An intelligent toothbrush system with real-time guidance and supervision functions and a control method thereof

Abstract

This invention discloses an intelligent toothbrush system and its control method with real-time guidance and supervision functions, belonging to the field of personal oral care electrical appliance technology. It includes a toothbrush body and an integrated intelligent control system. The intelligent control system monitors the brush head posture and pressure in real time through posture and pressure sensing modules. The main control module compares the monitored data with a pre-stored standard Bass brushing technique model in real time and outputs precise guidance and correction instructions to the user through a human-computer interaction module. This invention also divides the oral cavity into multiple zones and guides the user to clean each zone in a standardized sequence to ensure no area is missed. This invention transforms the complex Bass brushing technique into intuitive and executable interactive instructions, effectively solving the problems of non-standard methods and incomplete cleaning when users brush their teeth manually, significantly improving oral cleaning effect and user experience.

Description

Technical Field

[0001] This invention relates to the field of personal oral care electrical appliances, and more specifically to an intelligent toothbrush system and its control method that combines real-time guidance and monitoring functions. Background Technology

[0002] Currently, brushing teeth is the most basic and important means of maintaining oral health. The Bass brushing method is widely recognized as the most scientific and effective brushing method. Its core points include: holding the brush bristles at a 45-degree angle to the tooth surface, pointing towards the gum line, so that some bristles enter the gingival sulcus and some lie on the gum margin; making short, horizontal vibrations (about 2-3 millimeters) on groups of 2-3 teeth, then rotating the brush head towards the crown, i.e., "brushing"; repeating this process to ensure that every surface of the teeth (labial / buccal, lingual / palatal, and occlusal surfaces) is cleaned. However, despite the significant effectiveness of the Bass brushing method, ordinary users face many difficulties in actual operation: Difficulty in maintaining the angle: It is difficult for users to keep the brush head at a 45-degree angle to the tooth surface by feel. Angle deviation will seriously affect the cleaning effect, especially the cleaning of the gingival sulcus.

[0003] Improper control of vibration amplitude and frequency: When brushing teeth manually, it is difficult to maintain a short-distance, precise vibration, which can easily turn into a large-amplitude sawing horizontal brushing. Over time, this can damage the gums and tooth structure.

[0004] Incomplete zoning and coverage: Users may easily miss certain dental areas (such as the inner side of the anterior teeth and the distal end of the posterior teeth), resulting in incomplete oral cleaning.

[0005] Lack of effective supervision and feedback: Users cannot know whether their brushing technique is standard or which areas are not effectively cleaned, making it difficult to form correct brushing habits.

[0006] Existing technologies include some smart toothbrushes that use timers to remind users of brushing time or pressure sensors to alert them to excessive brushing pressure. However, these solutions are limited in function and fail to fundamentally address the problem of "how to guide users to complete a standard and complex brushing technique." While some high-end products incorporate motion sensors, their algorithm models are typically simple and unable to accurately identify and correct the subtle and complex wrist movements required by the Bass brushing technique. They also lack systematic guidance on zoned cleaning and effectiveness evaluation.

[0007] Therefore, how to provide a smart toothbrush system that can accurately guide, provide real-time feedback, and scientifically evaluate the user's execution of the Bass brushing technique is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0008] In view of this, the present invention provides an intelligent toothbrush system and its control method that have both real-time guidance and supervision functions. It can monitor the brush head posture and movement trajectory in real time, guide the user to brush their teeth at the correct angle, amplitude and path, and perform a visual evaluation of the brushing effect, thereby ensuring that the Bass brushing technique is performed correctly and comprehensively.

[0009] To achieve the above objectives, the present invention adopts the following technical solution: A smart toothbrush system with real-time guidance and monitoring functions includes a toothbrush body and a smart control system disposed therein. The toothbrush body includes a brush head, a brush handle, and bristles disposed on the brush head. The smart control system includes: An attitude sensing module is used to collect the spatial attitude data of the brush head in real time; The pressure sensing module is used to monitor the pressure applied to the teeth and gums during brushing in real time. The main control module is electrically connected to the attitude sensing module and the pressure sensing module, receives the spatial attitude data and pressure value, and compares them with the pre-stored Bass brushing technique action model in real time to generate guidance instructions and / or correction instructions. The human-computer interaction module is connected to the main control module and is used to output the guidance instructions and / or correction instructions to the user.

[0010] Optionally, it also includes a wireless communication module for establishing a communication connection with an external smart terminal to exchange data and transmit commands.

