0058] In a third aspect, a sensing device is provided, and the device has a function of implementing the method described in any of the above aspects and any of its possible implementation manners. This function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0059] In a fourth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program (which can also be referred to as an instruction or code), and when the computer program is executed by the sensing device, the sensing device is caused to execute the method of any of the above aspects or any implementation manner in any of the above aspects.

[0060] In a fifth aspect, a computer program product is provided, and when the computer program product runs on the sensing device, the sensing device is caused to execute the method of any of the above aspects or any implementation manner in any of the above aspects.

[0061] In a sixth aspect, a circuit system is provided, and the circuit system includes a processing circuit configured to execute the method of any of the above aspects or any implementation manner in any of the above aspects.

[0062] In a seventh aspect, a chip system is provided, including at least one processor and at least one interface circuit. The at least one interface circuit is configured to perform transceiver functions and send instructions to the at least one processor. When the at least one processor executes the instructions, the at least one processor executes the method according to any aspect or any implementation manner in any aspect.

[0063] In an eighth aspect, a sensing device is provided, including a processor and a memory. The memory is configured to store a computer program (which may also be referred to as an instruction or code), and the processor is configured to execute the computer program so that the sensing device executes the method according to any aspect or any implementation manner in any aspect. Description of the Drawings

[0064] Figure 1 Schematic diagram of the device architecture provided by an embodiment of the present application;

[0065] Figure 2 Schematic diagram of the antenna installation position provided by an embodiment of the present application;

[0066] Figure 3 Schematic diagram of the architecture of the radio frequency channel provided by an embodiment of the present application;

[0067] Figure 4 Schematic diagram of the scenario of the sensing method provided by an embodiment of the present application;

[0068] Figure 5 Schematic diagram of the scenario of IMU calibration provided by an embodiment of the present application;

[0069] Figure 6 Schematic diagram of the scenario of left and right hand recognition provided by an embodiment of the present application;

[0070] Figure 7 Schematic diagram of the scenario of prompting the user to face the toothbrush directly provided by an embodiment of the present application;

[0071] Figure 8 Schematic diagram of another scenario of left and right hand recognition provided by an embodiment of the present application;

[0072] Figure 9 Schematic diagram of the flow of the sensing method provided by an embodiment of the present application;

[0073] Figure 10 Schematic diagram of the structure of the device provided by an embodiment of the present application;

[0074] Figure 11 Schematic diagram of the structure of the chip system provided by an embodiment of the present application. Detailed Embodiments

[0075] The device provided by the embodiment of the present application can be implemented by the device in Figure 1 herein.Figure 1 The following is a schematic diagram of the hardware structure of the device provided by the embodiment of the present application. The device includes at least one processor 501.

[0076] The processor 501 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application solution.

[0077] In a specific implementation, as an embodiment, the processor 501 may include one or more CPUs, such as Figure 1 CPU0 and CPU1 in

[0078] In a specific implementation, as an embodiment, the device may include multiple processors, such as Figure 1 processor 501 and processor 504 in

[0079] Optionally, the device may further include at least one communication interface 502. The communication interface 502 is used for communicating with other devices. In the embodiment of the present application, the communication interface may be a module, a circuit, a bus, an interface, a transceiver, or other devices capable of implementing a communication function, and is used for communicating with other devices. Optionally, when the communication interface is a transceiver, the transceiver may be an independently provided transmitter, which can be used to send information to other devices, or the transceiver may be an independently provided receiver, which is used to receive information from other devices. The transceiver may also be a component integrating the functions of sending and receiving information. The specific implementation of the transceiver in the embodiment of the present application is not limited.

[0080] In the embodiment of the present application, the communication interface 502 includes a radio frequency channel, and the radio frequency channel includes radio frequency devices. In some examples, the radio frequency channel can be switched between sending and receiving. When the radio frequency channel of the device is switched to the receiving channel, the device can receive signals. When the radio frequency channel of the device is switched to the sending channel, the device can send signals.

[0081] Taking Figure 1 the shown device as a toothbrush as an example, as shown in Figure 2, the toothbrush may be provided with multiple antennas such as antenna 1 and antenna 2. The multiple antennas may belong to different radio frequency channels. The toothbrush can send radio signals through the antennas and sense whether there is a user near the toothbrush and whether the user holds the toothbrush with the left hand or the right hand according to the reception of the reflected signals of the radio signals. The specific method for the toothbrush to make a judgment based on the reception of the reflected signals is described below.

[0082] Exemplarily, the multiple antennas may be integrated in a chip, and the chip may be provided in the toothbrush.

