Cleaning test method, device and test system for oral care equipment

Abstract

The invention discloses a cleaning test method, device and system for oral care equipment and a medium, and the method comprises the steps: planning a motion track of the test equipment when a preset three-dimensional tooth model is brushed; controlling the test equipment to drive the oral care equipment to brush the three-dimensional tooth model based on the motion trail; and determining the cleaning efficiency of the oral care equipment, wherein the cleaning efficiency is determined on the basis of at least one of the time consumed for completing brushing of the three-dimensional tooth model and the variable quantity of the cleaning area of the three-dimensional tooth model. The cleaning efficiency of the oral care equipment can be accurately evaluated through at least one of the duration consumed by the cleaning test and the variable quantity of the cleaning area of the three-dimensional tooth model by simulating the process that the user uses the oral care equipment to care the oral cavity, so that the accurate evaluation of the cleaning performance of the oral care equipment is realized, and the user experience is improved. The oral care equipment can be conveniently improved by testers when the cleaning efficiency is relatively low, and the cleaning performance of the oral care equipment is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of testing of oral care equipment, and more specifically, to a cleaning testing method for oral care equipment, a cleaning testing device for oral care equipment, and a testing system. Background Art

[0002] At present, oral care devices (such as electric toothbrushes) are increasingly accepted by the public due to their excellent cleaning performance. In order to ensure the cleaning performance of oral care devices, cleaning tests are generally performed on the oral care devices, and the oral care devices are adjusted based on the test results.

[0003] However, current cleaning test methods are relatively simple and crude, generally starting with turning on the electric toothbrush and then brushing the dirty tooth surface to complete the test. The cleaning test has low accuracy and it is difficult to accurately evaluate the cleaning performance of the electric toothbrush. Summary of the Invention

[0004] The embodiments of the present application provide a cleaning test method for an oral care device, a cleaning test device for an oral care device, and a test system. The test device clamps the oral care device and brushes a three-dimensional tooth model, thereby simulating the process of a user caring for their oral cavity. The cleaning efficiency of the user when using the oral care device is accurately evaluated by at least one of the time required to complete the brushing and the change in the cleaning area of the three-dimensional tooth model.

[0005] The present application proposes a cleaning test method for an oral care device, the method comprising: planning a motion trajectory of a test device when brushing a preset three-dimensional tooth model, the test device being used to clamp the oral care device; controlling the test device to drive the oral care device to brush the three-dimensional tooth model based on the motion trajectory; and determining the cleaning efficiency of the oral care device, the cleaning efficiency being determined based on at least one of the time taken to complete brushing the three-dimensional tooth model and the change in the cleaning area of the three-dimensional tooth model.

[0006] This application proposes a cleaning test device for an oral care device, comprising a planning module, a control module, and a determination module. The planning module is configured to plan the motion trajectory of a test device when brushing a preset three-dimensional tooth model, wherein the test device is configured to hold the oral care device; the control module is configured to control the test device to drive the oral care device along the motion trajectory while brushing the three-dimensional tooth model; and the determination module is configured to determine the cleaning efficiency of the oral care device, wherein the cleaning efficiency is determined based on at least one of the time it takes to brush the three-dimensional tooth model and the change in the cleaned area of the three-dimensional tooth model.

[0007] The present application also proposes a testing system, which includes a testing device, a processor and a memory; the memory stores a computer program, and when the processor executes the program, the cleaning test method of the oral care device described in the above embodiment is implemented.

[0008] The cleaning test method, cleaning test device and test system of the oral care equipment in the embodiments of the present application control the test equipment (such as a robotic arm) to clamp the oral care equipment, and then the test equipment moves according to a planned motion trajectory to drive the movement of the oral care equipment, so that the oral care equipment can brush various areas of the three-dimensional tooth model, thereby simulating the process of the user using the oral care equipment to care for the oral cavity.

[0009] When the three-dimensional tooth model is brushed clean (i.e., all areas are brushed clean, simulating the user cleaning the mouth), the cleaning efficiency of the oral care device can be accurately evaluated by at least one of the time consumed and the change in the cleaning area of the three-dimensional tooth model, thereby achieving an accurate evaluation of the cleaning performance of the oral care device and facilitating the tester to improve the oral care device when the cleaning efficiency is low, thereby ensuring the cleaning performance of the oral care device.

[0010] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0012] Figure 1 is a schematic diagram of a scenario of a testing method for an oral care device according to certain embodiments of the present application;

[0013] Figure 2 is an exploded schematic diagram of an oral care device according to certain embodiments of the present application;

[0014] Figure 3 is a first flow chart of a cleaning test method for an oral care device according to certain embodiments of the present application;

[0015] Figure 4 is a second flow chart of a cleaning test method for an oral care device according to certain embodiments of the present application;

[0016] Figure 5 is a third flow chart of a cleaning test method for an oral care device according to certain embodiments of the present application;

[0017] Figure 6is a schematic diagram of a first scenario of a cleaning test method for an oral care device according to certain embodiments of the present application;

[0018] Figure 7 is a schematic diagram of a second scenario of a cleaning test method for an oral care device according to certain embodiments of the present application;

[0019] Figure 8 is a fourth flow chart of a cleaning test method for an oral care device according to certain embodiments of the present application;

[0020] Figure 9 is a fifth flow chart of a cleaning test method for an oral care device according to certain embodiments of the present application;

[0021] Figure 10 is a schematic diagram of a module of a cleaning test device according to certain embodiments of the present application;

[0022] Figure 11 It is a schematic diagram of the connection status of a non-volatile computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0023] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be understood as limiting the embodiments of the present application.

[0024] To facilitate understanding of this application, the following are explanations of the terms that appear in this application:

[0025] Oral care devices are devices used to care for the oral cavity.

[0026] Optionally, the oral care device may be an electric toothbrush, a dental scaler, an oral irrigator, an interdental cleaning device, a dental floss cleaning device, or the like.

