Position sensing positioning assembly and oral care device

Abstract

The application discloses a position sensing positioning assembly and oral care equipment, comprising a carrier, a light source and a sensor, the carrier is provided with a pattern comprising at least two basic colors and is used for being arranged on a moving part, the at least two basic colors constitute a plurality of color mark pixels on the pattern, any two of the plurality of color mark pixels are different; the light source is used for generating light irradiated on the pattern; the sensor is used for receiving reflected light reflected by at least one color mark pixel of the pattern, and when the moving part moves relative to the light source and the sensor, the reflected light is used for judging the current position of the moving part according to the at least one color mark pixel correspondingly. The position sensing positioning assembly of the application has the advantages of simple structure, small volume, low cost, convenient use in narrow space, high overall positioning precision and meeting the use needs of monitoring and positioning of complex motions with multiple freedoms.

Description

Technical Field

[0001] This invention relates to the field of position sensing and positioning technology, specifically to a position sensing and positioning component and an oral care device. Background Technology

[0002] In recent years, with the continuous improvement of people's living standards, people's demand for oral care, such as oral hygiene and dental health care, has also been increasing.

[0003] In the existing technology, the oral care process needs to be completed by a professional using handheld care instruments. The care instruments usually include nozzles, image acquisition modules, drive mechanisms, etc. The nozzles and image acquisition modules need to be inserted into the oral cavity to spray care solution and monitor the image of the oral cavity environment, respectively. The drive mechanism is used to drive the nozzles and image acquisition modules to adjust their orientation and position.

[0004] Some nursing devices in related technologies are also equipped with position detection devices, such as position sensors and small cameras. The position detection device can verify the positioning of the drive mechanism after the position changes, thereby ensuring the accuracy of the drive mechanism in driving the nozzles, image acquisition modules, etc. and achieving rapid positioning.

[0005] However, existing position detection devices suffer from problems such as complex structure, large size, high cost, inconvenience in narrow spaces such as the mouth, poor positioning accuracy, and inability to meet the monitoring and positioning requirements of complex movements with multiple degrees of freedom due to the complexity of the sensors themselves. Summary of the Invention

[0006] The present invention aims to at least partially solve one of the technical problems in the related art.

[0007] Therefore, this invention proposes a position sensing and positioning component. This component has a simple structure, small size, and low cost, making it convenient for use in narrow spaces. Furthermore, it has high overall positioning accuracy, which also meets the needs of monitoring and positioning complex movements such as multiple freedoms.

[0008] This invention also proposes an oral care device including the above-described position sensing and positioning components.

[0009] The position sensing and positioning component of this invention includes:

[0010] A carrier having a pattern including at least two basic colors and for being disposed on a moving part, wherein the at least two basic colors form a plurality of color mark pixels on the pattern, and any two of the plurality of color mark pixels are different.

[0011] A light source, the light source being used to generate light that illuminates the pattern, the light containing at least the spectral components corresponding to the two basic colors mentioned above;

[0012] A sensor is provided for receiving reflected light reflected from at least one of the color mark pixels of the pattern, and for detecting color information of at least two basic colors. When the moving part moves relative to the light source and the sensor, the reflected light is used to determine the current position of the moving part based on the corresponding at least one color mark pixel.

[0013] In some embodiments, the motion of the moving part includes at least two degrees of freedom: planar motion, which involves lateral and longitudinal movement along the moving part, or circumferential rotation, which involves axial translation along the moving part and circumferential rotation along the moving part.

[0014] In some embodiments, the carrier is provided with a limiting edge, which is annular and located on the outer periphery of the pattern. The limiting edge includes a plurality of limiting pixels, each of which is the same as the color mark pixel of the edge of the pattern in the inward and outward directions.

[0015] In some embodiments, the at least two basic colors include a first basic color and a second basic color, wherein the first basic color and the second basic color are diagonally distributed;

[0016] The pattern includes a first vertical direction and a second vertical direction;

[0017] The color information of the first basic color changes gradually along both the first and second directions, and the gradual changes of the color information of the first basic color in the first and second directions are different.

[0018] The color information of the second basic color changes gradually along both the first and second directions, and the gradual changes of the color information of the second basic color in the first and second directions are different.