[0083] Exemplarily, such as Figure 2 , the multiple antennas may be provided at the position of the dotted line box on the toothbrush handle. This position is the upper position on the handle, which can reduce the influence of obstacles on the signal during the process of the antenna sending / receiving signals and can improve the detection accuracy.

[0084] Alternatively, the multiple antennas may also be provided at other positions of the toothbrush without limitation.

[0085] Exemplarily, the multiple antennas are arranged in a linear array, so that detection can be achieved with a smaller beam width.

[0086] In some scenarios, the antenna can be used to receive information, and in some scenarios, the antenna can also be used to send information. That is to say, the same antenna can have the function of receiving information and the function of sending information. Alternatively, there can be an antenna dedicated to sending information or an antenna dedicated to receiving information. The embodiments of the present application do not limit the specific implementation of the antenna.

[0087] In different communication scenarios of the embodiments of the present application, the type of antenna, the number of antennas, and the radiation angle range of the antennas used by the device can be different. The types of antennas may include omnidirectional antennas and directional antennas.

[0088] For a certain antenna, the antenna can be an omnidirectional antenna or a directional antenna. Alternatively, in some other embodiments, for an antenna, the antenna can be used as a directional antenna and can also be used as an omnidirectional antenna. Or rather, the antenna can include a directional state and an omnidirectional state. When used in the directional state, it can be regarded as a directional antenna, and when used in the omnidirectional state, it can be regarded as an omnidirectional antenna. As a possible implementation manner, the antenna state can be switched between omnidirectional and directional through technologies such as beamforming.

[0089] In the embodiments of the present application, the number of antennas in the same radio frequency channel can be one or more. When there are multiple antennas in the same radio frequency channel, the multiple antennas can be of the same type or different types. For example, all are omnidirectional antennas, or all are directional antennas, or some antennas are omnidirectional antennas and some antennas are directional antennas.

[0090] Figure 3 An exemplary schematic diagram of the cooperation between radio frequency devices and an antenna in a radio frequency channel is provided. The transmitting channel may include devices such as an oscillator and a coupler. The receiving channel may include devices such as a mixer. The oscillator generates a signal. A part of the signal generated by the oscillator is output to the mixer through the coupler as a local oscillator signal, and a part is transmitted through the transmitting antenna and the signal reflected by the object is received through the receiving antenna. In the mixer, the reflected signal is mixed with the local oscillator signal to obtain a mixed signal. The mixed signal contains information about the target object, such as at least one of the relative distance, speed, and angle between the target object and the toothbrush. The mixed signal (for example, the mixed signal that has passed through a low-pass filter and has been amplified, Figure 3 and the low-pass filter is not shown in the figure) is sent to the processor, and the processor processes the mixed signal (for example, the signal can be subjected to a fast Fourier transform or spectral analysis) to obtain information about the target object, and based on the information about the target object, an operation associated with oral cavity partitioning is performed. For example, if the toothbrush determines that there is a user near the toothbrush based on the reflected signal of the radio signal, it performs calibration of the inertial measurement unit (IMU).

[0091] The device may further include an IMU for performing measurements to assist in performing oral cavity partitioning. Optionally, the IMU may include an accelerometer, a gyroscope, and a magnetometer. There may be more or fewer components in the IMU, and the embodiments of the present application do not limit this.

[0092] Optionally, the device may further include a memory 503. Optionally, the memory 503 may also be included in the processor 501. The memory 503 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or 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. The memory may exist independently and be connected to the processor through a communication line. The memory may also be integrated with the processor.

[0093] Among them, the memory 503 is used to store computer-executable instructions for implementing the solution of this application, and is controlled by the processor 501 for execution. The processor 501 is used to execute the computer-executable instructions stored in the memory 503, so as to implement the method provided in the following embodiments of this application.

[0094] Optionally, the computer-executable instructions in the embodiments of this application may also be referred to as application code, instructions, computer programs, or other names, and this application does not make specific limitations in this regard.

[0095] It can be understood that Figure 1 The schematic structure does not constitute a specific limitation on the device. In other embodiments of this application, the device may include more or fewer components than shown in the figure, or combine certain components, or split certain components, or have different component arrangements. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0096] The terms "first" and "second" in the specification and drawings of this application are used to distinguish different objects or different processes for the same object. The words "first", "second", etc. can distinguish the same items or similar items with basically the same functions and effects. For example, the first device and the second device are only used to distinguish different devices, and do not limit their order. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit different things.

[0097] "At least one" means one or more, and "a plurality" means two or more.

[0098] "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one of the following" or its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, c can be single or multiple.

