Oral care device and method of controlling, control arrangement thereof

Abstract

This invention discloses an oral care device and its control method and control apparatus, relating to the field of oral care technology. The oral care device includes a brush head and a motor, the motor having multiple operating modes. The control method includes acquiring motion data of the brush head; determining the brush head's posture angle and position based on the motion data; matching the brush head's posture angle and position with a preset oral cavity partition model to identify the oral cavity region where the brush head is currently located; when the dwell time of the brush head within the oral cavity region exceeds a preset duration threshold and the reciprocating motion amplitude is less than a preset amplitude threshold, the oral cavity region where the brush head is currently located is identified as a key focus area; controlling the motor to switch the current operating mode to a mode matching the key focus area, and reverting to the previous operating mode after detecting that the brush head has left the key focus area. The technical solution provided by this invention can automatically identify difficult-to-brush areas and switch modes without manual intervention.

Description

Technical Field

[0001] This invention relates to the field of oral care technology, and in particular to an oral care device and its control method and control apparatus. Background Technology

[0002] Currently, electric toothbrushes are widely used in daily oral care due to their efficient cleaning capabilities. Existing electric toothbrushes typically have multiple working modes, which users can manually switch between according to their needs or different areas of the mouth. For example, the standard mode can be selected when cleaning the front teeth, while the deep cleaning mode is needed to clean the back teeth or hard-to-reach areas such as the lingual side, requiring manual switching to obtain stronger cleaning power.

[0003] However, the aforementioned manual switching method has significant shortcomings. On the one hand, users need to frequently monitor the current cleaning area and actively operate the button to switch modes, which is cumbersome and easily disrupts the continuity of brushing, reducing the user experience. On the other hand, because areas such as the posterior teeth, lingual surfaces, and occlusal surfaces are relatively hidden in the oral cavity, users often find it difficult to accurately determine when to switch modes. This results in insufficient cleaning time or inadequate cleaning intensity for these hard-to-brush areas, which can easily lead to plaque buildup over time, increasing the risk of tooth decay and periodontal disease. Summary of the Invention

[0004] The main objective of this invention is to provide an oral care device and its control method and control apparatus, which aims to automatically identify hard-to-brush areas and switch power modes to achieve enhanced cleaning without manual intervention.

[0005] To achieve the above objectives, the present invention proposes a control method for an oral care device, the oral care device comprising a brush head and a motor, the motor having multiple operating modes, and the control method comprising: Acquire the motion data of the brush head, and determine the attitude angle and position of the brush head based on the motion data; The posture angle and position of the brush head are matched with a preset oral cavity partition model to identify the oral cavity region where the brush head is currently located; When it is detected that the dwell time in the oral cavity area where the brush head is currently located exceeds a preset duration threshold and the reciprocating motion amplitude is less than a preset amplitude threshold, the oral cavity area where the brush head is currently located is identified as a key focus area. The motor is controlled to switch the current working mode to a working mode that matches the key area of ​​focus, and after detecting that the brush head has left the key area of ​​focus, it is restored to the working mode before the switch.

[0006] In one embodiment, acquiring the motion data of the brush head and determining the attitude angle and position of the brush head based on the motion data includes: Collect motion data of the brush head, including angular velocity data and acceleration data; The angular velocity data and acceleration data of the brush head are subjected to Kalman filtering. Based on the angular velocity and acceleration data processed by the Kalman filter, the attitude angle and position of the brush head in the current oral cavity region are determined.

[0007] In one embodiment, the establishment of the preset oral cavity partition model includes: Obtain standard dental arch morphology data, and divide the oral cavity space into multiple basic oral regions based on the standard dental arch morphology data; the basic oral regions include at least the left posterior tooth region, the right posterior tooth region, and the anterior tooth region. For each basic oral region, sub-regions are divided according to the buccal, lingual, and occlusal surfaces of the teeth to obtain multiple oral regions; Based on the characteristics of brushing motion, a corresponding characteristic motion trajectory is set for each oral cavity region; the characteristic motion trajectory includes the posture angle range, motion direction range, and motion amplitude range corresponding to the oral cavity region.

[0008] In one embodiment, controlling the motor to switch the current operating mode to a mode that matches the area of ​​focus, and then reverting to the operating mode before the switch after detecting that the brush head has left the area of ​​focus, includes: Based on the type of the key focus area, determine the target working mode that matches the key focus area; Control the motor to switch from the current operating mode to the target operating mode; After continuously detecting that the brush head has left the key area of ​​focus, the motor is controlled to return from the target working mode to the working mode before the switch.

[0009] In one embodiment, the control method for the oral care device further includes: Geomagnetic data is collected by a magnetometer installed in the oral care device, and the geomagnetic data is fused with the motion data to determine the absolute heading angle of the brush head.

[0010] In one embodiment, the control method for the oral care device further includes: Record the trigger locations and frequency of the key areas of focus during each oral care session; The recorded trigger locations and trigger frequencies are uploaded to the terminal device. The user's brushing habits and preferences are analyzed using machine learning algorithms. The duration threshold and amplitude threshold are adjusted to generate a control dataset.

[0011] In one embodiment, the control method for the oral care device further includes: The pressure value of the brush head on the teeth or gums is detected by a pressure sensor installed on the brush head. When the pressure value exceeds a preset safety threshold, the current working mode cannot be switched to the enhanced mode, or the power output limit of the enhanced mode is limited; wherein, the enhanced mode is a working mode that matches the key focus area.