[0019] In some embodiments, the at least two basic colors include a first basic color and a second basic color, both of which cover the pattern;

[0020] The pattern includes a first vertical direction and a second vertical direction, and the moving part includes at least a first motion direction and a second motion direction;

[0021] The first and second directions of the pattern correspond to the first and second directions of motion of the moving part, respectively. The color information of the first basic color changes gradually along one of the first and second directions, and the color information of the second basic color changes gradually along the other of the first and second directions.

[0022] In some embodiments, the color information includes the color intensity of a first primary color and a second primary color, the color intensity ranging from 0 to M, and the color information corresponding to each color mark pixel is:

[0023]

[0024] In the formula: v R Z is the color intensity of the first primary color corresponding to the color mark pixel in the first direction; Z is the length dimension of the pattern in the first direction; γ is the distance of the color mark pixel in the first direction from the edge of the pattern parallel to the second direction.

[0025] v B θ is the color intensity of the second primary color corresponding to the color mark pixel in the second direction; T is the length dimension of the pattern in the second direction; θ is the distance of the color mark pixel in the second direction from the edge of the pattern parallel to the first direction.

[0026] In some embodiments, the carrier has a limiting edge, which is annular and located on the outer periphery of the pattern. The limiting edge includes a plurality of limiting pixels, and the color information corresponding to each limiting pixel is:

[0027]

[0028] In the formula: W R W represents the color intensity of the first primary color corresponding to the limiting pixel in the first direction. B The color intensity of the second primary color corresponding to the limiting pixel in the second direction.

[0029] In some embodiments, the at least two basic colors include a third basic color, the arrangement of which is consistent with the arrangement of one of the first and second basic colors, and the third basic color is used to assist in determining the current position of the moving part represented by the first or second basic color.

[0030] In some embodiments, the light source includes a focusing portion for focusing the light onto a local area of ​​the pattern.

[0031] In some embodiments, a light guide is further included, which is disposed on the sensor. The end of the light guide away from the sensor forms a light-collecting port, and the light guide is used to conduct the reflected light collected by the light-collecting port to the sensor.

[0032] In some embodiments, the radial dimension of the light guide gradually decreases along the direction from the sensor to the pattern;

[0033] And / or, the light guide is a hollow structure or a solid structure;

[0034] And / or, the surface of the light guide is coated with a coating that blocks and / or absorbs interfering light from ambient light and color mark pixels in non-target areas.

[0035] In some embodiments, the power of the light source is adjustable, the power of the light source is negatively correlated with the radial dimension of the light-collecting port, and / or the power of the light source is positively correlated with the sensitivity of the sensor to light intensity.

[0036] In some embodiments, the light source is arranged perpendicular to the pattern, the angle formed by the extension direction of the light guide and the pattern is an acute angle, and the intersection point of the axis of the light guide and the axis of the light source is located in the pattern;

[0037] Alternatively, the light guide extends perpendicular to the pattern arrangement, and the intersection of the axis of the light guide and the axis of the light source is located in the pattern.

[0038] The oral care device of this invention includes a position sensing and positioning component as described in any of the above embodiments.

[0039] Beneficial effects: The position sensing and positioning component and oral care device of the present invention have a simple structure, small size and low cost, which facilitates use in narrow spaces. In addition, the overall positioning accuracy is high, which also meets the needs of monitoring and positioning complex movements such as multiple freedoms. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of the position sensing and positioning component according to an embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram of the usage state of the position sensing and positioning component according to an embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the pattern on the carrier according to an embodiment of the present invention.

[0043] Figure 4 This is a schematic diagram of the arrangement of the light guide component according to an embodiment of the present invention.

[0044] Figure 5 This is a schematic diagram of the arrangement of the light guide component according to another embodiment of the present invention.

[0045] Figure label:

[0046] 1-Carrier; 11-Pattern; 111-Color mark pixel; 12-Limiting edge; 121-Limiting pixel;

[0047] 2-Light source; 21-Concentrating part;

[0048] 3-Sensors;

[0049] 4-Moving parts;

[0050] 5-Light guide; 51-Light-collecting port;

[0051] 6-Fixing plate. Detailed Implementation

[0052] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0053] like Figure 1 As shown, the position sensing and positioning component of this embodiment of the invention includes a carrier 1, a light source 2, and a sensor 3.