[0027] To more vividly illustrate the various technical solutions in the embodiments of the present disclosure, the following describes the cleaning test method for an oral care device using an electric toothbrush as an example. It is understood that the principles for implementing the cleaning test method for an oral care device of the present disclosure are substantially similar for other oral care devices and will not be further elaborated here. It should be emphasized that this is merely an example and does not specifically limit the scope of application of the embodiments of the present disclosure.

[0028] See also Figure 1The application scenario of the present application is first introduced below, and the application scenario includes a test system 100 and an oral care device 200. The test system 100 is used to perform a tap test on the oral care device 200 and evaluate the test results.

[0029] In some embodiments, the testing system 100 includes a testing device 10 and a three-dimensional tooth model 20 .

[0030] The testing device 10 refers to a device that can hold the oral care device 200 and drive the oral care device 200 to move in any posture in a three-dimensional space.

[0031] For example, the testing device 10 includes a robotic arm, an automated mechanical device that can mimic the movements of a human arm. The robotic arm comprises a base, joints, and an end effector. The end effector is controlled by the movement of the joints relative to the base to move the end effector in three-dimensional space. The end effector is used to grip an oral care device and move the device in any desired position within three dimensions.

[0032] For another example, the testing device 10 includes various robots (such as industrial robots).

[0033] The following description will be made using an example of a robotic arm holding an electric toothbrush. When the test device 10 is other devices, the principles are basically similar and will not be repeated here.

[0034] The three-dimensional tooth model 20 is used to simulate the teeth in the oral cavity.

[0035] The testing device 10 drives the oral care device 200 to move by its own movement, so that the oral care device 200 performs a brushing test on the three-dimensional tooth model 20 .

[0036] In some embodiments, see Figure 1 and Figure 2 The oral care device 200 includes a movement 210 , a handle shell 220 and a care component 230 , and the movement 210 includes a mounting bracket 211 and a driving component 212 .

[0037] The driving component 212 is mounted on the mounting bracket 211. The care component 230 is used for oral care, such as cleaning teeth, and the care component 230 is connected to the driving component 212, and the driving component 212 is used to drive the care component 230 to move (drive the care component 230 to rotate and / or extend).

[0038] Optionally, the care component 230 includes a brush head 231 and a brush handle 232. The brush head 231 is arranged at the end of the brush handle 232, and the brush handle 232 is arranged on the driving shaft of the driving component 212. When the driving shaft moves, it drives the brush handle 232 and the brush head 231 to move.

[0039] Optionally, a switch button 240 is further provided on the handle housing 220. The switch button 240 is used to control the start or stop of the oral care device. Alternatively, the switch button can control the oral care device to work in various preset gears, and the cleaning parameters of each gear are different.

[0040] Based on the introduction of the above-mentioned related scenarios, the embodiment of the present application provides a cleaning test method for an oral care device. The cleaning test method for an oral care device is described in detail below:

[0041] See also Figure 3 , Figure 3 The present invention provides a flow chart of a cleaning test method for an oral care device. The present invention provides a cleaning test method for an oral care device, which is implemented by steps 011 to 013, as described in detail below.

[0042] Step 011: Planning the motion trajectory of the test device when brushing the preset 3D tooth model, the test device is used to clamp the oral care device;

[0043] The three-dimensional tooth model refers to a model that simulates the teeth in the mouth.

[0044] Optionally, the three-dimensional tooth model includes multiple three-dimensional tooth models, and the three-dimensional tooth models correspond to at least one different age range, tooth area, tooth material, oral environment and oral lesion condition.

[0045] That is, in order to test the cleaning efficiency of the oral care device on teeth with different dental conditions, tooth models with different dental conditions can be made respectively.

[0046] For example, the morphology of teeth varies across age groups, such as children, teenagers, young adults, middle-aged adults, and the elderly, leading to differences in cleaning efficiency. Therefore, 3D tooth models of different age groups can be created for cleaning efficiency testing, ensuring the cleaning efficiency of oral care devices for users of different ages.

[0047] For example, different tooth regions, such as incisors, lateral incisors, canines, and molars, have different morphologies, leading to differences in cleaning efficiency. Therefore, 3D tooth models can be created for cleaning efficiency testing of different tooth regions to ensure cleaning efficiency in each region. Alternatively, 3D tooth models containing various types of tooth regions can be created to simulate a real oral environment. This not only improves cleaning test efficiency, but also provides results that are closer to actual scenarios and yield better results.

[0048] For example, when teeth are missing or diseased, some users have had fillings or veneers applied, which changes the tooth material. Different tooth materials, including simulated human teeth, ceramic veneers, implants (titanium alloy materials), and porcelain teeth, all have different cleaning efficiencies. Therefore, 3D tooth models of different tooth materials can be created to conduct cleaning efficiency tests on each, ensuring the cleaning efficiency of oral care devices for users with different tooth materials.

[0049] Among them, the simulated human teeth can be real human teeth, animal teeth or teeth made of materials such as hydroxyapatite sheets, which are basically similar to human teeth in structure and hardness.

[0050] For example, cleaning efficiency varies in different oral environments, such as acidic environments caused by consuming acidic substances, acid reflux, or bacterial acid production, compared to a normal oral environment (i.e., a healthy oral environment). Therefore, 3D tooth models can be created for different oral environments (e.g., by immersing the 3D tooth model in an acidic environment) to conduct cleaning efficiency tests in each environment. This ensures the cleaning efficiency of the oral care device under different oral environments.

[0051] Specifically, in order to simulate the process of human hands brushing their teeth with an electric toothbrush, the motion trajectory of human hands brushing their teeth with an electric toothbrush can be generated based on the three-dimensional tooth model. The robotic arm moves according to the motion trajectory to simulate the scene of human hands brushing their teeth with an electric toothbrush, thereby completing the brushing of the three-dimensional tooth model.