[0099] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes other unlisted steps or units, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0100] It should be noted that in the embodiments of this application, words such as "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, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0101] In the technical solutions of the embodiments of this application, the processing of the collection, storage, use, processing, transmission, provision, and disclosure of the user's personal information involved all comply with the provisions of relevant laws and regulations and do not violate public order and good customs. This is uniformly stated here and will not be repeated below.

[0102] The features, structures, or characteristics in the embodiments of this application can be combined in one or more embodiments in any suitable manner. In various embodiments of this application, the magnitude of the serial numbers of the various processes does not mean the order of execution, and the order of execution of the various processes should be determined by their functions and internal logics, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0103] In this application, unless otherwise specified, the same or similar parts between the various embodiments can be referred to each other. In the various embodiments of this application, if there is no special specification and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be mutually referred to, and the technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships. The implementation manners of this application do not constitute a limitation to the protection scope of this application.

[0104] In addition, some steps in the method embodiments can be equivalently replaced with other possible steps. Or, some steps in the method embodiments are optional and can be deleted in some usage scenarios. Or, other possible steps can be added to the method embodiments.

[0105] Exemplarily, as Figure 4 , the toothbrush sends a radio signal through the antenna and receives the reflected signal of the radio signal, and determines that there is a user near the toothbrush according to the reflected signal (corresponding to Figure 4 step a), then perform IMU calibration (corresponding to Figure 4Step b). Exemplarily, the IMU calibration can be implemented as follows: the toothbrush reads the gyroscope angular velocity in a stationary state, calculates the zero drift value, reads the gyroscope angular velocity at a certain time interval, integrates the gyroscope angular velocity read this time, and subtracts the zero drift value from the integral value to obtain the calibrated gyroscope angular velocity.

[0106] In the solution of the embodiment of the present application, an antenna is provided on the toothbrush. The toothbrush can send radio signals through the antenna and automatically perform IMU calibration according to the reflected signal of the radio signal when it is determined that there is a user nearby. This process does not require the user to manually trigger the IMU calibration, with lower calibration complexity, being simple and convenient, and higher calibration efficiency. In addition, in this solution, when it is recognized that someone is approaching, the IMU calibration is performed in advance. On the one hand, it can ensure foresight without the need for the user to pick up the toothbrush to start the calibration; on the other hand, the toothbrush can turn off the calibration function after detecting that the person has left the vicinity of the toothbrush to reduce power consumption.

[0107] In some embodiments, according to the reflected signal of the radio signal, if the toothbrush determines that the speed of the user relative to the toothbrush is greater than or equal to the first speed threshold and the distance between the user and the toothbrush is less than or equal to the first distance threshold, the toothbrush determines that there is a user moving within the detection range. Correspondingly, the toothbrush determines that there is a user nearby and triggers the execution of the above IMU calibration process.

[0108] In other embodiments, the toothbrush can also combine parameters other than speed and distance to determine whether there is a user near the toothbrush. For example, the toothbrush determines whether there is a user moving near the toothbrush according to the relative distance, relative speed, and relative acceleration between the object and the toothbrush. The embodiment of the present application does not limit the specific way of sensing the presence of the user.

[0109] Optionally, the first distance threshold can be the radius corresponding to the signal coverage range of the toothbrush antenna. For example, it is set to 1m.

[0110] Exemplarily, the first speed threshold is set to 0.1m / s or other values.

[0111] Taking the example that the toothbrush detects the presence of a user nearby and triggers the execution of IMU calibration, the toothbrush can also be triggered to perform IMU calibration by other conditions. In some embodiments, the toothbrush can determine the movement route of the user through the reflected signal of the radio signal received by the antenna. If it is determined that the user is approaching the toothbrush, the execution of IMU calibration is triggered.

[0112] Alternatively, in some other embodiments, the processor of the toothbrush may also determine whether to trigger the execution of IMU calibration in combination with the time interval during which the user is detected to be approaching or present. For example, when the toothbrush detects that the user is approaching, it triggers the execution of IMU calibration. After that, when the toothbrush detects that the user approaches the toothbrush again within a short period of time, in this case, since the toothbrush has performed IMU calibration a short time ago, the toothbrush does not perform IMU calibration again to reduce the power consumption of the toothbrush. After that, when the toothbrush detects that the user approaches the toothbrush again after a long period of time (for example, the time interval is greater than the time threshold), in this case, the toothbrush timely performs IMU calibration to assist in improving the accuracy of oral cavity partitioning when the user brushes their teeth.