[0054] The carrier 1 has a pattern 11 including at least two basic colors and is used to be disposed on the moving part 4. The at least two basic colors form a plurality of color mark pixels 111 on the pattern 11, and any two of the plurality of color mark pixels 111 are different.

[0055] For example, such as Figure 1 As shown, the carrier 1 can be a sheet-like structure. In use, the carrier 1 can be attached to the outer surface of the moving part 4 by means of adhesion or laser printing, such as... Figure 2 As shown, the moving part 4 can be a tubular structure, a rod-shaped structure, etc. In some other embodiments, the moving part 4 can also be a block structure, a planar structure, etc.

[0056] Pattern 11 can be composed of two different basic colors; in other embodiments, pattern 11 can also be composed of three or four basic colors, etc. Figure 3 As shown, the pattern 11 can be composed of multiple color mark pixels 111. Each color mark pixel 111 can be a small square, and each color mark pixel 111 can include one basic color, a mixture of two basic colors, a mixture of three basic colors, etc.

[0057] Each color mark pixel 111 is unique, meaning that the color information presented by any two color mark pixels 111 in the pattern 11 is different. The color information can be the reflected light distribution, reflected light intensity, basic color category, and wavelength corresponding to the basic color of a specific color mark pixel.

[0058] It should be noted that the color mark pixel 11 in this embodiment of the invention is a broad concept. For example, the color mark pixel 11 can be a region formed by a single color or a region composed of multiple pixels as understood in everyday life. The specific pixels in each color mark pixel 11 can be the same or different. When it is composed of multiple pixels, the above-mentioned color information can be distinguished by the different arrangement of the multiple pixels.

[0059] like Figure 3 As shown, the multiple color mark pixels 111 can generally be arranged in a matrix, that is, the multiple color mark pixels 111 can be divided into multiple columns along the first direction and multiple rows along the second direction. In some other embodiments, the multiple color mark pixels 111 can also be arranged in a wavy or wave-like pattern, that is, due to the uniqueness of each color mark pixel 111, the arrangement of the multiple color mark pixels 111 is not restricted.

[0060] It should be noted that the size of the color mark pixel 111 in this embodiment of the invention can be extremely small, that is, the color mark pixel 111 can be processed to a degree that is not intuitively distinguishable by the human eye. Figure 3 The color mark pixel 111 is for illustrative purposes only and is not intended to limit the actual size and dimensions of the color mark pixel 111.

[0061] The light source 2 is used to generate light that shines onto the pattern 11. For example, the light source 2 can be an LED light, a light bulb or other lighting device. When in use, the light source 2 can generate light on its own, and the generated light can shine onto the pattern 11, thereby playing an illumination role and making it easier to identify the position changes of different color mark pixels 111 on the pattern 11 under bright light.

[0062] The light produced by light source 2 contains spectral components corresponding to at least the two primary colors mentioned above. For example, the at least two primary colors may only include red and blue, and light source 2 may be a white LED, thus containing both red and blue in the produced light.

[0063] The sensor 3 is used to receive reflected light reflected by at least one color mark pixel 111 of the pattern 11, and can detect color information of at least the two basic colors. When the moving part 4 moves relative to the light source 2 and the sensor 3, the reflected light is used to determine the current position of the moving part 4 based on the corresponding at least one color mark pixel 111.

[0064] For example, color information may include color intensity (light intensity), basic color depth, and basic color saturation. The light generated by the light source 2 will illuminate the pattern 11, and the diffuse reflected light from the corresponding color mark pixels 111 on the pattern 11 will be received by the sensor 3. Since the color information of each color mark pixel 111 is different, the corresponding color mark pixel 111 can be determined based on these different color information, and thus the corresponding position of the moving part 4 after its movement can be determined.

[0065] Specifically, when the moving part 4 rotates or translates, the pattern 11 will also change position as the moving part 4 moves. This position change will cause the relative position of the color mark pixel 111 on the pattern 11 to change with the sensor 3. Then, by analyzing and judging the color information of the reflected light received by the color mark pixel 111 by the sensor 3, the current position of the moving part 4 can be determined.