[0052] See also Figure 4 Optionally, step 011 includes:

[0053] Step 0111: Input the preset brushing method and three-dimensional tooth model information into the artificial intelligence-based path planning model to output the motion trajectory of the test device.

[0054] The tooth brushing method refers to the tooth brushing method used when brushing teeth. For example, the tooth brushing method includes at least one of the Bass method, the Roche method, the circular brushing method, and the horizontal vibration brushing method.

[0055] The path planning model is an artificial intelligence-based model. For example, it can be a machine learning model, a neural network model, or something similar. Machine learning models are a set of mathematical and statistical methods that automatically "learn" patterns and features from data through algorithms. These models can be used to make predictions or decisions without explicit programming.

[0056] Specifically, a path planning model can be trained based on a preset training set. During the cleaning test, only the brushing method and the three-dimensional tooth model information need to be input to automatically implement path planning, which is conducive to the realization of automated cleaning testing.

[0057] The training set includes multiple training samples, including information on brushing techniques, 3D tooth models, and motion trajectories. The model learns how to plan motion trajectories that simulate human brushing under different brushing techniques and 3D tooth models.

[0058] Optionally, the path planning model is adjusted based on the tooth brushing data and user feedback information when the user uses the oral care device, the tooth brushing data at least includes tooth characteristics and tooth brushing habits, and the user feedback information at least includes tooth brushing evaluation.

[0059] As users continue to use oral care devices, they can collect brushing data and user feedback. This data can record the various brushing positions of the oral care device during the brushing process, as well as the cleaning parameters and tooth characteristics at each brushing position. Each brushing position can provide a certain degree of feedback on the user's brushing habits. User feedback can include the user's satisfaction level after each brushing session. As you can see, higher satisfaction generally indicates better cleaning results.

[0060] In this way, by obtaining brushing data with a high degree of satisfaction, the path planning model is updated, so that the motion trajectory planned by the path planning model is closer to the user's actual brushing scenario, which is conducive to improving the cleaning test effect.

[0061] Optionally, the three-dimensional tooth model includes one or more partitions, the motion trajectory includes one or more, and the motion trajectory and the partition correspond one to one.

[0062] Specifically, the actual oral cavity generally includes different tooth areas, and the tooth characteristics in these tooth areas are different. During the cleaning test, each tooth area needs to be cleaned. Therefore, when the robotic arm moves based on the motion trajectory, it needs to clean each tooth area.

[0063] Therefore, in order to simulate the tooth area, the three-dimensional tooth model is also divided into one or more corresponding partitions. For the three-dimensional tooth model as one partition, it means that the cleaning efficiency of each tooth area is not concerned. For the three-dimensional tooth model to be divided into multiple partitions, it means that the cleaning efficiency of each partition needs to be determined to achieve a more detailed cleaning test.

[0064] When planning the motion trajectory, the motion trajectory can be planned for each partition.

[0065] For example, a motion trajectory can be planned for each partition to achieve cleaning of each partition;

[0066] For another example, a total motion trajectory that can cover all partitions can be planned. The total motion trajectory includes various sub-motion trajectories, and each sub-motion trajectory corresponds to a partition. Therefore, when the robotic arm moves based on the motion trajectory, it can clean each partition, which is conducive to reducing redundant paths and improving cleaning test efficiency. It is more in line with the movement trajectory of the electric toothbrush when the user actually brushes his teeth, and the test of cleaning efficiency is more accurate.

[0067] In this way, by performing path planning for each partition, it can be ensured that a cleaning test is performed on each partition, thereby obtaining the cleaning efficiency of the oral care device for each partition and achieving a more refined cleaning efficiency test.

[0068] Optionally, the three-dimensional tooth model includes one or more partitions, the tooth brushing method includes one or more, and each partition has a corresponding tooth brushing method.

[0069] Specifically, in actual scenarios, users may use different brushing methods to clean different tooth areas. Therefore, in order to simulate this situation, when performing path planning, corresponding brushing methods can be set for each partition of the three-dimensional tooth model, so that each partition has a corresponding brushing method.

[0070] For example, each partition may use the same brushing method; or each partition may use a different brushing method; or, among each partition, some partitions may use the same brushing method and some partitions may use different brushing methods.

[0071] In this way, setting corresponding brushing methods for different partitions can be closer to the actual brushing scene and improve the accuracy of the cleaning test.

[0072] See also Figure 5 Optionally, step 0111 includes:

[0073] Step 01111: Decompose the tooth brushing method into one or more tooth brushing actions;

[0074] Step 01112: Based on the brushing method and the spatial contour information of each tooth in the three-dimensional tooth model, the motion trajectory of the test device and the motion mode of the test device when it is at different motion positions in the motion trajectory are planned, and the oral care device performs the brushing action corresponding to the motion mode.

[0075] Specifically, a brushing method may include multiple brushing actions. For example, when using the bus brushing method to brush your teeth, the brushing action can be decomposed into actions such as moving the brush head up and down, swinging left and right, and rotating.

[0076] Therefore, when performing path planning, it is necessary not only to plan the motion trajectory that can clean each area of the three-dimensional tooth model, but also to plan the specific brushing operations performed by the electric toothbrush controlled by the robotic arm at different positions of the motion trajectory, thereby realizing the process of brushing while moving, which is closer to the actual brushing scene.

[0077] Specifically, the brushing method can be decomposed into one or more brushing actions. Then, based on the brushing method and the spatial contour information of each tooth in the three-dimensional tooth model, while planning the motion trajectory of the robotic arm when cleaning each tooth, the movement mode of the robotic arm at different motion positions in the motion trajectory is planned. The movement mode corresponds to the brushing action, so that the oral care device performs the brushing action corresponding to the movement mode.

[0078] Optionally, before controlling the movement of the test device, the test device is controlled to trigger a switch button of the oral care device to adjust the cleaning parameters of the electric toothbrush.