[0011] Optionally, a power module is also included to power the intelligent control system. Optionally, the attitude sensing module includes at least a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, which calculate the real-time angle, position, and motion trajectory of the brush head relative to the tooth surface using a sensor fusion algorithm. Optionally, the main control module includes: Angle guidance unit: When the angle between the brush bristles and the tooth surface detected in real time deviates from the preset threshold range, an angle correction instruction is generated and the user is prompted to adjust the wrist posture through the human-computer interaction module. Motion guidance unit: Based on spatial posture data, it determines the movement pattern of the brush head. When non-short-distance horizontal vibration is detected, it generates motion correction instructions to guide the user to restore the correct vibration motion. A zone guidance unit: Based on spatial posture data, it identifies the current oral cavity area where the brush head is located and divides the oral cavity model into multiple cleaning zones; according to a pre-stored Bass brushing technique action model, it guides the user to clean each zone sequentially, ensuring that the cleaning time for each zone reaches a preset value. Optionally, the zone guidance unit is configured to: accumulate the effective brushing time for that cleaning zone only during the period when the identified brush head angle and movement trajectory simultaneously conform to the current cleaning zone's standard Bass brushing technique action model, and guide the user to move to the next cleaning zone after reaching a preset time threshold. Optionally, the human-computer interaction module includes at least one of a visual prompting unit, an auditory prompting unit, and a tactile prompting unit. Optionally, the tactile prompting unit is a linear motor used to transmit guidance information through vibrations of different modes. A control method for an intelligent toothbrush system with real-time guidance and supervision functions includes: S1: Activate the intelligent control system and select "Bass brushing mode" through the human-computer interaction module or associated smart terminal; S2: The main control module retrieves the pre-stored Bass brushing technique action model and oral cavity partition model; S3: The posture sensing module and pressure sensing module begin to collect data in real time to obtain spatial posture data and the pressure value applied to the teeth and gums when brushing. S4: The main control module identifies the initial oral cavity partition where the brush head is currently located based on the posture data, and then starts the partitioning guidance process. S5: Within each cleaning zone, the main control module executes: S51: The human-computer interaction module prompts the user to place the brush head at the beginning of the partition; S52: Real-time comparison of the collected brush head angle, motion trajectory and pressure data with the standard Bass motion model corresponding to the current partition; S53: If the data is within the standard range, positive feedback is given through the human-computer interaction module; if the data deviates from the standard range, specific correction instructions are generated and output. S54: After the cumulative effective brushing time in this zone reaches the preset threshold, prompt the user to move to the next zone; S6: Repeat step S5 until all partitions are cleaned; S7: Generate a report on this brushing session and display it visually through the human-computer interaction module or a smart terminal app.

[0012] As can be seen from the above technical solution, compared with the prior art, the present invention discloses an intelligent toothbrush system and its control method that have both real-time guidance and supervision functions, which has the following beneficial effects: 1. Precise guidance and correction: Through high-precision posture sensing and complex algorithm models, this invention can identify and correct the user's deviations in brushing angle and movement range in real time, transforming the abstract Bass brushing technique into specific and executable guidance instructions, fundamentally ensuring the correctness of the brushing method.

[0013] 2. Zonal Systematic Cleaning: By dividing the oral cavity into zones and guiding the cleaning process sequentially, it ensures thorough cleaning without blind spots and effectively solves the problem of missed areas when users brush their teeth manually.

[0014] 3. Immersive interactive experience: Combining visual, auditory, and tactile multimodal feedback makes the guidance process intuitive and easy to follow, greatly improving user experience and compliance.

[0015] 4. Scientific Quantification and Evaluation: This invention can quantify and record the effectiveness of each brushing session, generate visual reports, help users understand their oral hygiene status, and motivate them to develop good brushing habits. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the intelligent toothbrush system provided by the present invention.

[0018] Figure 2 This is a schematic diagram of the control method for the intelligent toothbrush system provided by the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] This invention discloses an intelligent toothbrush system with real-time guidance and monitoring functions, including a toothbrush body and an intelligent control system disposed therein. The toothbrush body includes a brush head, a brush handle, and bristles disposed on the brush head; the intelligent control system includes: An attitude sensing module, integrated inside the brush handle or brush head, is used to collect real-time spatial attitude data of the brush head. The attitude sensing module includes at least one three-axis accelerometer, one three-axis gyroscope, and one three-axis magnetometer, and uses a sensor fusion algorithm to calculate the real-time angle, position, and motion trajectory of the brush head relative to the tooth surface. The specific process is as follows: (1) Toothbrush tilt angle measurement Measurements were taken using a triaxial accelerometer fused with a gyroscope. However, due to the significant dynamic noise of the triaxial accelerometer, which incorporates components of gravitational acceleration and brushing motion acceleration, this invention is designed with two components: static tilt angle and dynamic tilt angle.