[0012] In one embodiment, the control method for the oral care device further includes: After switching to a working mode that matches the area of ​​focus, the pressure value of the brush head on the teeth or gums is continuously monitored; When the pressure value is lower than the first pressure threshold, maintain or increase the power output; When the pressure value is between the first pressure threshold and the second pressure threshold, maintain the current power output; When the pressure value is higher than the second pressure threshold, reduce the power output until the pressure value is lower than the second pressure threshold. The first pressure threshold is less than the second pressure threshold.

[0013] The present invention also proposes a control device, the control device comprising: a processor, a memory, and a control program for an oral care device stored in the memory and executable on the processor, wherein the processor, when executing the control program for the oral care device, implements the control method for the oral care device as described in any of the preceding claims.

[0014] The present invention also proposes an oral care device, comprising: Brush head; The motor is connected to the brush head drive and has multiple operating modes; The control device described above is electrically connected to the motor.

[0015] The technical solution of this invention obtains the motion data of the brush head to determine its posture angle and position, and matches it with a preset oral cavity partition model to identify the current oral cavity region. When it is detected that the dwell time in the region exceeds a preset threshold and the reciprocating motion amplitude is less than a preset threshold, it is identified as a key focus area, and the motor is then controlled to switch to the matching working mode. After leaving the region, it automatically returns to the original mode. In this way, through the above settings, no manual intervention from the user is required. It automatically identifies hard-to-brush areas and enhances cleaning power accordingly, while maintaining the original cleaning habits of regular areas, thereby simplifying the operation process and improving the oral cleaning effect. 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A structural block diagram of an embodiment of the control method for an oral care device provided by the present invention; Figure 2 A structural block diagram of another embodiment of the control method for an oral care device provided by the present invention; Figure 3 A structural block diagram of another embodiment of the control method for an oral care device provided by the present invention; Figure 4 A structural block diagram of another embodiment of the control method for the oral care device provided by the present invention; Figure 5 A structural block diagram of another embodiment of the control method for an oral care device provided by the present invention; Figure 6 This is a structural block diagram of another embodiment of the control method for the oral care device provided by the present invention.

[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0022] Currently, electric toothbrushes are widely used in daily oral care due to their efficient cleaning capabilities. Existing electric toothbrushes typically have multiple working modes, which users can manually switch between according to their needs or different areas of the mouth. For example, the standard mode can be selected when cleaning the front teeth, while the deep cleaning mode is needed to clean the back teeth or hard-to-reach areas such as the lingual side, requiring manual switching to obtain stronger cleaning power.

[0023] However, the aforementioned manual switching method has significant shortcomings. On the one hand, users need to frequently monitor the current cleaning area and actively operate the button to switch modes, which is cumbersome and easily disrupts the continuity of brushing, reducing the user experience. On the other hand, because areas such as the posterior teeth, lingual surfaces, and occlusal surfaces are relatively hidden in the oral cavity, users often find it difficult to accurately determine when to switch modes. This results in insufficient cleaning time or inadequate cleaning intensity for these hard-to-brush areas, which can easily lead to plaque buildup over time, increasing the risk of tooth decay and periodontal disease.

[0024] Therefore, this invention proposes a control method for oral care devices, which aims to automatically identify hard-to-brush areas and switch power modes to achieve enhanced cleaning without manual intervention.

[0025] The oral care equipment also includes a control device for storing and executing the methods described below. Optionally, the control device can be implemented using a main controller, such as an MCU, PLC, DSP (Digital Signal Processor), SOC (System on Chip), FPGA (Field Programmable Gate Array), etc.

[0026] Please see Figure 1In one embodiment of the present invention, the oral care device includes a brush head and a motor, the motor having multiple operating modes, and the control method of the oral care device includes: Step S100: Obtain the motion data of the brush head, and determine the attitude angle and position of the brush head based on the motion data; Step S200: Match the brush head's posture angle and position with the preset oral cavity partition model to identify the oral cavity region where the brush head is currently located; Step S300: When it is detected that the dwell time in the oral cavity area where the brush head is currently located exceeds the preset duration threshold and the reciprocating motion amplitude is less than the preset amplitude threshold, the oral cavity area where the brush head is currently located is identified as a key focus area. Step S400: Control the motor to switch the current working mode to the working mode that matches the key area of ​​focus, and restore the working mode before switching after detecting that the brush head has left the key area of ​​focus.

[0027] In this embodiment of the invention, the control method for the oral care device includes the following steps. Optionally, in step S100, the brush head motion data refers to various detectable motion-related information generated by the brush head during the cleaning process when the oral care device is working. This data reflects the real-time motion state of the brush head; the attitude angle refers to the angle at which the brush head is positioned in space, specifically, the degree of tilt and orientation of the brush head relative to the teeth and oral cavity; the position refers to the specific area within the oral cavity where the brush head is located, indicating whether the brush head is in the front, back, or other positions of the oral cavity. Step S100 involves the oral care device capturing and acquiring the brush head motion data in real time, then analyzing and processing this data to ultimately determine the current attitude angle and position of the brush head within the oral cavity, thus preparing for subsequent identification of the oral cavity area where the brush head is located.

[0028] In one example, when a user holds the oral care device to clean their front teeth, the brush head is positioned at a relatively gentle angle and close to the front of the mouth. By acquiring this motion data, the oral care device can determine that the brush head's posture angle and position are roughly near the front teeth area. When the user moves the brush head to clean their back teeth, the brush head's orientation angle becomes more tilted, and its position moves towards the back of the mouth. The device can also capture these changes in posture angle and position by acquiring motion data.