[0079] It is understood that in order to conduct a cleaning test of an electric toothbrush, it is necessary to turn on the electric toothbrush before the test so that the electric toothbrush starts working. Therefore, by controlling the test device to trigger the switch button of the oral care device, the electric toothbrush can be controlled to start working. The switch button can also generally control the cleaning parameters of the electric toothbrush. For example, the switch button can be switched from 0 to 3, with 0 being the stop position and the cleaning parameters of 1 to 3 being different from each other.

[0080] For example, the vibration frequencies and amplitudes of gears 1 to 3 are different, and the electric toothbrush of the present application can perform a sweeping motion, that is, a sweeping motion is superimposed on the vibration, thereby expanding the cleaning range of the electric toothbrush. Therefore, the sweeping amplitudes, sweeping frequencies, etc. of gears 1 to 3 can also be different.

[0081] In this way, by controlling the switch button of the electric toothbrush, the process of cleaning teeth with different cleaning parameters by the electric toothbrush is simulated, and the cleaning efficiency of different cleaning parameters can be tested.

[0082] Optionally, the motion parameters of the test device may be set so that the brushing force of the oral care device is within a preset force range and the brushing speed is within a preset speed range.

[0083] For example, the motion parameters are set by the tester, that is, the tester manually sets them based on experience.

[0084] For example, if the brushing force is 200 grams (g) and the brushing speed is 7 mm / s, the preset force range is [190 g, 210 g]; the preset speed range is [6.9 mm / s, 7.1 mm / s]. This allows for simulation of the actual brushing speed and force of the user, improving the accuracy of the cleaning test. Furthermore, it allows for small fluctuations in motion parameters, which is closer to the actual scene while also ensuring brushing stability.

[0085] Optionally, the three-dimensional tooth model includes multiple partitions, and different motion parameters are set for different partitions.

[0086] For different partitions of the three-dimensional tooth model, the degree of dirtiness and fragility is different due to differences in tooth structure. Therefore, different motion parameters can be set for different partitions to be closer to the actual brushing scene.

[0087] For example, there is a positive correlation between the brushing intensity and the dirtiness of the corresponding partition.

[0088] Different areas of a 3D tooth model generally have different levels of dirt due to differences in tooth structure. For example, the molar area is more prone to dirt and is more contaminated than the incisor area. Therefore, when brushing, users generally use greater force to clean the dirtier areas based on experience. Therefore, the brushing force can be set accordingly based on the preset dirtiness (empirical value) of each area of the 3D tooth model, making the cleaning test more realistic and improving the accuracy of the cleaning test.

[0089] For another example, there is a negative correlation between the brushing speed and the dirtiness of the corresponding partition. That is, the dirtier the partition, the slower the brushing speed should be used to ensure a cleansing effect.

[0090] For example, there's a negative correlation between brushing force and the fragility of the corresponding tooth zone. This means that the more fragile the tooth zone (i.e., the more susceptible it is to oral damage, such as molars, which are shorter than incisors and closer to the gums, making them more susceptible to gum damage)), the less force you need to apply to avoid damaging the oral cavity.

[0091] In this way, the motion parameters are set specifically for different partitions, which is closer to the actual scene and can improve the accuracy of the cleaning test.

[0092] Optionally, before controlling the test device to drive the oral care device to brush the three-dimensional tooth model based on the motion trajectory, a motion test can be performed on the motion trajectory to ensure the effectiveness of the motion trajectory, improve the efficiency of the cleaning test, and avoid invalid cleaning tests caused by motion trajectory errors.

[0093] Specifically, when performing a motion trajectory test, the robotic arm can be controlled to hold the electric toothbrush and move based on the motion trajectory, thereby determining the test result based on the actual motion trajectory of the robotic arm and the planned motion trajectory. If the actual motion trajectory does not match the planned motion trajectory, the motion trajectory can be determined to be unqualified, otherwise it can be determined to be qualified. After the motion trajectory is qualified, a subsequent cleaning test can be performed to ensure the effectiveness of the cleaning test.

[0094] Alternatively, when testing the motion trajectory, you can also test the brushing action at different motion positions. If the actual brushing action at different motion positions does not match the planned brushing action, it can be determined that the brushing action planning for that motion position has failed. After the motion trajectory and the brushing actions at different motion positions are qualified, subsequent cleaning tests can be performed to further ensure the effectiveness of the cleaning test.

[0095] Step 012: Control the test device to drive the oral care device to brush the three-dimensional tooth model based on the motion trajectory.

[0096] Specifically, to drive the oral care device, the test device must first be controlled to grip the oral care device, such as by using the end effector of a robotic arm to grip the oral care device, thereby simulating a human hand holding the oral care device. Alternatively, a tester can manually load the oral care device onto the test device so that the test device grips the oral care device.

[0097] After simulating the situation of holding the oral care device, the robotic arm is controlled to move according to the planned motion path, and the robotic arm can drive the oral care device to brush the three-dimensional tooth model to complete the cleaning test.

[0098] Most existing equipment can only test the cleaning effect of teeth on a two-dimensional plane, and it is difficult to simulate the three-dimensional oral structure and saliva environment during the actual brushing process. Therefore, it is impossible to measure the actual cleaning effect of the product and it is difficult to promote technological innovation in tooth cleaning products.

[0099] Optionally, the testing device further comprises a water outlet, wherein the water outlet is used to produce artificial saliva, and during the process of brushing the three-dimensional tooth model, the water outlet outputs the artificial saliva to the three-dimensional tooth model.

[0100] Optionally, the flow rate of the artificial saliva output from the water outlet is determined based on the speed at which a person produces saliva when brushing their teeth, such as 0.2 g / min.

[0101] In this way, spraying the artificial saliva onto the three-dimensional tooth model through the water outlet can place the three-dimensional tooth model in a similar real oral environment, simulating the scene of brushing in the real oral environment, thereby further increasing the accuracy of the cleaning test.