[0021] The toothbrush state is identified as static or dynamic based on the variance of the latest 20 sets of acceleration data. When the variance is less than a threshold, the toothbrush state is static. The threshold calibration method is as follows: 1. Place the toothbrush at rest and collect 100 sets of acceleration data to calculate the baseline variance:

[0022] 2. Perform standard brushing motions and calculate the variance.

[0023] 3. The threshold is: α can be adjusted according to the actual usage effect, with a maximum of 1.

[0024] When the variance of the detected acceleration is less than the threshold, it is determined that the toothbrush is in a relatively stationary state. A low-pass filter is used to filter out high-frequency noise, and the low-frequency component is retained as the gravitational acceleration component. The static tilt angle of the toothbrush is calculated based on this component. When the detected acceleration variance exceeds a threshold, the toothbrush is considered to be in a high-frequency brushing state. This can be further verified using a pressure sensor, requiring a gyroscope for fusion measurement. The current state is obtained by integrating the gyroscope's angular velocity using the most recent static tilt angle as a reference.

[0025] (2) Toothbrush displacement calculation

[0026] The acceleration of the toothbrush movement is:

[0027] The toothbrush's movement speed is:

[0028] Displacement of the toothbrush during movement:

[0029] The rotational effect at various points on the toothbrush head is compensated by using the angular velocity of a gyroscope.

[0030] Gyroscope zero-speed detection and reset: Since the gyroscope will still output data when it is stationary, in order to avoid long-term drift, only the dynamic effect of the gyroscope data is calculated as compensation.

[0031] (3) Calculation of the absolute direction of the toothbrush: The absolute direction of the toothbrush is calculated using a combination of magnetometer and gyroscope. The magnetometer can accurately locate the direction of the toothbrush when it is in a static state. When the toothbrush is in high-frequency motion, the direction is mainly measured by the gyroscope, which needs to be integrated at the previous reference position.

[0032] (4) Since the measurements of the toothbrush tilt angle, displacement, and direction all employ a multi-sensor fusion algorithm, i.e., gyroscope data integration, it is essentially still a predictive model. Therefore, Kalman filtering can be used to correct the data involved. The Kalman filtering algorithm uses a 9-dimensional state vector as follows:

[0033] The parameter definitions are shown in Table 1.

[0034] Table 1 Parameter Definitions

[0035] By using Kalman filters for prediction, measurement, and calibration, we can obtain higher and more reliable real-time angles, positions, and motion trajectories of the brush head relative to the tooth surface.

[0036] The pressure sensing module is located at the connection between the brush head or the handle and the brush head to monitor the pressure applied to the teeth and gums in real time during brushing.

[0037] The main control module is electrically connected to the attitude sensing module and the pressure sensing module. It has a standard Bass brushing technique action model pre-stored inside. The main control module is configured to receive attitude data and pressure data, compare them with the pre-stored Bass brushing technique action model in real time, and generate guidance instructions and / or correction instructions.

[0038] The human-computer interaction module is connected to the main control module and is used to output guidance instructions and / or correction instructions to the user; the human-computer interaction module includes at least one of a visual prompting unit, an auditory prompting unit, and a tactile prompting unit.

[0039] The power module supplies power to the intelligent control system.

[0040] In one specific embodiment, a wireless communication module is further included, used to establish a communication connection with an external smart terminal (such as a mobile phone or tablet computer), upload brushing data to the smart terminal, and receive control commands from the smart terminal. Preferably, the comparison and guidance logic executed by the main control module includes: Angle guidance unit: When the angle between the brush bristles and the tooth surface detected in real time deviates from the preset 45-degree angle threshold range (e.g., 40-50 degrees), an angle correction instruction is generated and the user is prompted to adjust their wrist posture through the human-computer interaction module.

[0041] Motion guidance unit: Based on posture data, it determines the movement pattern of the brush head. When it detects non-short-distance horizontal vibration (such as large-amplitude horizontal or vertical brushing), it generates motion correction instructions to guide the user to restore the correct vibration motion.

[0042] Zoned guidance unit: Based on posture data, it identifies the oral cavity area where the brush head is currently located and divides the oral cavity model into multiple cleaning zones; following the preset Bass brushing technique cleaning sequence, it guides the user to clean each zone in turn and ensures that the cleaning time for each zone reaches the preset value.

[0043] Specifically, the zone guidance unit is configured to accumulate the effective brushing time of a cleaning zone only during the period when the detected brush head angle and movement trajectory simultaneously conform to the current cleaning zone standard Bass brushing technique action model, and guide the user to move to the next cleaning zone after reaching the preset time threshold.