[0066] It should be noted that in actual use, due to the size arrangement of the color mark pixels 111, the color mark pixel 111 corresponding to the reflected light received by the sensor 3 may not be unique. That is, the reflected light may be the reflected light of multiple adjacent color mark pixels 111 at the same time. In this case, due to the uniqueness of the color information of each color mark pixel 111, the whole formed by these color mark pixels 111 is also unique. Therefore, this situation does not affect the judgment of the position of the moving part 4 after it moves.

[0067] The position sensing and positioning component of this invention includes only a pattern 11, a sensor 3, and a light source 2. The overall structure is simple and small in size, and the overall processing and maintenance costs are also low. The pattern 11 and the sensor 3 are also non-contact sensing. Compared with the traditional optical lens focusing method, there is no need for focusing, and the manufacturing and assembly are also simpler, which fully meets the needs of use in narrow spaces such as the oral cavity.

[0068] Secondly, since each color mark pixel 111 on pattern 11 is unique, this uniqueness fully guarantees the accuracy of the sensor 3 in determining the position of the moving part 4 after movement by the corresponding reflected light. That is, there is a one-to-one mapping relationship between the position and the color mark pixel 111, and between the color mark pixel 111 and the corresponding reflected light, thus ensuring the overall positioning accuracy.

[0069] In addition, due to the uniqueness of each color mark pixel 111, after the moving part 4 performs multiple degrees of freedom movements such as axial translation and rotation, the sensor 3 will only interact with the corresponding color mark pixel 111 and collect the diffuse reflected light of that color mark pixel 111, thus fully meeting the needs of monitoring and positioning complex movements with multiple degrees of freedom.

[0070] In some embodiments, the motion of the moving part 4 includes at least two degrees of freedom, which can be a translational motion along the axial direction of the moving part 4 and a circumferential rotation along the circumferential direction of the moving part 4.

[0071] For example, such as Figure 2 As shown, the moving part 4 can be a tubular structure, extending generally in the front-to-back direction, meaning its axis is in the front-to-back direction. In use, under the action of a corresponding drive, the moving part 4 can reciprocate in the front-to-back direction, thus performing axial translational motion. The moving part 4 can also rotate around its own axis, thus performing axial rotation. These two motion modes fully meet the needs of the moving part 4 for feeding and adjusting its orientation angle.

[0072] In some other embodiments, the movement of the moving element 4 may also include planar movement along the lateral and longitudinal directions of the moving element 4. For example, the lateral direction can be left and right, and the longitudinal direction can be front and back. In use, the moving element 4 can translate along the left and right or front and back directions, so that the corresponding color mark pixel 111 can also change position through translational movement in both directions.

[0073] In some embodiments, the carrier 1 is provided with a limiting edge 12, which is annular and located on the outer periphery of the pattern 11. The limiting edge 12 includes a plurality of limiting pixels 121, and each limiting pixel 121 is the same as the color mark pixel 111 of the edge of the pattern 11 in the inward and outward directions.

[0074] For example, such as Figure 3 As shown, the pattern 11 can be a rectangular pattern 11, and the limiting edge 12 can be a rectangular frame. The limiting edge 12 can be arranged on the outer periphery of the pattern 11, and the limiting edge 12 and the pattern 11 can be seamlessly connected. The pattern 11 can be... Figure 3 The portion enclosed by the dashed line, and the limiting edge 12 can be the outer part of the dashed line.

[0075] The limiting edge 12 may include multiple limiting pixels 121, and the arrangement of the multiple limiting pixels 121 can be the same as the arrangement of the multiple color mark pixels 111. At the four edges of the pattern 11, the color information of the color mark pixel 111 at each edge of the pattern 11 and the limiting pixel 121 of that color mark pixel 111 in the inward and outward directions can be exactly the same. Furthermore, the multiple limiting pixels 121 of the same width along the inward and outward directions of the limiting edge 12 can also be exactly the same. Figure 3 The letter N indicates the width of the limiting edge 12.

[0076] Due to the actual size and operational errors of sensor 3, when sensor 3 corresponds to the color mark pixel 111 at the edge of pattern 11, if no limiting edge 12 is set around pattern 11, there will be a significant difference between the reflected light reflected from the outer edge of pattern 11 and the reflected light reflected from the color mark pixel 111 at the edge of pattern 11. When sensor 3 performs positioning by simultaneously capturing the reflected light of multiple color mark pixels 111, the final calculation will generally be done by averaging. However, if the limiting edge 12 is not set, the averaging of the blank area around pattern 11 and the color mark pixel 111 at the edge of pattern 11 will easily be consistent with the averaging structure of some color mark pixels 111 inside pattern 11, which will cause misjudgment of position. Setting the limiting edge 12 can avoid misjudgment.