[0029] Optionally, in step S200, the preset oral cavity partition model can be pre-set by the R&D personnel within the control device. The core function of the preset oral cavity partition model is to serve as the basis for matching the brush head posture angle and position, and identifying oral cavity regions. Essentially, it pre-defines and stores the brush head posture angle and position range corresponding to different oral cavity regions. Step S200 is the identification operation performed based on the brush head posture angle and position obtained in step S100. Specifically, it involves comparing and matching the real-time brush head posture angle and position determined in step S100 with the preset oral cavity partition model within the oral care device. Through the comparison and matching results, it is possible to determine which specific region of the oral cavity the brush head is currently located in, thus achieving automatic identification of the oral cavity region where the brush head is located.

[0030] In one example, the oral care device has a pre-set oral cavity partitioning model that stores the gentle posture angle and the range of the front oral cavity position corresponding to the anterior teeth region. When the brush head posture angle and position determined in step S100 match this range, the oral care device can identify that the brush head is currently in the user's anterior teeth region. If the brush head posture angle becomes tilted and the position moves to the back of the mouth, and matches the range corresponding to the posterior teeth region in the pre-set oral cavity partitioning model, the oral care device will identify that the brush head is currently in the posterior teeth region. Step S200 can replace the user's manual determination of the oral cavity region where the brush head is located, without requiring additional user attention or operation, and can identify the brush head position.

[0031] Optionally, in step S300, it should be noted that the dwell time refers to the time the brush head continuously stays and cleans within the currently identified oral cavity area. The preset dwell time threshold is a time standard pre-set in the device, used to determine whether the brush head has stayed in the area for a relatively long time. The reciprocating motion amplitude refers to the amplitude of the brush head's reciprocating cleaning within the oral cavity area. The preset amplitude threshold is an amplitude standard pre-set in the device, used to determine whether the brush head's motion amplitude in the area is too small. The key focus area is the oral cavity area that is ultimately determined to be adapted to the corresponding working mode by simultaneously meeting the above-mentioned preset dwell time threshold and preset amplitude threshold conditions. Only when both of the above conditions are met can it be determined as a key focus area; neither can be omitted. In step S300, the device monitors two key states of the brush head in the currently identified oral cavity area in real time: first, the dwell time, which is the duration from when the brush head enters the area to the current moment; and second, the reciprocating motion amplitude, which is the amplitude of the brush head's reciprocating cleaning within the area. Then, these two real-time monitored parameters are compared with the preset time threshold and amplitude threshold of the oral care device, respectively. When both parameters meet the preset threshold conditions—that is, the dwell time exceeds the preset time threshold and the reciprocating motion amplitude is less than the preset amplitude threshold—the oral cavity area will be identified as a key focus area. If only one condition is met, such as the dwell time exceeding the threshold but the motion amplitude is normal, or the motion amplitude is small but the dwell time is insufficient, it will not be identified as a key focus area.

[0032] In one example, if the brush head stays in the identified posterior tooth area for a period of time, and because the posterior teeth are in a concealed position, the reciprocating motion of the brush head is relatively small, then if both conditions meet the preset threshold of the oral care device, the oral care device will identify the posterior tooth area as a key focus area. However, if the brush head stays in this area for a very short time, even if the motion amplitude is small, it will not be identified as a key focus area. Step S300 enables the determination of the key focus area, providing a trigger condition for the automatic switching of subsequent working modes, ensuring reasonable mode switching and reducing the occurrence of erroneous switching.

[0033] Optionally, the motor has multiple operating modes, each corresponding to a different cleaning state. The operating mode matching the key focus area is a pre-set motor operating mode in the oral care device specifically adapted to the cleaning needs of the key focus area. This matching relationship is pre-set and stored by the device and does not require manual setting by the user. In the first part of step S400, after step S300 determines a certain oral area as a key focus area, the oral care device will automatically issue a control command to stop the motor from its current operating mode and switch to the pre-set operating mode that matches the key focus area, ensuring that the key focus area can obtain an appropriate cleaning effect. In the second part of step S400, after the motor switches to the matching operating mode, the oral care device will not stop monitoring but will continue to detect changes in the position of the brush head. When it detects that the brush head has left the key focus area (i.e., the attitude angle and position of the brush head no longer match the range of the key focus area), the oral care device will issue a control command again to control the motor to return to the operating mode before the switch, ensuring that the cleaning of non-key areas can still use the appropriate operating mode. For example, once the posterior teeth area is identified as a key focus area, the oral care device will control the motor to switch to a working mode adapted for cleaning posterior teeth. When the user moves the brush head away from the posterior teeth area to clean the front teeth, the oral care device will control the motor to return to the previous working mode, without requiring the user to manually press a button to switch. Step S400 enables automatic switching and restoration of the motor's working mode, eliminating the need for the user to manually switch modes and improving ease of use.

[0034] The technical solution of this invention obtains the motion data of the brush head to determine its posture angle and position, and matches it with a preset oral cavity partition model to identify the current oral cavity region. When it is detected that the dwell time in the region exceeds a preset threshold and the reciprocating motion amplitude is less than a preset threshold, it is identified as a key focus area, and the motor is then controlled to switch to the matching working mode. After leaving the region, it automatically returns to the original mode. In this way, through the above settings, no manual intervention from the user is required. It automatically identifies hard-to-brush areas and enhances cleaning power accordingly, while maintaining the original cleaning habits of regular areas, thereby simplifying the operation process and improving the oral cleaning effect.

[0035] like Figure 2 As shown, in one embodiment, acquiring the motion data of the brush head and determining the attitude angle and position of the brush head based on the motion data includes: Step S110: Collect motion data of the brush head, including angular velocity data and acceleration data; Step S120: Perform Kalman filtering on the angular velocity and acceleration data of the brush head; Step S130: Determine the attitude angle and position of the brush head in the current oral cavity region based on the angular velocity data and acceleration data after Kalman filtering.