[0044] The haptic feedback unit is a linear motor used to transmit different guidance information through different modes of vibration (such as continuous vibration, intermittent vibration, and vibration with varying intensity).

[0045] A control method for an intelligent toothbrush system that combines real-time guidance and supervision, such as Figure 2 As shown, it includes: S1: Start the system and select "Bass brushing mode" through the human-computer interaction module or associated smart terminal; S2: The main control module retrieves the pre-stored Bass brushing technique action model and oral cavity partition model; S3: The posture sensing module and pressure sensing module begin to collect data in real time to obtain spatial posture data and the pressure value applied to the teeth and gums when brushing. S4: The main control module identifies the initial oral cavity partition where the brush head is currently located based on the posture data, and then starts the partitioning guidance process. S5: Within each cleaning zone, the main control module executes: S51: The human-computer interaction module prompts the user to place the brush head at the beginning of the partition; S52: Real-time comparison of the collected brush head angle, motion trajectory and pressure data with the standard Bass motion model corresponding to the current partition; S53: If the data is within the standard range, positive feedback (such as a green light or pleasant sound effects) will be given through the human-computer interaction module; if the data deviates from the standard range, specific correction instructions will be generated and output (such as "Please reduce the brushing amplitude" or "The angle is too large, please adjust your wrist downwards"). S54: After the cumulative effective brushing time in this zone reaches the preset threshold, prompt the user to move to the next zone; S6: Repeat step S5 until all partitions are cleaned; S7: Generate a report on this brushing session, including total duration, coverage of each area, action standardization score, and reminders for missed areas, and display it visually through the human-computer interaction module or smart terminal App.

[0046] Specifically, in step S5, the cumulative logic for "effective brushing time" is as follows: it is only accumulated during the period when the brush head angle and movement trajectory simultaneously conform to the current partition standard action model.

[0047] The following specific example further illustrates the intelligent toothbrush system of the present invention.

[0048] A smart toothbrush system that combines real-time guidance and monitoring, such as Figure 1 As shown, the toothbrush includes the toothbrush body and an intelligent control system integrated within it. The toothbrush body comprises a brush head, a handle, and bristles on the brush head; the toothbrush body features an ergonomic design. The brush head is replaceable, and a pressure sensor is embedded in the internal circuit board to sense brushing force. The handle integrates a PCB motherboard, which houses a main control module (using a low-power MCU, such as an ARM Cortex-M4 core), an attitude sensing module (integrating an MPU-9250 nine-axis motion sensor), a wireless communication module (Bluetooth 5.0 chip), and a linear motor. The handle surface features LED indicators and a multi-function button. The power module is a rechargeable lithium battery.

[0049] When using the device, the user selects the "Bass brushing technique" mode via the mobile app. The app interface displays a model of the oral cavity, divided into 16 zones, including the left lateral aspect of the upper teeth, the left medial aspect of the upper teeth, and the occlusal surface of the upper teeth. At the start of brushing, the main control module calculates the real-time three-dimensional posture of the brush head in the mouth by integrating data from the accelerometer, gyroscope, and magnetometer. When the system's algorithm identifies the brush head as being in the "right lateral aspect of the lower teeth" zone, the LED indicator lights up green, prompting the user to begin cleaning that area. Simultaneously, the corresponding zone on the mobile app is highlighted. The main control module continuously monitors the user's brushing progress. Angle: Calculate the angle between the bristle plane and the assumed tooth surface normal. If the angle is within the range of 40-50 degrees, the angle is considered correct; if the angle is too small (e.g., <35 degrees), the linear motor will generate one short, strong vibration, and the App will prompt "Please raise the brush handle"; if the angle is too large (e.g., >55 degrees), the linear motor will generate two short, strong vibrations, and the App will prompt "Please lower the brush handle".

[0050] Action: Analyze the motion spectrum of the brush head on the horizontal plane. If a reciprocating motion with a frequency of 1-3Hz and an amplitude of 2-4mm is detected, it is determined to be a valid "gingival sulcus vibration", and this period is included in the "effective brushing time"; if a low-frequency, large-displacement motion is detected, it is determined to be an invalid or incorrect action, and the LED indicator turns red as a warning.

[0051] Pressure: If the pressure sensor reading exceeds 150g, the linear motor will generate continuous vibration until the pressure decreases to prevent damage to the gums.

[0052] Once the cumulative "effective brushing time" for a given area reaches 30 seconds, the LED indicator flashes, and the app prompts and automatically guides the user to move to the next area, "lower right inner side of the teeth." After all areas have been cleaned, the main control module generates a data report, which is sent to the mobile app via Bluetooth, displaying the coverage, brushing technique accuracy, and brushing time analysis.