[0113] Alternatively, in some other embodiments, the processor of the toothbrush may also determine whether to trigger the execution of IMU calibration in combination with the user's brushing time period. For example, the user usually brushes their teeth from 7:00 to 8:00 in the morning and from 9:00 to 10:00 in the evening. At 9:15 in the evening, when the toothbrush detects that the user is approaching, it triggers the execution of IMU calibration. When the user brushes their teeth with the toothbrush after IMU calibration, it can improve the accuracy of the user's oral cavity partitioning. At 7:00 in the evening, when the toothbrush detects that the user is approaching, it does not trigger the execution of IMU calibration to avoid high power consumption caused by frequent calibration.

[0114] Optionally, when the toothbrush detects that the user is approaching the toothbrush during the brushing time period, it can give a voice prompt to the user to wash first, and the user can use the calibrated toothbrush to brush their teeth after 10 seconds.

[0115] As a possible implementation, the toothbrush can determine the time period when the user historically appeared near the toothbrush based on the received reflected signals in the past, and send radio signals during this time period and not send radio signals during other time periods to reduce the power consumption of the toothbrush. For example, based on the historical reflected signals, the toothbrush determines that the probability of the user appearing near the toothbrush is high from 8:00 to 10:00 in the morning and from 8:00 to 10:00 in the evening. Then, the toothbrush can control the antenna to send radio signals from 8:00 to 10:00 in the morning and from 8:00 to 10:00 in the evening every day, and perform IMU calibration according to the reflected signals. Or, the toothbrush can control the antenna to send radio signals from 8:00 to 10:00 in the morning and from 8:00 to 10:00 in the evening every three days, and perform IMU calibration according to the reflected signals.

[0116] As a possible implementation, the toothbrush can use a single-channel antenna to detect whether there is a user nearby, as Figure 2 shown, the toothbrush sends radio signals through the antenna 1 of the radio frequency channel 1 and receives the reflected signals of the radio signals. The processor of the toothbrush determines that the distance and speed between the user and the toothbrush meet the above conditions according to the reflected signals, then determines that there is a user nearby, and triggers the toothbrush to perform the above-mentioned IMU calibration.

[0117] Optionally, the beam width of the above single-channel antenna is in the range of 100 degrees to 150 degrees, so as to be able to detect users within the corresponding radiation range. Exemplarily, the top view of the toothbrush and the user is as shown in Figure 5 (a). The toothbrush sends radio signals through antenna C, and the beam width of antenna C is 100 degrees (corresponding to the included angle between the two dashed lines). If the user is within this radiation range, the toothbrush can detect the user and automatically trigger the execution of IMU calibration when the conditions are met.

[0118] In this way, through a single-channel antenna with a large beam width and a wide detection range, the perception of nearby users can be realized with low power consumption.

[0119] As a possible implementation, the toothbrush can also use a multi-channel antenna to detect whether there are users nearby. The embodiments of the present application do not limit the specific number and type of antennas used to sense the presence of users.

[0120] The embodiments of the present application also provide a sensing method. The toothbrush can automatically and intelligently identify whether the user holds the toothbrush with the left hand or the right hand according to the reflected signal of the radio signal, and assist in determining the oral cavity partition situation of the user according to the left and right hand identification results, reducing the false detection rate of oral cavity partitioning. For example, it can assist in identifying the starting brushing surface during the brushing process.

[0121] In some embodiments, after the toothbrush performs IMU calibration, multiple antennas are activated for performing left and right hand identification. Exemplarily, as shown in Figure 6 , the processor of the toothbrush controls antennas A - E to send radio signals and receives the corresponding reflected signals. The toothbrush can determine whether the user's habitual brushing hand is the right hand or the left hand according to the situation of the antennas receiving the reflected signals. As shown in Figure 6 , when the toothbrush is facing the user, antenna A is the left antenna corresponding to the left side of the user, and antenna E is the right antenna corresponding to the right side of the user.

[0122] Optionally, as shown in Figure 6 , the beam widths of antennas A - E are in the range of 20 degrees to 30 degrees. For example, the beam width of each antenna is 20 degrees. Correspondingly, each antenna can detect the target object within the corresponding radiation range.

[0123] As shown in Figure 6In (a), the left antenna A (an example of the second antenna unit) receives the reflected signal of the hand. The toothbrush determines, based on this reflected signal, that the relative distance between the user's hand and the toothbrush is less than or equal to the second distance threshold, the moving speed of the hand relative to the toothbrush is greater than or equal to the second speed threshold, and the hand is getting closer to the toothbrush, which means the user's left hand is approaching to pick up the toothbrush. Therefore, the toothbrush determines that the result of left / right hand recognition is the left hand, that is, the user is used to holding the toothbrush with the left hand. Alternatively, if the left antenna B receives the reflected signal of the hand, and the toothbrush determines, based on this reflected signal, that the relative distance between the user's hand and the toothbrush is less than or equal to the second distance threshold, the moving speed of the hand relative to the toothbrush is greater than or equal to the second speed threshold, and the hand is getting closer to the toothbrush, then the toothbrush determines that it is the user's left hand approaching the toothbrush, and the result of left / right hand recognition is the left hand.