[0077] In some embodiments, at least two basic colors include a first basic color and a second basic color, which are diagonally distributed. For example, the first basic color can be red, and the second basic color can be blue. In other embodiments, the first basic color can also be purple, green, etc., and the second basic color can also be other basic colors different from the first basic color. The pattern 11 can be rectangular in general, with the first basic color mainly distributed on one side of the diagonal of the pattern 11, and the second basic color mainly distributed on the other side of the diagonal.

[0078] like Figure 3 As shown, pattern 11 includes a first vertical direction and a second vertical direction.

[0079] The moving component 4 includes at least a first direction of motion and a second direction of motion, and the first direction and the second direction of pattern 11 correspond to the first direction of motion and the second direction of motion of the moving component 4, respectively. For example, the first direction of motion can be the aforementioned circumferential rotational direction of motion, and the second direction of motion can be the aforementioned axial translational direction of motion. The aforementioned first direction can be consistent with the first direction of motion, and the second direction can be consistent with the second direction of motion.

[0080] The color information of the first primary color changes gradually along both the first and second directions, and the gradual changes of the color information of the first primary color in the first and second directions are different.

[0081] For example, pattern 11 can be a rectangle, and the four corners of pattern 11 can be angle a, angle b, angle c, and angle d, respectively. The first primary color can be distributed in... Figure 3 In the upper right half of pattern 11, the second primary color can be distributed in... Figure 3 The lower left half of pattern 11 in the middle.

[0082] Specifically, the color information can be the basic color depth. The color information of the first basic color can gradually lighten along the direction from corner a to corner b, and then the color information of the first basic color can continue to gradually lighten along the direction from corner b to corner c, and the color information of the first basic color also gradually lightens along the direction from corner a to corner c. As a result, the multiple color mark pixels 111 in the upper right half of the pattern 11 have different color information.

[0083] The color information of the second primary color changes gradually along both the first and second directions, and the gradual changes of the color information of the second primary color in the first and second directions are different.

[0084] For example, the color information of the second primary color can also be the primary color depth. The color information of the second primary color can gradually lighten along the direction from angle a to angle d, and then continue to gradually lighten along the direction from angle d to angle c. The color information of the second primary color also gradually lightens along the direction from angle a to angle c. This results in multiple color mark pixels 111 in the lower left half of pattern 11 having different color information, achieving the uniqueness of each color mark pixel 111.

[0085] In some embodiments, the color information of the first primary color gradually changes along one of a first direction and a second direction, and the color information of the second primary color gradually changes along the other of the first direction and the second direction. Specifically, the color information includes the color intensity of the first primary color and the second primary color, the color intensity ranging from 0 to M, and the color information corresponding to each color mark pixel 111 is as follows:

[0086]

[0087] In the formula: v R Z is the color intensity of the first primary color corresponding to the color mark pixel 111 in the first direction; Z is the length dimension of the pattern 11 in the first direction; γ is the distance of the color mark pixel 111 from the edge of the pattern 11 parallel to the second direction in the first direction;

[0088] v B θ is the color intensity of the second primary color corresponding to the color mark pixel 111 in the second direction; T is the length dimension of the pattern 11 in the second direction; θ is the distance of the color mark pixel 111 from the edge of the pattern 11 parallel to the first direction in the second direction.

[0089] For example, color information can be color intensity, and the value range of color intensity can be from 0 to 255, that is, the value of M in the above formula can be 255. Both the first and second basic colors can be distributed throughout the entire pattern 11, meaning that the first and second basic colors can be arranged on the carrier 1 in a superimposed manner to form the pattern 11. Therefore, each color mark pixel 111 can simultaneously include the color information of both the first and second basic colors.

[0090] The color intensity of the first primary color mentioned above can be along... Figure 3 The intensity of the second primary color gradually decreases from angle a to angle b, and the color intensity can be along... Figure 3 The angle gradually weakens from angle a to angle d.