[0036] This can be understood as follows: step S100 acquires the motion data of the brush head, and determines the attitude angle and position of the brush head based on the motion data, including steps S110 to S130, as explained below.

[0037] In step S110, the brush head or handle of the oral care device integrates a six-axis inertial measurement unit (IMU), which includes a three-axis gyroscope and a three-axis accelerometer. The three-axis gyroscope is used to detect the angular velocity of the brush head rotating around three orthogonal axes in real time, and the three-axis accelerometer is used to detect the linear acceleration of the brush head in three orthogonal directions in real time. When the user holds the brush head and performs brushing operations, the sensor continuously collects the above data at a preset sampling frequency. For example, when the user moves the brush head from the lower front teeth to the lateral side, the gyroscope outputs the angular velocity value of rotation around the horizontal axis, and the accelerometer outputs the positive acceleration in the horizontal direction and a small acceleration in the vertical direction. This raw data contains the motion state of the brush head, but it also contains noise signals such as user hand tremors and motor vibrations, which require subsequent processing.

[0038] In step S120, the control device uses a Kalman filter algorithm to fuse and filter the angular velocity and acceleration data acquired in step S110. Kalman filtering is a recursive estimation algorithm. Its basic principle is: based on the system state estimate and motion model from the previous moment, predict the current state; then, use the actual measured values ​​at the current moment (i.e., the angular velocity and acceleration data acquired by the sensors) to weight and correct the predicted values, thereby obtaining the optimal estimate for the current moment. Through iterative processing, Kalman filtering can dynamically suppress noise while preserving the true motion signal. In one example, because gyroscope data accumulates drift after long-term integration, and accelerometers are easily affected by linear acceleration during brushing motion in dynamic environments, individual sensors cannot provide accurate state information. Kalman filtering utilizes the complementary characteristics of gyroscopes and accelerometers—gyroscopes have good short-term dynamic response but are prone to drift, while accelerometers have high long-term static accuracy but are easily affected by dynamic acceleration—to organically fuse them. For example, when a user's hand experiences a momentary, rapid tremor, the gyroscope outputs an abnormal angular velocity spike, and the accelerometer detects a corresponding impact acceleration. The Kalman filter algorithm identifies this spike as noise based on historical data trends, assigns it a lower weight to effectively suppress it, and outputs a smooth angular velocity signal. For the user's actual brushing motion (such as slow, rhythmic rotation of the brush head), the filter preserves the complete motion components. After Kalman filtering, the output angular velocity and acceleration data are freed from most noise and interference, more closely approximating the true values, providing stable and accurate input for subsequent attitude angle and position calculations.

[0039] In step S130, the control device uses the angular velocity and acceleration data processed by Kalman filtering to determine the brush head's attitude angles and position through integration and coordinate transformation. Specifically, the attitude angles (including pitch, yaw, and roll angles) describe the orientation of the brush head relative to the initial reference coordinate system or the oral cavity coordinate system. The position describes the brush head's specific coordinates in the oral cavity space (usually with the initial spatial position of the brush head as the origin). Since the acceleration data includes gravitational acceleration, the gravitational acceleration component needs to be separated using the attitude angle information before integration, retaining only the user-applied motion acceleration component to obtain the true displacement. After the above calculations, the control device can output the brush head's attitude angles in real time, such as the current pitch angle, yaw angle, and roll angle, and its spatial position, such as the displacement relative to the initial point in the forward / backward, left / right, and up / down directions. For example, after a user completes a series of brushing actions, the system can determine the brush head's current position at a specific combination of posture angles (such as tilting forward at a certain angle or turning slightly to the right) and position coordinates (such as being located in a specific area in the right back of the mouth) based on the processed data.

[0040] like Figure 3 As shown, in one embodiment, the establishment of the preset oral cavity partition model includes: Step S210: Obtain standard dental arch morphology data, and divide the oral cavity space into multiple basic oral regions based on the standard dental arch morphology data; the basic oral regions include at least the left posterior tooth region, the right posterior tooth region, and the anterior tooth region; Step S220: For each basic oral region, sub-regions are divided according to the buccal, lingual, and occlusal directions of the teeth to obtain multiple oral regions; Step S230: Based on the characteristics of brushing action, set a corresponding characteristic motion trajectory for each oral cavity region; the characteristic motion trajectory includes the posture angle range, motion direction range, and motion amplitude range corresponding to the oral cavity region.

[0041] It can be understood that the establishment of the preset oral cavity partition model in step S200 includes steps S210 to S230, as explained below.

[0042] Optionally, in step S210, the standard dental arch morphology data is typical data obtained from statistical analysis of dental arch shapes in a large population, describing the arcuate characteristics of tooth arrangement in the oral cavity, including information such as the width, length, curvature, and left-right symmetry of the dental arch. This data can be pre-stored in the memory of the oral care device or imported from an external terminal (such as a mobile phone or cloud server) via Bluetooth, Wi-Fi, etc. Based on the acquired standard dental arch morphology data, the oral cavity space is divided into multiple basic oral regions. The division of basic oral regions follows the natural arrangement of teeth and common brushing habits. Specifically, the oral cavity space is divided into at least a left posterior tooth region, a right posterior tooth region, and an anterior tooth region. The left posterior tooth region covers the molars and premolars on the left side of the oral cavity, the right posterior tooth region covers the molars and premolars on the right side of the oral cavity, and the anterior tooth region covers the incisors and canines in the front of the oral cavity. For example, using the symmetry axis of a standard dental arch as a reference, the left posterior half of the arch (roughly corresponding to the position from the first premolar to the second molar) is designated as the left posterior tooth region, the right posterior half as the right posterior tooth region, and the anterior apex (corresponding to the incisors and some canines) as the anterior tooth region. This division allows subsequent area recognition to first determine whether the brush head is located on the left, right, or anterior side of the mouth, laying the foundation for a more refined cleaning strategy.