[0102] Optionally, in order to intuitively and accurately determine whether the three-dimensional tooth model has been brushed, the three-dimensional tooth model may be dyed before brushing.

[0103] Specifically, by dyeing the 3D tooth model, the color of the 3D tooth model returns to its original color after being brushed with the oral care device, accurately determining whether each area has been cleaned. Incomplete areas to be cleaned typically have residual pigment, so the remaining pigment can be identified and the areas to be cleaned can be quickly determined. If there are no areas to be cleaned, the 3D tooth model can be determined to be clean.

[0104] Optionally, the dyeing process includes the following steps:

[0105] (1) soaking the three-dimensional tooth model in a preset staining solution for a first preset time;

[0106] For example, immerse the three-dimensional tooth model in a special solution (the solution is a mixture of 500 ml of polyvinyl alcohol solution and 50 ml of dental plaque developer), ensure that the occlusal surface, lip (cheek) side, tongue (palate) side, and each surface adjacent to the front and back teeth of the three-dimensional tooth model are evenly exposed to the special solution, and soak for 30 minutes at room temperature.

[0107] (2) After the soaking is completed, the mixture is dried and cured for a second preset time.

[0108] After soaking, the model was dried at room temperature for 15 minutes to solidify. The surface of the 3D tooth model was then stained with pigment. After curing, the model was mounted on a robotic arm test bench and photographed at fixed points to record the staining of each surface. The color of the 3D tooth model before staining is the original color. After staining, the pigment will fall off the model after brushing with an electric toothbrush, restoring the original color.

[0109] Step 013: Determine a cleaning efficiency of the oral care device, where the cleaning efficiency is determined based on at least one of a time taken to complete brushing the three-dimensional tooth model and a change in a cleaning area of the three-dimensional tooth model.

[0110] Specifically, in order to evaluate the cleaning efficiency, it is necessary to time the time taken to brush the three-dimensional tooth model. It can be understood that the cleaning efficiency and the time taken to complete the brushing are negatively correlated, that is, the longer the time taken to complete the brushing, the lower the cleaning efficiency, and vice versa.

[0111] For example, when the electric toothbrush touches the three-dimensional tooth model, the timing starts, and the color changes of the three-dimensional tooth model during the brushing process are detected through the image captured by the image acquisition device. When it is detected that the colors of all areas of the three-dimensional tooth model have returned to the original color, the timing stops. The time obtained at this time is the time taken to complete the brushing of the three-dimensional tooth model.

[0112] Alternatively, in order to evaluate the cleaning efficiency, it is necessary to detect the change in the cleaning area during the brushing process of the three-dimensional tooth model. It can be understood that the cleaning efficiency is positively correlated with the change in the cleaning area per unit time (hereinafter referred to as the cleaning speed), that is, the greater the change in the cleaning area per unit time (that is, the larger the area cleaned per unit time, the faster the cleaning speed), the higher the cleaning efficiency, and vice versa.

[0113] For example, after staining, the 3D tooth model is fixed on the robotic arm test bench and fixed-point photography is used to record the staining of each surface of the 3D tooth model. A certain brushing / rinsing time (i.e., unit time (e.g., 5s)) is preset according to the test requirements. After the robotic arm brushes for the unit time, it also records the staining of the 3D tooth model after brushing by fixed-point photography. The change in the area of the cleaned area (i.e., the cleaned area) before and after brushing is analyzed (e.g., the difference between the area of the area with the original color before brushing and the area of the area with the original color after brushing) is calculated to obtain the change in the cleaned area per unit time.

[0114] Alternatively, the cleaning efficiency may be determined based on both the time elapsed after brushing and the change in the cleaned area of the 3D tooth model. For example, a first weight and a second weight may be assigned to the time elapsed after brushing and the change in the cleaned area of the 3D tooth model, respectively, thereby comprehensively determining the cleaning efficiency based on the time elapsed after brushing, the change in the cleaned area of the 3D tooth model, the first weight, and the second weight.

[0115] Optionally, the three-dimensional tooth model includes multiple partitions, and the brushing result includes the brushing results of each partition.

[0116] The cleaning process of each partition can be timed separately to obtain the time taken to complete the brushing of each partition. The time taken to complete the brushing of each partition is negatively correlated with the cleaning efficiency of each partition.

[0117] Alternatively, by brushing each partition per unit time, the change in the cleaning area of each partition per unit time is obtained, and the cleaning efficiency of each partition is positively correlated with the change in the cleaning area of each partition per unit time, thereby accurately determining the cleaning efficiency of each partition.

[0118] Testers can improve oral care equipment for areas with low cleaning efficiency. For example, when the oral care equipment recognizes that it is currently cleaning a tooth area with low cleaning efficiency, it can adjust the cleaning parameters to increase the cleaning effect, thereby achieving targeted improvement in cleaning efficiency.

[0119] In this way, not only the overall cleaning efficiency can be accurately determined, but also the cleaning efficiency of each partition can be determined, and local oral cleaning tests can be performed, which is conducive to improving the cleaning performance of oral care equipment for different partitions, thereby more thoroughly removing dirt from hard-to-reach tooth gaps and tooth surfaces.

[0120] See also Figure 6 In one example, taking the Bass toothbrushing method for a cleaning test as an example, the three-dimensional tooth model is divided into four partitions. The three-dimensional tooth model includes an upper tooth area and a lower tooth area. Both the upper tooth area and the lower tooth area are divided into left and right tooth areas. The upper tooth area is divided into area A and area B, and the lower tooth area is divided into area C and area D. That is, the four partitions are upper left partition A, upper right partition B, lower left partition C, and lower right partition D.

[0121] The time taken to complete the scrubbing of the upper left partition A, upper right partition B, lower left partition C, and lower right partition D is shown in Table 1 below:

[0122]

[0123]

[0124] Table 1

[0125] The total time required to brush the three-dimensional tooth model is the sum of the time required to brush the four partitions.