[0124] Similarly, as Figure 6 In (b), the right antenna E (an example of the third antenna unit) receives the reflected signal of the hand. The toothbrush determines, based on this reflected signal, that the relative distance between the user's hand and the toothbrush is less than or equal to the second distance threshold, the moving speed of the hand relative to the toothbrush is greater than or equal to the second speed threshold, and the hand is getting closer to the toothbrush, which means the user's right hand is approaching the toothbrush, and the user picks up the toothbrush with the right hand. Correspondingly, the toothbrush determines that the result of left / right hand recognition is the right hand. Alternatively, if the right antenna D receives the reflected signal of the hand, and the toothbrush determines, based on this reflected signal, that the relative distance between the user's hand and the toothbrush is less than or equal to the second distance threshold, the moving speed of the hand relative to the toothbrush is greater than or equal to the second speed threshold, and the hand is getting closer to the toothbrush, then the result of left / right hand recognition is the right hand.

[0125] In short, when the left antenna among the multiple antennas arranged on the toothbrush handle receives the reflected signal of the hand, and the toothbrush determines, based on this reflected signal, that the relative speed and relative distance between the hand and the toothbrush meet certain conditions, the hand picking up the toothbrush is recognized as the left hand. When the antenna arranged on the right side of the toothbrush handle (abbreviated as the right antenna) receives the reflected signal of the hand, and the toothbrush determines, based on this reflected signal, that the relative speed and relative distance between the hand and the toothbrush meet certain conditions, the hand picking up the toothbrush is recognized as the right hand.

[0126] Exemplarily, the second distance threshold is 0.5 m and the second speed threshold is 0.1 m / s.

[0127] After the toothbrush performs left / right hand recognition, it saves the result of left / right hand recognition. Subsequently, the toothbrush can perform oral cavity partitioning according to the result of left / right hand recognition.

[0128] After the above-mentioned IMU calibration is performed with the toothbrush and multiple antennas are activated for left and right hand recognition as an example, in some other embodiments, the toothbrush can also trigger the start of left and right hand recognition in combination with a time interval. For example, after the toothbrush detects that the user is approaching based on the reflected signal received by the antenna and performs IMU calibration, if the time interval since the last left and right hand recognition is short, the left and right hand recognition is not triggered. On the contrary, if the time interval since the last left and right hand recognition is long, the left and right hand recognition is triggered.

[0129] In some embodiments, in order to improve the accuracy of left and right hand recognition, the toothbrush can prompt the user to adjust the spatial position relationship between the user and the toothbrush before left and right hand recognition.

[0130] Exemplarily, as Figure 7 in (a) of the figure, the user is on the left side of the toothbrush. To prevent the antenna A set on the left side of the toothbrush handle from receiving the reflected signal of the hand when the user holds the toothbrush with the right hand, and the toothbrush determines that the speed and distance of the hand meet certain conditions based on this reflected signal and misidentifies the right hand holding the toothbrush as the left hand. The toothbrush can prompt the user by voice: Please face the toothbrush directly to improve the accuracy of left and right hand recognition. As Figure 7 in (b) of the figure, the user can adjust to face the toothbrush directly according to this voice instruction.

[0131] As Figure 7 in (b) of the figure, after the toothbrush activates the left and right hand recognition function, it controls the multiple antennas (such as the above-mentioned antennas A - E) set on the toothbrush handle to emit radio signals. After the user adjusts to face the toothbrush directly, when the user holds the toothbrush with the right hand, the right antenna (such as antenna E) among the multiple antennas receives the reflected signal of the hand. If the toothbrush determines that the speed and distance of the hand meet the above conditions based on this reflected signal, it identifies the hand holding the toothbrush as the right hand. It can be seen that after adjusting to face the toothbrush directly, in the scenario where the user holds the toothbrush with the right hand, the toothbrush has a high probability of receiving the reflected signal of the hand through the antenna (such as antenna A or antenna B) set on the right side of the handle and correctly identifying the hand holding the toothbrush as the right hand based on this reflected signal. Similarly, in the scenario where the user holds the toothbrush with the left hand, the toothbrush has a high probability of receiving the reflected signal of the hand through the antenna set on the left side of the handle and correctly identifying the hand holding the toothbrush as the left hand based on this reflected signal.