[0091] In the above formula, Z can specifically represent the length between angles a and b. The ratio of M to Z represents the equal division of color intensity over distance Z. At the edge position formed by angles a and d, the value of M can be 0, and at the edge position formed by angles b and c, the value of M can be 255. γ can be the distance between a certain color mark pixel 111 and the line connecting angles a and d along the first direction. Therefore, the position of the moving part 4 after moving in the first direction can be located and identified by the color intensity of the first primary color.

[0092] In the above formula, T can specifically be the length between angle a and angle d. The ratio of M to T represents the equal division of color intensity over distance T. At the edge position formed by angles a and b, the value of M can be 0, and at the edge position formed by angles d and c, the value of M can be 255. θ can be the distance between a certain color mark pixel 111 and the line connecting angles a and b along the second direction. Therefore, the position of the moving part 4 after moving in the second direction can be located and identified by the color intensity of the second primary color. The specific calculation process can be referred to in the following formula, where α can be considered as the relative position of the moving part 4 in the first direction, and β can be considered as the relative position of the moving part 4 in the second direction:

[0093]

[0094] Among them, v R1 and v B1 This represents the color intensity values ​​of the two primary colors detected by sensor 3.

[0095] In some embodiments, the color information of the color mark pixel 111 needs to be combined with additional information to achieve uniqueness. For example, the color information of the first primary color gradually decreases in intensity along a first direction, and then gradually increases in intensity again; the color information of the second primary color gradually decreases in intensity along a second direction, and then gradually increases in intensity again. In this case, the pattern 11 is divided into four monotonically gradient regions, and the color information of a single color mark pixel 111 is repeated, resulting in the same color information corresponding to four different positions, so the position of the moving part 4 cannot be directly calculated. To solve this problem, we can introduce additional information to distinguish which specific position it is. The additional information can be the variation pattern of the color information of other pixels adjacent to the color mark pixel 111, such as the derivative of the color intensity.

[0096] Specifically, taking the position calculation in the first direction as an example, we calculate the derivative of the color intensity of the first primary color of color block pixel 111 in the first direction. If the derivative is positive, it indicates that the pixel is in the range where the first primary color changes from weak to strong in the first direction; if the derivative is negative, it indicates that the pixel is in the range where the first primary color changes from strong to weak in the first direction. Based on this, two of the four positions can be eliminated. Similarly, using the derivative of the color intensity of the second primary color of color block pixel 111 in the second direction, we can eliminate the remaining position and obtain the current position.

[0097] In some embodiments, the carrier 1 is provided with a limiting edge 12, which is annular and located on the outer periphery of the pattern 11. The limiting edge 12 includes a plurality of limiting pixels 121, and the color information corresponding to each limiting pixel 121 is as follows:

[0098]

[0099] In the formula: W R The color intensity of the first primary color corresponding to pixel 121 in the first direction is limited; W B The color intensity of the second primary color corresponding to the second direction of the limiting pixel 121.

[0100] In this embodiment, the color information of each limiting pixel 121 of the limiting edge 12 is represented by a formula. As can be seen from the formula, when γ is outside the range of 0 to Z, the color intensity of the limiting pixel 121 on the same width of the limiting edge 12 can be only 0 or 255. When θ is outside the range of 0 to T, the color intensity of the limiting pixel 121 on the same width of the limiting edge 12 can also be only 0 or 255. The limiting edge 12 can also adopt a special pattern pattern, such as a checkered pattern with alternating light and dark areas.

[0101] In some embodiments, at least two basic colors include a third basic color, the arrangement of which is consistent with the arrangement of one of the first and second basic colors, and the third basic color is used to assist in determining the current position of the moving part 4 represented by the first or second basic color.

[0102] For example, the first and second primary colors mentioned above could be red and blue, respectively. The third primary color could be green, or any other primary color different from the first and second. Color information could also include the intensity information of the third primary color. The color intensity of the third primary color could also be along... Figure 3 The intensity of light gradually decreases from angle a to angle b, meaning that the intensity of green light reflection is the same as that of red light reflection.

[0103] When calculating the position, the extension and retraction displacement of the moving part 4 in the forward and backward directions can be calculated using the information intensity of green and red light, respectively. When the error between the two is less than a given threshold, the average of the two values ​​can be taken, or a weighted average can be taken based on experience. This reduces the error caused by the noise of sensor 3. When the error between the two values ​​exceeds the given threshold, it indicates that the coded pattern 11 is damaged and needs to be repaired or cleaned, thus ensuring the accuracy of positioning.