[0126] It can be seen that the time it takes for an electric toothbrush to clean the four tooth areas is basically the same, which is consistent with the fact that in healthy people, the brushing time allocated to each tooth area should be equal.

[0127] See also Figure 7 In another example, taking the Bass toothbrushing method for cleaning test as an example, the three-dimensional tooth model is divided into 16 partitions. The three-dimensional tooth model includes the upper tooth area and the lower tooth area. The upper tooth area and the lower tooth area are divided into three large partitions based on the tooth area (respectively, the left molar area, the central incisor area and the right molar area). Different large partitions are divided into multiple small partitions based on the tooth surface (such as the incisor area is divided into the outer side and the inner side, and the molar area is divided into the outer side, the inner side and the occlusal surface). In this way, the three-dimensional tooth model is divided into 16 partitions from A to P.

[0128] The time taken to complete the scrubbing of partitions A to P is shown in Table 2 below:

[0129]

[0130] Table 2

[0131] Among them, the total time required to brush a large area is the sum of the time required for the corresponding small areas (such as the total time required for the central incisor area of the upper tooth area is the sum of the time required for areas D and E), and the total time required to brush a three-dimensional tooth model is the sum of the time required for the six large areas.

[0132] It can be seen that the time taken to brush the occlusal surface of the molar area (such as B partition, G partition, etc.) is significantly longer than that of other areas. This may be because there are more grooves on the occlusal surface and the shape of the brush bristles is less compatible with the tooth area, which results in a longer time required to brush clean.

[0133] The cleaning test method of the present application controls a test device (such as a robotic arm) to clamp the oral care device, and then the test device moves according to a planned motion trajectory to drive the movement of the oral care device, so that the oral care device can brush various areas of the three-dimensional tooth model, thereby simulating the process of a user using an oral care device to care for the oral cavity.

[0134] When the three-dimensional tooth model is brushed clean (i.e., all areas are brushed clean, simulating the user cleaning the mouth), the cleaning efficiency of the oral care device can be accurately evaluated by the time spent, thereby achieving an accurate evaluation of the cleaning performance of the oral care device. It is also convenient for testers to improve the oral care device when the cleaning efficiency is low, thereby ensuring the cleaning performance of the oral care device.

[0135] See also Figure 8 In some embodiments, the test system further includes an image acquisition device (such as Figure 1 30), the cleaning test method also includes:

[0136] Step 014: Determine a brushing result of the three-dimensional tooth model, where the brushing result is determined based on at least one of a brushing duration and image information of the three-dimensional tooth model before and after brushing.

[0137] Specifically, when determining the cleaning efficiency based on the time taken to complete brushing of the three-dimensional tooth model, the accuracy of determining whether the three-dimensional tooth model is completely brushed will directly affect the accuracy of the cleaning efficiency evaluation.

[0138] Therefore, to accurately determine when brushing is complete, an image acquisition device can capture a first image of the 3D tooth model before brushing and a second image of the 3D tooth model after brushing based on the motion trajectory. The brushing result can then be determined by comparing the color changes of the 3D tooth model in the first and second images.

[0139] Optionally, the scrubbing result may be determined by:

[0140] Based on the first image and the second image, determining whether there is an area to be cleaned, the area to be cleaned being an area that has not been cleaned or has not been cleaned thoroughly;

[0141] If so, the scrubbing result is determined to be incomplete;

[0142] If not, the scrubbing result is determined to be scrubbing completed.

[0143] That is to say, if there are areas in the three-dimensional tooth model in the second image whose color is the same as that of the three-dimensional tooth model in the first image, it can be determined that there are areas in the three-dimensional tooth model that are not cleaned or not cleaned thoroughly to be cleaned, and at this time it can be determined that the three-dimensional tooth model has not been brushed; and if there are no areas in the three-dimensional tooth model in the second image whose color is the same as that of the three-dimensional tooth model in the first image, it can be determined that there are no areas in the three-dimensional tooth model that are not cleaned or not cleaned thoroughly to be cleaned, and at this time it can be determined that the three-dimensional tooth model has been brushed.

[0144] For example, if the 3D tooth model in the second image has a light red area and the 3D tooth model in the first image has a corresponding dark red area, and the light red and dark red are the same color, then the light red area is not cleaned properly, and the 3D tooth model can be determined to be incompletely brushed. For example, if the original color of the 3D tooth model is white, only when the light red area turns white can it be considered cleaned, and the 3D tooth model can be determined to be completely brushed.

[0145] Optionally, the scrubbing result may be determined in the following manner:

[0146] If the scrubbing time is less than the preset time, the scrubbing result is determined to be incomplete.

[0147] When the scrubbing time is greater than (or equal to) the preset time, the scrubbing result is determined to be scrubbing completion.

[0148] Among them, the preset time is an empirical value. After brushing for the preset time, the change in the cleaning area of the surface of the three-dimensional tooth model is large and can be accurately detected, thereby ensuring the accuracy of determining the cleaning efficiency based on the change in the cleaning area of the surface of the three-dimensional tooth model.

[0149] Therefore, when the scrubbing time is less than the preset time, the change in the cleaning area is small, making it difficult to accurately detect the change in the cleaning area. Therefore, it can be determined that scrubbing is not complete and that further scrubbing is required. However, when the scrubbing time is greater than the preset time, the change in the cleaning area is large, making it possible to accurately detect the change in the cleaning area. Therefore, it can be determined that scrubbing is complete, allowing for subsequent cleaning efficiency evaluation.

[0150] Optionally, the motion trajectory is replanned based on the area to be cleaned to scrub the area to be cleaned until there is no area to be cleaned.

[0151] If there is an area to be cleaned, in order to complete the brushing, the robot arm needs to re-plan the motion trajectory, so as to move the electric toothbrush to each area to be cleaned, so as to brush each area to be cleaned again, until the area to be cleaned is brushed clean, that is, there is no area to be cleaned, and it can be determined that the brushing of the 3D tooth model is completed.