[0043] Optionally, in step S220, after the basic oral cavity region is divided, each basic oral cavity region is further refined. The refinement method involves dividing each basic oral cavity region into multiple sub-regions according to the different tooth surface directions. Specifically, for each basic oral cavity region (such as the left posterior tooth region, right posterior tooth region, or anterior tooth region), sub-regions are divided according to the buccal side (the surface near the cheek), lingual side (the surface near the tongue), and occlusal surface (the chewing surface where the upper and lower teeth meet). For example, the left posterior tooth region can be further divided into the buccal side, lingual side, and occlusal surface of the left posterior teeth; similarly, the right posterior tooth region is divided into the buccal side, lingual side, and occlusal surface of the right posterior teeth; due to anatomical characteristics, the anterior tooth region is usually divided into sub-regions such as the buccal side of the upper anterior teeth, the lingual side of the upper anterior teeth, the buccal side of the lower anterior teeth, the lingual side of the lower anterior teeth, and the incisal edge of the anterior teeth. The specific division method can be adjusted according to actual needs. Through step S220, the originally coarse basic oral cavity area is refined into multiple oral cavity areas with clearly defined tooth surface affiliations. For example, when a user cleans the outer surface of the left posterior tooth, the system can accurately identify that the current location is in the sub-region of "left posterior buccal side," rather than the general "left posterior tooth area." This refined partitioning provides spatial resolution for subsequent differentiated power output to different tooth surfaces.

[0044] Optionally, after establishing the spatial division of the oral cavity region in steps S210 and S220, step S230 further sets a corresponding feature motion trajectory for each oral cavity region. The feature motion trajectory is a reference model established based on the brushing action features, used to match the actual movement data of the brush head during real-time brushing. Each feature motion trajectory contains at least three dimensions of parameters: attitude angle range, movement direction range, and movement amplitude range.

[0045] The attitude angle range describes the typical orientation of the brush head relative to a reference coordinate system (e.g., the oral coordinate system) when it is in the oral cavity area. For example, when cleaning the buccal side of the left posterior teeth, the brush head usually needs to tilt outward at a certain angle to fit the tooth surface; therefore, the attitude angle range for this area is a yaw angle to the left and a pitch angle slightly downward. When cleaning the lingual side of the left posterior teeth, the brush head needs to tilt inward, and the attitude angle range is significantly different from that of the buccal side. The motion direction range describes the reciprocating motion direction of the brush head when effectively cleaning in the oral cavity area. For example, on the buccal and lingual sides of the posterior teeth, the brush head usually reciprocates along the direction of the dental arch (anteroposterior direction); on the labial surface of the anterior teeth, the brush head mostly moves in the vertical direction (hyperverted direction). The motion amplitude range describes the range of the reciprocating motion amplitude of the brush head when performing normal cleaning in the oral cavity area. For example, the cleaning amplitude in the posterior teeth area is usually slightly larger than that in finer areas such as the lingual side of the anterior teeth. The specific values ​​for each of the above ranges can be obtained through statistical analysis of a large amount of user brushing experiment data, or they can be theoretically set based on oral anatomy and the principles of brushing.

[0046] like Figure 4 As shown, in one embodiment, controlling the motor to switch the current operating mode to a mode that matches the area of ​​focus, and then reverting to the operating mode before the switch after detecting that the brush head has left the area of ​​focus, includes: Step S410: Determine the target working mode that matches the key focus area based on its type; Step S420: Control the motor to switch from the current working mode to the target working mode; Step S430: After continuously detecting that the brush head has left the key area of ​​focus, control the motor to return from the target working mode to the working mode before switching.

[0047] This can be understood as follows: step S400 acquires the motion data of the brush head, and determines the attitude angle and position of the brush head based on the motion data, including steps S410 to S430, as explained below.

[0048] Optionally, in step S410, after a certain oral region is identified as a key focus area through steps S100 to S300, the oral care device first obtains the type information of that key focus area. The type of key focus area refers to the specific location and tooth surface attributes of the area in the oral cavity, such as "left posterior buccal side," "right posterior lingual side," and "anterior lingual side." Different types of key focus areas, due to their anatomical differences (e.g., the posterior tooth surface is wider and requires greater cleaning force; the lingual side is more sensitive and requires appropriate force control), need to be matched with different target working modes. The oral care device has a preset mapping table or logical rules that correspond each type of key focus area to one or more target working modes. The target working mode is one of several working modes that the motor can execute, such as enhanced mode, deep cleaning mode, pulse mode, etc. Each mode corresponds to specific power parameters, such as vibration frequency, oscillation amplitude, and oscillation pattern. Based on the identified key focus area type, the oral care device queries this mapping relationship to determine the target working mode to be switched to. For example, if the focus area is the "buccal side of the posterior teeth", the target working mode can be set to the deep cleaning mode of "high frequency vibration + large swing amplitude"; if the focus area is the "lingual side", the target working mode can be set to the gentle enhancement mode of "medium frequency + medium amplitude" to avoid irritating sensitive areas.