[0132] The solution of the embodiment of the present application can automatically perform left and right recognition, which is convenient and simple, and in this process, the user does not need to manually input left and right hand information on the application interface, reducing the risk of the application leaking user privacy.

[0133] The embodiment of the present application also provides a sensing method. The toothbrush can combine the reflected signal received by the antenna and the sensing data of the IMU to identify the left and right hands, so as to improve the accuracy of the left and right hand recognition result.

[0134] For example, as Figure 8(a-1), the user extends the right hand to pick up the toothbrush. During this process, the right antenna (such as the above-mentioned antenna E) set on the toothbrush handle receives the reflected signal of the hand. According to this reflected signal, the toothbrush takes the right hand as the preliminary result of left / right hand recognition. As Figure 8 (a-2), after the user picks up the toothbrush with the right hand, the toothbrush can take the right hand as the final result of left / right hand recognition according to the perception data collected by the IMU. For example, after the user picks up the toothbrush with the right hand, tilt the toothbrush at a certain angle as shown in Figure 8 (a-2). The IMU collects the tilt angle of the toothbrush. The toothbrush can determine that when the upper end of the toothbrush tilts to the left by a certain angle, the hand used by the user for holding is the right hand according to this tilt angle combined with the brushing action habit.

[0135] Again, for example, as Figure 8 (b-1), the user extends the left hand to pick up the toothbrush. During this process, the left antenna (such as the above-mentioned antenna A) set on the toothbrush handle receives the reflected signal of the hand. According to this reflected signal, the toothbrush takes the left hand as the preliminary result of left / right hand recognition. As Figure 8 (b-2), after the user picks up the toothbrush with the left hand, switch to holding the toothbrush with the right hand. Exemplarily, the IMU collects the tilt angle of the toothbrush. The toothbrush can determine that the hand used by the user for holding is the right hand according to this tilt angle combined with the brushing action habit.

[0136] In the solution of the embodiment of the present application, according to the reflected signal of the radio signal and the perception data collected by the IMU, these two methods are jointly used to perform left / right hand recognition, which improves the accuracy of the left / right hand recognition result and can reduce the probability of misidentifying the user's dominant hand as much as possible.

[0137] In the above solution, multiple antennas are set on the toothbrush, and operations related to oral cavity partitioning are performed according to the reflected signals of the corresponding antennas on the radio signals, which can improve the efficiency and accuracy of oral cavity partitioning.

[0138] The above is described by taking the example of setting multiple antennas on the toothbrush. In some other embodiments, such as Figure 5 (b), only one antenna can also be set on the toothbrush, and this antenna is a multi-channel antenna.

[0139] In some embodiments, the toothbrush can turn on one of the multiple channels. The beam width range of this channel is 100 degrees - 150 degrees (such as set to 100 degrees). The antenna sends radio signals through this channel and receives the reflected signals of the radio signals. The toothbrush determines that there is a user near the toothbrush according to the reflected signal, and then triggers the IMU calibration of the toothbrush.

[0140] In some embodiments, the toothbrush can activate multiple channels. The beam width range of the multiple channels is 20 degrees - 30 degrees (e.g., set to 20 degrees). The antenna transmits radio signals through the multiple channels. The toothbrush determines that the user has picked up the toothbrush based on the reflected signals received by at least one of the multiple channels, and then triggers the execution of left - hand / right - hand recognition.

[0141] In this embodiment, only one antenna is provided on the toothbrush, which can reduce costs, and IMU calibration and left - hand / right - hand recognition do not need to be manually performed by the user, with high efficiency.

[0142] Taking the antenna on the toothbrush for sensing as an example above, in some other embodiments, contact, optoelectronic, acoustic wave and other sensors can also be used for IMU calibration and left - hand / right - hand recognition functions. For example, if a sound wave sensor is provided on the toothbrush, when the toothbrush detects the user approaching through sound waves, IMU calibration can be performed.

[0143] In one or more embodiments of the present application, an entry for activating the above - mentioned intelligent IMU calibration (referred to as the intelligent calibration function for short) and intelligent left - hand / right - hand recognition function can be provided. For example, a corresponding switch is provided on the toothbrush. In response to the user turning on the switch, the toothbrush can perform IMU calibration and left - hand / right - hand recognition according to the above - mentioned method. This switch can be the same as or different from the switch for starting the toothbrush to brush teeth. When this switch is combined with the switch for starting the toothbrush, the user can start the toothbrush or start the above - mentioned intelligent functions through different operations. For example, long - pressing the switch starts the toothbrush; double - clicking the switch starts the intelligent IMU calibration function and intelligent left - hand / right - hand recognition function.