[0152] See also Figure 9 In some embodiments, the testing device further includes a force sensor (e.g. Figure 1 40), the force sensor is used to detect the brushing force applied by the oral care device to the three-dimensional tooth model, and the cleaning test method further includes:

[0153] Step 016: During the brushing process, the motion parameters of the test device are adjusted in real time so that the brushing force is within the preset force range.

[0154] Specifically, people usually use toothbrushes or toothpaste under a certain load in their daily lives. In the existing equipment testing process, weights with a certain load are usually used to simulate the force of brushing. However, in the actual process, the mechanical changes in different tooth partitions are a dynamic process rather than a constant force, which leads to a certain deviation between the test results and actual usage.

[0155] The robotic arm can be controlled based on a preset motion coordinate system consisting of three axes: X, Y, and Z. Force sensors can measure the forces exerted on the robotic arm along these three axes, as well as the torques around these three axes, in real time. Based on these forces and torques, the brushing force applied by the electric toothbrush held by the robotic arm to the 3D tooth model can be synthesized.

[0156] During the brushing process, the force applied to the teeth can be continuously monitored, allowing feedback control of the robot arm's motion parameters. For example, if the force sensor detects that the force applied to the teeth exceeds a safe preset force range, the robot arm will adjust its motion parameters to ensure that the brushing force applied to the teeth remains within the preset force range.

[0157] For example, when it is detected that the brushing force is too great, the robotic arm can reduce the propulsion speed or shorten the propulsion distance, thereby reducing the brushing force. Assuming that the preset brushing force is 2 Newtons (N), the preset force range is less than 2.5N, and the sensor detects that the actual pressure has reached 3N, the robotic arm will reduce the output power of the drive motor to slow down the movement of the robotic arm until the pressure drops to about 2N. In this way, an adaptive brushing strategy can be implemented using the brushing force detected by the force sensor. For example, different brushing forces are set for different partitions. The brushing force detected by the sensor can be used to feedback control the brushing force of the robotic arm when brushing the corresponding partition, so that the brushing force meets the brushing force set for each partition.

[0158] This ensures stable and accurate brushing force, even in complex working environments. For example, when the robotic arm is affected by external vibrations, causing fluctuations in applied pressure, the force sensor quickly detects the change, and the robotic arm adjusts its movements in time to offset the vibration and maintain a stable brushing force. If the brushing force exceeds the preset limit, the robotic arm will immediately stop to prevent damage to teeth and gums.

[0159] In summary, the brushing force collected by the force sensor can be monitored in real time, accurately adjusted, adaptively controlled, compensated and corrected, and protected during the brushing process. This can effectively ensure that the pressure applied by the robotic arm during the brushing process is within a safe and effective range, thereby improving the accuracy of the cleaning test while ensuring the safety of the three-dimensional tooth model.

[0160] See also Figure 10 In order to facilitate better implementation of the cleaning test method of the oral care device of the embodiment of the present application, the embodiment of the present application also provides a cleaning test device 300 for an oral care device. The cleaning test device 300 for the oral care device may include a planning module 301, a control module 302, and a determination module 303. The planning module 301 is used to plan the motion trajectory of the test device when brushing a preset three-dimensional tooth model, and the test device is used to clamp the oral care device; the control module 302 is used to control the test device to drive the oral care device to brush the three-dimensional tooth model based on the motion trajectory; the determination module 303 is used to determine the cleaning efficiency of the oral care device, and the cleaning efficiency is determined based on at least one of the time taken to complete the brushing of the three-dimensional tooth model and the change in the cleaning area of the three-dimensional tooth model.

[0161] It should be noted that the specific details of each module unit in the above-mentioned cleaning test device 300 have been described in detail in the embodiment of the above-mentioned cleaning test method, and will not be repeated here.

[0162] The above text describes the cleaning test device 300 of the oral care equipment from the perspective of functional modules in conjunction with the accompanying drawings. The functional modules can be implemented in hardware form, can be implemented by instructions in software form, or can be implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiment in the embodiment of the present application can be completed by the hardware integrated logic circuit and / or software form instructions in the processor. The steps of the method disclosed in the embodiment of the present application can be directly reflected as being executed by a hardware coding processor, or can be executed by a combination of hardware and software modules in the coding processor. Optionally, the software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above method embodiment in conjunction with its hardware.

[0163] Please refer again Figure 1 The test system includes a test device, a processor and a memory according to any of the above-mentioned embodiments. The memory stores a computer program that can be run on the processor. When the program is executed by the processor, it can control the test device to implement the various processes of the embodiment of the cleaning test method of the above-mentioned oral care device, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0164] See also Figure 11 The embodiment of the present application also provides a computer-readable storage medium 500 on which a computer program 510 is stored. When the computer program 510 is executed by a processor 520, the steps of the cleaning test method for the oral care device of any of the above-mentioned embodiments are implemented. For the sake of brevity, they are not repeated here.

[0165] In the description of this specification, the reference terms "certain embodiments", "in an example", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are mutually inconsistent.

[0166] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0167] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A cleaning test method for an oral care device, characterized in that: include: Planning the motion trajectory of a test device used to hold an oral care device when brushing a preset three-dimensional tooth model; Controlling the testing device to drive the oral care device to brush the three-dimensional tooth model based on the motion trajectory; A cleaning efficiency of the oral care device is determined based on at least one of a time taken to complete brushing of the three-dimensional tooth model and a change in a cleaning area of the three-dimensional tooth model.

2. The cleaning test method according to claim 1, characterized in that: The testing device further includes a water outlet, which is used to generate artificial saliva. During the process of brushing the three-dimensional tooth model, the water outlet outputs the artificial saliva to the three-dimensional tooth model.

3. The cleaning test method according to claim 2, characterized in that: The flow rate of the artificial saliva outputted from the water outlet is determined based on the speed at which saliva is produced by a human body when brushing teeth.