[0049] Optionally, in step S420, after determining the target operating mode, the oral care device performs a mode switching operation. Specifically, the oral care device compares the current operating mode of the motor (e.g., standard cleaning mode) with the target operating mode determined in step S410. If they are the same, no switching is required; if they are different, a mode switching command is generated and sent to the motor's drive control unit. Upon receiving the command, the drive control unit adjusts the motor's drive parameters within a very short time (e.g., milliseconds) according to a preset switching logic, such as changing the frequency, duty cycle, or phase of the drive signal, so that the motor's vibration frequency, oscillation amplitude, or oscillation mode transitions from the current value to the target value. To ensure a smooth user experience, the switching process can be designed to be instantaneous or gradual. For example, if the motor is currently in standard mode (moderate vibration frequency, normal oscillation amplitude), when the oral care device determines that the key area of ​​focus is the "left posterior buccal side" and determines the target operating mode as "high frequency, large amplitude mode," the controller immediately outputs a switching command, and the motor increases the vibration frequency to the preset high frequency value within a very short time, while simultaneously increasing the oscillation amplitude. Users can perceive an increase in brush head power, resulting in a more effective cleaning of hard-to-reach areas.

[0050] Optionally, in step S430, while the motor is operating in the target working mode, the oral care device continuously executes the oral region recognition function described in step S200, detecting the oral region where the brush head is currently located in real time. Specifically, the oral care device continuously acquires the motion data of the brush head, calculates the posture angle and position, and matches them with the oral region model to determine whether the brush head is still within the key focus area or has moved to another area. Once the oral care device detects that the position coordinates of the brush head are no longer within the spatial range corresponding to the key focus area, or that the posture angle no longer matches the characteristic motion trajectory of the area, it determines that the brush head has left the key focus area. At this time, the oral care device generates a recovery command, controlling the motor to switch from the current target working mode back to the previously recorded working mode. The execution method of the recovery process is similar to the switching process, adjusting the motor parameters through the drive control device to gradually or instantaneously return the motor's vibration frequency, oscillation amplitude, etc., to the state before the switch. For example, when a user finishes cleaning the buccal side of their left back teeth and moves the brush head to the front teeth area, the oral care device detects that the brush head has left the key area and automatically switches the motor back from the "high-frequency, high-amplitude mode" to the previous "standard mode." This completes one adaptive power adjustment process. Users can obtain enhanced cleaning power in hard-to-brush areas without manual intervention, and the device automatically returns to the normal cleaning experience after the brush head has moved away, improving cleaning effectiveness while ensuring a smooth and comfortable brushing experience.

[0051] In one embodiment, the method for controlling the oral care device further includes: By collecting geomagnetic data using a magnetometer installed inside the oral care device, and fusing the geomagnetic data with motion data, the absolute heading angle of the brush head can be determined.

[0052] Optionally, geomagnetic data is collected by a magnetometer installed within the oral care device. This geomagnetic data is then fused with motion data, namely angular velocity and acceleration data, to determine the absolute heading angle of the brush head. The absolute heading angle refers to the true orientation angle of the brush head relative to the magnetic north pole in the horizontal plane; it is a spatial pointing parameter with an absolute reference direction. Since the yaw angle obtained solely by integrating angular velocity data is a relative angle, it will accumulate drift over time and cannot distinguish between symmetrical regions, such as the left and right posterior tooth regions. The geomagnetic data provided by the magnetometer can serve as an absolute reference benchmark. By fusing it with motion data, for example using extended Kalman filtering or complementary filtering algorithms, yaw angle drift can be corrected in real time, and the absolute heading angle can be output. Using the absolute heading angle as a criterion in the oral cavity zoning model, for example, different intervals of the absolute heading angle correspond to the left or right side of the oral cavity, symmetrical oral cavity regions can be distinguished. This can improve the directional ambiguity and accumulated drift problems in pure motion data calculation, enhance the accuracy of oral cavity region recognition, and eliminate the need for initial orientation calibration by the user or reliance on symmetry assumptions, thus enhancing the reliability of adaptive power switching.

[0053] like Figure 5 As shown, in one embodiment, the control method for the oral care device further includes: Step S500: Record the trigger locations and frequency of key areas of focus during each oral care session; Step S600: Upload the recorded trigger location and trigger frequency to the terminal device, analyze the user's brushing habit preferences through machine learning algorithms, adjust the duration threshold and amplitude threshold, and generate a control dataset.

[0054] It can be understood that the control method for oral care equipment also includes steps S500 to S600, as explained below.

[0055] Optionally, in step S500, during each brushing session, whenever the oral care device identifies a specific oral region as a key focus area and triggers a power switch in step S300, the device automatically records information related to that trigger. The "trigger location" refers to the specific name or identifier of the oral region identified as a key focus area, such as "right posterior buccal side," "left posterior lingual side," or "anterior lingual side." The "trigger frequency" refers to the number of times each key focus area is triggered during a complete oral care session, or the statistical frequency of a particular area being triggered across multiple care sessions. The oral care device stores this recorded data in its internal memory, forming a personal brushing behavior log for the user. For example, after a period of use, the device may record that the right posterior buccal side is frequently marked as a key focus area during each brushing session, while the left posterior tooth area is rarely triggered. This data reflects the user's behavioral characteristics and cleaning difficulties encountered when cleaning different oral regions.