[0144] Again, for example, a setting entry is provided through a terminal such as a mobile phone, and the user sets through the terminal to turn on the intelligent IMU calibration and intelligent left - hand / right - hand recognition functions of the toothbrush. After turning on the intelligent calibration function and left - hand / right - hand recognition function, the toothbrush controls the antenna to send radio signals, and performs IMU calibration and left - hand / right - hand recognition according to the reflected signals received by the radio signals.

[0145] In one or more embodiments of the present application, the toothbrush can also support an intelligent voice reminder function, such as interacting with other intelligent devices when detecting that the user is approaching the toothbrush, providing a better human - machine interaction experience for the user. For example, when detecting that the user is approaching, it controls to turn on the lighting, control pre - heating, control to start the exhaust fan, control to start the magic mirror.

[0146] Figure 9 A flow example of the method in the embodiments of the present application is shown. When the toothbrush senses the presence of the user, it performs the IMU calibration function, otherwise, it continues to sense. After IMU calibration, the toothbrush senses whether the user has picked up the toothbrush. If so, it performs left - hand / right - hand recognition. If not, it continues to sense whether the user has picked up the toothbrush.

[0147] Taking the toothbrush as an example above, the embodiments of the present application can also be applied to oral cleaning devices such as dental irrigators.

[0148] Some other embodiments of the present application provide a device, which may be the above-mentioned oral cleaning device. The device may include: a display screen, a memory, and one or more processors. The display screen, the memory, and the processor are coupled. The memory is used to store computer program code, and the computer program code includes computer instructions. When the processor executes the computer instructions, the device can perform each function or step in the above method embodiments. The structure of the device may refer to Figure 1 the device shown.

[0149] Among them, the core structure of the device can be represented as Figure 10 the structure shown. The device includes: a processing module 2301, a storage module 2303, and a display module 2304.

[0150] The processing module 2301 may include at least one of a central processing unit (CPU), an application processor (AP), or a communication processor (CP). The processing module 2301 can perform operations or data processing related to the control and / or communication with at least one of the other elements of the user device. Specifically, the processing module 2301 can be used to control the content displayed on the main screen according to certain trigger conditions. The processing module 2301 is also used to process the input instructions or data, and determine the display style according to the processed data.

[0151] Optionally, an input module 2302 may further be included, which is used to obtain instructions or data input by the user, and transmit the obtained instructions or data to other modules of the device. Specifically, the input methods of the input module 2302 may include touch, gesture, proximity to the screen, etc., or may also be voice input. For example, the input module may be the screen of the device, obtain the input operation of the user and generate an input signal according to the obtained input operation, and transmit the input signal to the processing module 2301.

[0152] The storage module 2303 may include a volatile memory and / or a non-volatile memory. The storage module is used to store instructions or data related to at least one of the other modules of the user device.

[0153] The display module 2304 may include, for example, a liquid crystal display (LCD), a light-emitting diode (LED) display, an organic light-emitting diode (OLED) display, a microelectromechanical system (MEMS) display, or an electronic paper display. It is used to display content that can be viewed by the user (for example, text, images, videos, icons, symbols, etc.).

[0154] Optionally, it further includes a communication module 2305, which is used to support communication between the personal device (via a communication network) and other personal devices. For example, the communication module can be connected to a network via wireless communication or wired communication to communicate with other personal devices or network servers. The wireless communication can adopt at least one of the cellular communication protocols, such as Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Universal Mobile Telecommunications System (UMTS), Wireless Broadband (WiBro), or Global System for Mobile Communications (GSM). The wireless communication can include, for example, short-range communication. The short-range communication can include at least one of Wireless Fidelity (Wi-Fi), Bluetooth, Near Field Communication (NFC), Magnetic Stripe Transmission (MST), or Global Navigation Satellite System (GNSS).

[0155] It should be noted that each functional module of the device can execute one or more steps in the above method embodiments.

[0156] The embodiment of the present application also provides a chip system, as Figure 11 shown. The chip system includes at least one processor 1401 and at least one interface circuit 1402. The processor 1401 and the interface circuit 1402 can be interconnected by a line. For example, the interface circuit 1402 can be used to receive signals from other devices (such as the memory of the device). For another example, the interface circuit 1402 can be used to send signals to other devices (such as the processor 1401). Exemplarily, the interface circuit 1402 can read the instructions stored in the memory and send the instructions to the processor 1401. When the instructions are executed by the processor 1401, the device can execute each step in the above embodiments. Of course, the chip system can also include other discrete devices, and the embodiments of the present application do not make specific limitations on this.