[0053] This invention, through the deep integration of hardware and software, "translates" the professional Bass brushing technique into interactive instructions that ordinary users can easily understand and execute, achieving a qualitative leap from "timed brushing" to "method brushing," and has high market application value.

[0054] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0055] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A smart toothbrush system with both real-time guidance and monitoring functions, characterized in that, The toothbrush includes a toothbrush body and an intelligent control system disposed therein. The toothbrush body includes a brush head, a brush handle, and bristles disposed on the brush head. The intelligent control system includes: An attitude sensing module is used to collect the spatial attitude data of the brush head in real time; The pressure sensing module is used to monitor the pressure applied to the teeth and gums during brushing in real time. The main control module is electrically connected to the attitude sensing module and the pressure sensing module, receives the spatial attitude data and pressure value, and compares them with the pre-stored Bass brushing technique action model in real time to generate guidance instructions and / or correction instructions. The human-computer interaction module is connected to the main control module and is used to output the guidance instructions and / or correction instructions to the user.

2. The intelligent toothbrush system with real-time guidance and supervision functions according to claim 1, characterized in that, It also includes a wireless communication module for establishing communication connections with external smart terminals to exchange data and transmit commands.

3. The intelligent toothbrush system with real-time guidance and supervision functions according to claim 1, characterized in that, It also includes a power module to supply power to the intelligent control system.

4. The intelligent toothbrush system with real-time guidance and supervision functions according to claim 1, characterized in that, The attitude sensing module includes at least a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, and calculates the real-time angle, position, and motion trajectory of the brush head relative to the tooth surface through a sensor fusion algorithm.

5. A smart toothbrush system with real-time guidance and supervision functions according to claim 1, characterized in that, The main control module includes: Angle guidance unit: When the angle between the brush bristles and the tooth surface detected in real time deviates from the preset threshold range, an angle correction instruction is generated and the user is prompted to adjust the wrist posture through the human-computer interaction module. Motion guidance unit: Based on spatial posture data, it determines the movement pattern of the brush head. When non-short-distance horizontal vibration is detected, it generates motion correction instructions to guide the user to restore the correct vibration motion. Zoned guidance unit: Based on spatial posture data, it identifies the oral cavity area where the brush head is currently located and divides the oral cavity model into multiple cleaning zones; according to the pre-stored Bass brushing technique action model, it guides the user to clean each zone in sequence and ensures that the cleaning time of each zone reaches the preset value.

6. A smart toothbrush system with real-time guidance and supervision functions according to claim 5, characterized in that, The partition guidance unit is configured to accumulate the effective brushing time of the cleaning partition only during the period when the detected brush head angle and movement trajectory simultaneously conform to the current cleaning partition standard Bass brushing action model, and guide the user to move to the next cleaning partition after reaching a preset time threshold.

7. The intelligent toothbrush system with real-time guidance and supervision functions according to claim 1, characterized in that, The human-computer interaction module includes at least one of a visual prompting unit, an auditory prompting unit, and a tactile prompting unit.

8. A smart toothbrush system with real-time guidance and supervision functions according to claim 7, characterized in that, The tactile cues unit is a linear motor used to transmit guidance information through different modes of vibration.

9. A control method for an intelligent toothbrush system with both real-time guidance and supervision functions, characterized in that, A smart toothbrush system with real-time guidance and supervision functions as described in any one of claims 1-8, comprising: S1: Activate the intelligent control system and select "Bass brushing mode" through the human-computer interaction module or associated smart terminal; S2: The main control module retrieves the pre-stored Bass brushing technique action model and oral cavity partition model; S3: The posture sensing module and pressure sensing module begin to collect data in real time to obtain spatial posture data and the pressure value applied to the teeth and gums when brushing teeth; S4: The main control module identifies the initial oral cavity partition where the brush head is currently located based on the posture data, and then starts the partitioning guidance process. S5: Within each cleaning zone, the main control module executes: S51: The human-computer interaction module prompts the user to place the brush head at the beginning of the partition; S52: Real-time comparison of the collected brush head angle, motion trajectory and pressure data with the standard Bass motion model corresponding to the current partition; S53: If the data is within the standard range, positive feedback is given through the human-computer interaction module; if the data deviates from the standard range, specific correction instructions are generated and output. S54: After the cumulative effective brushing time in this zone reaches the preset threshold, prompt the user to move to the next zone; S6: Repeat step S5 until all partitions are cleaned; S7: Generate a report on this brushing session and display it visually through the human-computer interaction module or a smart terminal app.

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