[0056] Optionally, in step S600, after a certain amount of recorded data has been accumulated in step S500 (e.g., after dozens of brushing sessions), the oral care device uploads the recorded trigger location and trigger frequency data to the terminal device via wireless communication (e.g., Bluetooth, Wi-Fi). The terminal device can be a smartphone, tablet, cloud server, or home health gateway, or other device with computing capabilities. Machine learning algorithms, such as cluster analysis, decision trees, or Bayesian classifiers, run on the terminal device. This algorithm uses the trigger location and trigger frequency in the user's historical records as input features to analyze the user's brushing habit preferences. Specifically, the algorithm can identify which oral regions are habitual cleaning blind spots for the user (i.e., areas prone to triggering), and which areas are cleaned more efficiently by the user (i.e., rarely triggered). Based on these analysis results, the algorithm adjusts the original duration and amplitude thresholds of the oral care device. For example, if a certain area is frequently marked as a priority area, it indicates that the user consistently needs excessive time or struggles to reach the normal brushing intensity when cleaning that area. The algorithm can appropriately lower the duration threshold or raise the intensity threshold for that area, making it easier for the oral care device to identify and respond during subsequent brushing. Conversely, for areas that are rarely triggered, the threshold can be relaxed to avoid oversensitivity. The adjusted threshold parameters, along with other personalized configurations, form a control dataset. This control dataset is then fed back to the oral care device, replacing the original generic thresholds and achieving personalized customization. This effectively avoids false triggers or missed triggers caused by individual differences (such as brushing speed preferences, oral structure differences, and cleaning habit differences), improving the accuracy of priority area identification and user satisfaction. Simultaneously, the generated control dataset can be continuously iterated and updated, allowing the oral care device to become increasingly adept at understanding the user, further enhancing the device's intelligence and cleaning effectiveness.

[0057] like Figure 6 As shown, in one embodiment, the control method for the oral care device further includes: Step S700: Detect the pressure value of the brush head on the teeth or gums using a pressure sensor installed on the brush head; Step S800: When the pressure value exceeds the preset safety threshold, the current working mode cannot be switched to the enhanced mode, or the power output limit of the enhanced mode is limited; wherein, the enhanced mode is a working mode that matches the key focus area.

[0058] It can be understood that the control method for oral care equipment also includes steps S700 to S800, as explained below.

[0059] Optionally, in step S700, one or more pressure sensors are provided at the connection between the brush head and the handle of the oral care device or inside the brush head. These pressure sensors can sense the positive pressure exerted by the brush head during contact with teeth or gums in real time and convert this pressure into an electrical signal output to the control device. When a user brushes their teeth, the force applied to the brush head varies depending on the user or brushing posture: the pressure is lower for gentle cleaning and higher for forceful pressing. The control device continuously acquires the pressure values ​​output by the pressure sensors at a certain sampling frequency as a basis for determining the current brushing force. For example, when cleaning the buccal side of the back teeth, the user may subconsciously increase the pressure to try to enhance the cleaning effect, at which point the pressure value will increase accordingly; while when cleaning the front teeth or sensitive areas, the pressure value is usually lower.

[0060] Optionally, in step S800, the oral care device is pre-set with a safety threshold, which represents the upper limit of pressure for teeth and gums. Exceeding this value poses a risk of damage, such as gum recession or enamel abrasion. During brushing, when step S300 has determined a certain area as a key area of ​​focus and the oral care device is preparing to switch to enhanced mode in step S400, it first checks the pressure value detected in the current step S700. If the pressure value does not exceed the safety threshold, the device is allowed to switch to enhanced mode for intensive cleaning; if the pressure value exceeds the safety threshold, the control device takes safety protection measures. Specific safety protection measures include at least one of the following two methods: The first method is to prohibit switching, that is, the oral care device does not execute the instruction to switch to enhanced mode, and the motor continues to operate in the current working mode until the pressure value falls below the safety threshold before switching is allowed; the second method is to limit the upper limit of power output in enhanced mode, that is, although switching to enhanced mode is allowed, the maximum vibration frequency, maximum oscillation amplitude, and other power parameters in enhanced mode are limited to a lower, safer range to reduce damage to oral tissues. For example, when a user is pressing hard on the brush head to clean a hard-to-brush area that would require more power, the oral care device detects that the pressure is too high and automatically refuses to enter the enhanced mode, or only outputs a gentle level of power in the enhanced mode, thereby protecting the user's teeth and gums.

[0061] In one embodiment, the method for controlling the oral care device further includes: After switching to the working mode that matches the area of ​​focus, continuously monitor the pressure value of the brush head on the teeth or gums; When the pressure value is lower than the first pressure threshold, maintain or increase the power output; When the pressure value is between the first pressure threshold and the second pressure threshold, maintain the current power output; When the pressure value is higher than the second pressure threshold, reduce the power output until the pressure value is lower than the second pressure threshold. The first pressure threshold is less than the second pressure threshold.

[0062] Optionally, after the oral care device has switched the motor to an enhanced mode matching the area of ​​focus based on the determination of the area of ​​focus, the control device continuously monitors the pressure value of the brush head on the teeth or gums via a pressure sensor installed on the brush head. The oral care device has a first pressure threshold and a second pressure threshold preset, wherein the first pressure threshold is lower than the second pressure threshold. The first pressure threshold represents a critical value for insufficient cleaning, and the second pressure threshold represents a critical value for excessive cleaning that may damage the gums or tooth enamel. The control device compares the current pressure value with the first and second pressure thresholds in real time and adjusts the motor's power output accordingly.

[0063] Specifically, when the detected pressure value is below the first pressure threshold, it indicates that the user is applying too little force, making it difficult to achieve an effective cleaning effect. In this case, the controller maintains the current power output or appropriately increases the power output, such as increasing the vibration frequency or oscillation amplitude, to enhance the cleaning ability of hard-to-brush areas. When the pressure value is between the first and second pressure thresholds, it indicates that the user is applying force within a safe and effective range. The controller maintains the current power output to maintain a stable cleaning effect. When the pressure value is above the second pressure threshold, it indicates that the user is applying too much force, posing a risk of damaging oral tissues. The control device reduces the power output, such as decreasing the vibration frequency or oscillation amplitude, and continuously monitors the pressure value until it falls below the second pressure threshold, after which it restores a normal or appropriate power level. During enhanced mode operation, the cleaning power is matched to the user's brushing force through real-time monitoring and graded response. When the user applies too little force, stronger power is provided to compensate for the cleaning effect; when the user applies moderate force, stability is maintained; and when the user applies too much force, the force is actively reduced to protect the gums. This setting effectively improves the cleaning or oral damage caused by improper brushing force, enhances the safety, comfort and evenness of the brushing process, and makes the adaptive power control more intelligent and user-friendly.