4. The cleaning test method according to any one of claims 1 to 3, characterized in that: The motion trajectory of the testing device when planning to brush the preset three-dimensional tooth model includes: The preset tooth brushing method and the information of the three-dimensional tooth model are input into the artificial intelligence-based path planning model to output the motion trajectory of the test device.

5. The cleaning test method according to claim 4, characterized in that: The three-dimensional tooth model includes one or more partitions, the motion trajectory includes one or more partitions, and the motion trajectory corresponds to the partitions in a one-to-one manner.

6. The cleaning test method according to claim 4 or 5, characterized in that: The three-dimensional tooth model includes one or more partitions, the tooth brushing method includes one or more, and each partition has a corresponding tooth brushing method.

7. The cleaning test method according to any one of claims 4 to 6, characterized in that: Also includes: The path planning model is adjusted based on the tooth brushing data and user feedback information when the user uses the oral care device, the tooth brushing data at least including tooth characteristics and tooth brushing habits, and the user feedback information at least including tooth brushing evaluation.

8. The cleaning test method according to any one of claims 4 to 6, characterized in that: The tooth brushing method includes at least one of the Bass tooth brushing method, the Roche tooth brushing method, the circular tooth brushing method and the horizontal vibration tooth brushing method.

9. The cleaning test method according to any one of claims 4 to 6, characterized in that: The inputting of the preset tooth brushing method and the information of the three-dimensional tooth model into the artificial intelligence-based path planning model to output the motion trajectory of the testing device includes: Decomposing the teeth brushing method into one or more teeth brushing actions; Based on the brushing method and the spatial contour information of each tooth in the three-dimensional tooth model, the motion trajectory of the test device and the motion mode of the test device when it is located at different motion positions in the motion trajectory are planned, and the oral care device performs the brushing action corresponding to the motion mode.

10. The cleaning test method according to claim 1, characterized in that: The three-dimensional tooth model includes a plurality of partitions, and the brushing result includes the brushing result of each of the partitions.

11. The cleaning test method according to claim 1, wherein: Also includes: A brushing result of the three-dimensional tooth model is determined, where the brushing result is determined based on at least one of a brushing duration and image information of the three-dimensional tooth model before and after brushing.

12. The cleaning test method according to claim 11, characterized in that: Determining the brushing result of the three-dimensional tooth model includes: determining whether there is an area to be cleaned based on the first image and the second image of the three-dimensional tooth model before and after brushing, wherein the area to be cleaned is an area that has not been cleaned or has not been cleaned thoroughly; If so, determining that the scrubbing result is incomplete; If not, it is determined that the scrubbing result is scrubbing completed.

13. The cleaning test method according to claim 12, characterized in that: Also includes: The motion trajectory is replanned based on the area to be cleaned to brush the area to be cleaned until the area to be cleaned no longer exists.

14. The cleaning test method according to claim 11, characterized in that: Determining the brushing result of the three-dimensional tooth model includes: When the scrubbing time is less than the preset time, determining the scrubbing result as incomplete scrubbing; When the scrubbing time is longer than the preset time, the scrubbing result is determined to be scrubbing completion.

15. The cleaning test method according to claim 12 or 13, characterized in that: Before brushing the three-dimensional tooth model, the method further includes: The three-dimensional tooth model is dyed, and the area to be cleaned includes a pigment residue area.

16. The cleaning test method according to claim 1, wherein: The cleaning efficiency is negatively correlated with the time taken to complete the scrubbing, and the cleaning efficiency is positively correlated with the change in the cleaning area per unit time.

17. The cleaning test method according to claim 1, wherein: The three-dimensional tooth model includes multiple partitions, and the cleaning efficiency of each partition is negatively correlated with the time taken to brush each partition, and the cleaning efficiency of each partition is positively correlated with the change in the cleaning area of each partition per unit time.

18. The cleaning test method according to any one of claims 1 to 9, characterized in that: Also includes: The motion parameters of the test device are set so that the brushing force of the oral care device is within a preset force range and the brushing speed is within a preset speed range.

19. The cleaning test method according to claim 18, characterized in that: The preset force range is [190 g, 210 g]; and / or the preset speed range is [6.9 mm / s, 7.1 mm / s].

20. The cleaning test method according to claim 18, wherein: The three-dimensional tooth model includes multiple partitions, and different motion parameters are set for different partitions.

21. The cleaning test method according to claim 20, characterized in that: The brushing force is positively correlated with the dirtiness of the corresponding partition.

22. The cleaning test method according to claim 1, wherein: The testing device further includes a force sensor for detecting a brushing force applied by the oral care device to the three-dimensional tooth model. The method further includes: During the brushing process, the motion parameters of the testing device are adjusted in real time so that the brushing force is within a preset force range.

23. The cleaning test method according to claim 1, wherein: The method further comprises: Controlling the test device to perform a motion test based on the motion trajectory and obtaining a test result, wherein the test result includes whether the motion trajectory is qualified or unqualified; When the test result shows that the motion trajectory is qualified, the step of controlling the test device to drive the oral care device to brush the three-dimensional tooth model based on the motion trajectory is entered.

24. A cleaning test device for oral care equipment, characterized in that: The oral care device includes a drive component, and the device includes: a planning module for planning the motion trajectory of a test device used to hold an oral care device when brushing a preset three-dimensional tooth model; A control module, configured to control the testing device to drive the oral care device to brush the three-dimensional tooth model based on the motion trajectory; The determination module is configured to determine a cleaning efficiency of the oral care device, wherein the cleaning efficiency is determined based on at least one of a time taken to complete brushing of the three-dimensional tooth model and a change in a cleaning area of the three-dimensional tooth model.

25. A testing system, characterized in that: The cleaning test method comprises a testing device, a processor and a memory; the memory stores a computer program, and when the processor executes the program, the cleaning test method of the oral care device according to any one of claims 1 to 23 is implemented.

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