[0157] The embodiment of the present application also provides a computer-readable storage medium, which includes computer instructions. When the computer instructions run on the above device, the device is enabled to execute each function or step in the above method embodiments.

[0158] The embodiment of the present application also provides a computer program product. When the computer program product runs on a computer, the computer is enabled to execute each function or step that the mobile phone executes in the above method embodiments.

[0159] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0160] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0161] The units described as separate components may or may not be physically separated. The components displayed as units may be one physical unit or multiple physical units, that is, they can be located in one place, or they can be distributed to multiple different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0162] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0163] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods of the embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks or optical discs that can store program codes.

[0164] The above content is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claimed rights.

Claims

1. A perception method, characterized in that, Applied to an oral cleaning device, the oral cleaning device includes an inertial measurement unit (IMU), and the method includes: Sending a radio signal; Receiving a reflected signal of the radio signal; Performing a first operation associated with the oral regions of the user according to the reflected signal, the first operation including: calibrating the IMU and / or determining the hand with which the user holds the oral cleaning device.

2. The method according to claim 1, wherein Calibrating the IMU according to the reflected signal includes: If it is determined according to the reflected signal that there is a user near the oral cleaning device, calibrate the IMU.

3. The method according to claim 2, characterized in that Determining that there is a user near the oral cleaning device according to the reflected signal includes: According to the reflected signal, if it is determined that the distance between the user and the oral cleaning device is less than a first distance threshold and the speed of the user relative to the oral cleaning device is greater than a first speed threshold, it is determined that there is a user near the oral cleaning device.

4. The method according to any one of claims 1 to 3, characterized in that, Calibrating the IMU according to the reflected signal includes: According to the reflected signal, if it is determined that there is a user near the oral cleaning device at a first moment and the time interval between the first moment and a second moment is greater than a time threshold, calibrate the IMU; the second moment is the moment when it was last determined that there was a user near the oral cleaning device.

5. The method according to any one of claims 1-4, characterized in that, The oral cleaning device is provided with an antenna, and sending the radio signal includes: Sending a radio signal through the antenna; Receiving the reflected signal of the radio signal includes: Receiving the reflected signal of the radio signal through the antenna.

6. The method according to claim 5, wherein The antenna includes a first antenna unit, and the beam width of the first antenna unit is in the range of 100 degrees - 150 degrees.

7. The method according to claim 5 or 6, characterized in that, The antenna further includes a second antenna unit and a third antenna unit; the second antenna unit is arranged at the left position on the handle of the oral cleaning device, and the third antenna unit is arranged at the right position on the handle of the oral cleaning device.

8. The method according to claim 7, characterized in that, Receiving the reflected signal of the radio signal includes: receiving a first reflected signal through the second antenna unit; Determining the hand with which the user holds the oral cleaning device according to the reflected signal includes: determining that the hand with which the user holds the oral cleaning device is the left hand according to the first reflected signal.

9. The method according to claim 7, wherein Receiving the reflected signal of the radio signal includes: receiving a second reflected signal through the third antenna unit; Determining the hand with which the user holds the oral cleaning device according to the reflected signal includes: determining that the hand with which the user holds the oral cleaning device is the right hand according to the second reflected signal.

10. The method according to claim 8, wherein Determining that the hand with which the user holds the oral cleaning device is the left hand according to the first reflected signal includes: According to the first reflected signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, it is determined that the hand with which the user holds the oral cleaning device is the left hand.

11. The method according to claim 9, wherein Determining that the hand with which the user holds the oral cleaning device is the right hand according to the second reflected signal includes: Based on the second reflected signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, it is determined that the hand used by the user to hold the oral cleaning device is the right hand.

12. The method according to any one of claims 5-11, characterized in that, The beam width of the second antenna unit is in the range of 20 degrees - 30 degrees; and / or the beam width of the third antenna unit is in the range of 20 degrees - 30 degrees.

13. The method according to any one of claims 1-12, characterized in that, The antenna is mounted at an upper position on the handle of the oral cleaning device.

14. A sensing device, characterized in that, The device includes an inertial measurement unit IMU and: An antenna for transmitting a radio signal; receiving a reflected signal of the radio signal; A processor for performing a first operation associated with the oral regions of the user according to the reflected signal, the first operation including: calibrating the IMU and / or determining the hand used by the user to hold the device.

15. A sensing device, characterized in that, Includes a processor and an antenna; The antenna for transmitting a radio signal; receiving a reflected signal of the radio signal; The processor for performing the method according to any one of claims 1 - 13 according to the reflected signal.

16. A computer-readable storage medium, characterized in that, Includes a program or instruction, when the program or instruction is executed, the method according to any one of claims 1 - 13 is implemented.

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