[0064] The present invention also proposes a control device, which includes: a processor, a memory, and a control program for an oral care device stored in the memory and executable on the processor. When the processor executes the control program for the oral care device, it implements the control method for the oral care device as described above.

[0065] Optionally, the memory is used to store control programs and various data, such as preset oral cavity partition models, duration thresholds, amplitude thresholds, safety thresholds, and the user's historical brushing records. The processor is the core computing unit of the control device, used to execute program instructions in the memory.

[0066] The specific method for controlling the oral care device is as described in the above embodiments. Since this control device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here.

[0067] The present invention also proposes an oral care device, comprising: Brush head; The motor is connected to the brush head drive and has multiple operating modes. As described above, the control device is electrically connected to the motor.

[0068] It is worth noting that since the oral care device of the present invention includes the above-mentioned control device, the oral care device of the present invention also includes embodiments of all the above-mentioned control devices and the effects of each embodiment, which will not be repeated here.

[0069] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A control method for an oral care device, the oral care device comprising a brush head and a motor, characterized in that, The motor has multiple operating modes, and the control method includes: Acquire the motion data of the brush head, and determine the attitude angle and position of the brush head based on the motion data; The posture angle and position of the brush head are matched with a preset oral cavity partition model to identify the oral cavity region where the brush head is currently located; When it is detected that the dwell time in the oral cavity area where the brush head is currently located exceeds a preset duration threshold and the reciprocating motion amplitude is less than a preset amplitude threshold, the oral cavity area where the brush head is currently located is identified as a key focus area. The motor is controlled to switch the current working mode to a working mode that matches the key area of ​​focus, and after detecting that the brush head has left the key area of ​​focus, it is restored to the working mode before the switch.

2. The control method for the oral care device as described in claim 1, characterized in that, The step of acquiring the motion data of the brush head and determining the attitude angle and position of the brush head based on the motion data includes: Collect motion data of the brush head, including angular velocity data and acceleration data; The angular velocity data and acceleration data of the brush head are subjected to Kalman filtering. Based on the angular velocity and acceleration data processed by the Kalman filter, the attitude angle and position of the brush head in the current oral cavity region are determined.

3. The control method for the oral care device as described in claim 1, characterized in that, The establishment of the preset oral cavity partition model includes: Obtain standard dental arch morphology data, and divide the oral cavity space into multiple basic oral regions based on the standard dental arch morphology data; the basic oral regions include at least the left posterior tooth region, the right posterior tooth region, and the anterior tooth region. For each basic oral region, sub-regions are divided according to the buccal, lingual, and occlusal surfaces of the teeth to obtain multiple oral regions; Based on the characteristics of brushing motion, a corresponding characteristic motion trajectory is set for each oral cavity region; the characteristic motion trajectory includes the posture angle range, motion direction range, and motion amplitude range corresponding to the oral cavity region.

4. The control method for the oral care device as described in claim 1, characterized in that, The step of controlling the motor to switch the current operating mode to a mode that matches the area of ​​focus, and then reverting to the operating mode before the switch after detecting that the brush head has left the area of ​​focus, includes: Based on the type of the key focus area, determine the target working mode that matches the key focus area; Control the motor to switch from the current operating mode to the target operating mode; After continuously detecting that the brush head has left the key area of ​​focus, the motor is controlled to return from the target working mode to the working mode before the switch.

5. The control method for the oral care device as described in claim 1, characterized in that, The control method for the oral care equipment also includes: Geomagnetic data is collected by a magnetometer installed in the oral care device, and the geomagnetic data is fused with the motion data to determine the absolute heading angle of the brush head.

6. The control method for the oral care device as described in claim 1, characterized in that, The control method for the oral care equipment also includes: Record the trigger locations and frequency of the key areas of focus during each oral care session; The recorded trigger locations and trigger frequencies are uploaded to the terminal device. The user's brushing habits and preferences are analyzed using machine learning algorithms. The duration threshold and amplitude threshold are adjusted to generate a control dataset.

7. The control method for the oral care device as described in claim 1, characterized in that, The control method for the oral care equipment also includes: The pressure value of the brush head on the teeth or gums is detected by a pressure sensor installed on the brush head. When the pressure value exceeds a preset safety threshold, the current working mode cannot be switched to the enhanced mode, or the power output limit of the enhanced mode is limited; wherein, the enhanced mode is a working mode that matches the key focus area.

8. The control method for the oral care device as described in claim 7, characterized in that, The control method for the oral care equipment also includes: After switching to a working mode that matches the area of ​​focus, the pressure value of the brush head on the teeth or gums is continuously monitored; When the pressure value is lower than the first pressure threshold, maintain or increase the power output; When the pressure value is between the first pressure threshold and the second pressure threshold, maintain the current power output; When the pressure value is higher than the second pressure threshold, reduce the power output until the pressure value is lower than the second pressure threshold. The first pressure threshold is less than the second pressure threshold.

9. A control device, characterized in that, The control device includes: a processor, a memory, and a control program for an oral care device stored in the memory and executable on the processor. When the processor executes the control program for the oral care device, it implements the control method for the oral care device as described in any one of claims 1 to 8.

10. An oral care device, characterized in that, include: Brush head; The motor is connected to the brush head drive and has multiple operating modes; The control device as described in claim 9 is electrically connected to the motor.

Images