[0104] In some embodiments, the light source 2 includes a focusing part 21, which is used to focus light on a local area of ​​the pattern 11. For example, the light source 2 can be an LED bead with focusing characteristics, and the bead can have a spherical head structure, so that the light generated by the light source 2 can be focused on a local area of ​​the pattern 11 and form a light spot, thereby meeting the need for illumination of some local color mark pixels 111.

[0105] In some embodiments, the position sensing positioning component further includes a light guide 5, which is disposed on the sensor 3. The end of the light guide 5 away from the sensor 3 forms a light-collecting port 51, and the light guide 5 is used to conduct the reflected light collected by the light-collecting port 51 to the sensor 3.

[0106] For example, as shown in 4, the sensor 3 can be a color sensor, the light guide 5 can be fixed to the receiving end of the sensor 3, and the light guide 5 can extend toward the pattern 11. The end of the light guide 5 toward the pattern 11 can form a light-collecting opening 51.

[0107] In use, the reflected light from pattern 11 enters the light guide 5 through the light-collecting port 51, and then travels along the light guide 5 to the sensor 3, thus meeting the requirements for collecting reflected light. The light guide 5 enhances the guiding effect of the reflected light to the sensor 3, preventing light spillage during transmission and ensuring transmission efficiency. It also prevents external light interference, improving the accuracy and precision of the detection.

[0108] In some embodiments, the radial dimension of the light guide 5 gradually decreases along the direction from the sensor 3 to the pattern 11. For example, as Figure 4 As shown, the light guide 5 can be a conical structure. The bottom end of the conical structure can be fixedly connected to the sensor 3 and aligned with the photosensitive area of ​​the sensor 3. The tip of the conical structure can be truncated to form a roughly circular light-collecting opening 51. This can further enhance the accuracy of monitoring.

[0109] In some embodiments, the distance between the light-transmitting opening 51 and the pattern 11 can be 0.1mm, 0.2mm, 0.3mm, etc., and preferably, the distance between the light-transmitting opening 51 and the pattern 11 is 0.2mm.

[0110] In some embodiments, the light guide 5 is a hollow or solid structure. For example, the light guide 5 can be a conical cylindrical structure, and the opening of the light guide 5 facing the pattern 11 forms a light-receiving opening 51. In other embodiments, the light guide 5 can also be made of a transparent or other light-guiding material.

[0111] In some embodiments, the outer surface of the light guide 5 is coated with a coating to block and / or interfere with light originating from ambient light and color mark pixels in non-target areas. For example, the outer surface of the light guide 5 may be coated with a black paint, which can block external ambient light from entering the light guide 5 and also prevent reflected light (reflected light from non-target areas) that has not been incident on the light guide 5 through the light-collecting port 51 from entering the light guide 5. This further ensures the accuracy and precision of the measurement.

[0112] In some other embodiments, when the light guide 5 is a hollow structure, the coating can also be applied to the inner surface of the light guide.

[0113] In some embodiments, the power of the light source 2 is adjustable, and the power of the light source 2 is negatively correlated with the radial dimension of the light-collecting opening 51. Specifically, the smaller the diameter of the light-collecting opening 51, the more concentrated the light collected by the light-collecting opening 51 becomes, the more sensitive the sensor 3 is to monitoring position changes, and the higher the accuracy of position estimation. However, a smaller diameter of the light-collecting opening 51 also results in less collected light, which also affects the reliability of the sensor 3. In this case, the operating power of the light source 2 can be increased, so that the light source 2 can emit more light, which can compensate for the deviation caused by the small diameter of the light-collecting opening 51.

[0114] In other embodiments, the power of the light source 2 is positively correlated with the sensitivity of the sensor 3 to light intensity. For example, when the sensitivity of the sensor 3 is higher, the power of the light source 2 can be appropriately reduced, while when the sensitivity of the sensor 3 is lower, the power of the light source 2 can be appropriately increased.

[0115] In some embodiments, the light source 2 is arranged perpendicular to the pattern 11, the angle formed by the extension direction of the light guide 5 and the pattern 11 is an acute angle, and the intersection point of the axis of the light guide 5 and the axis of the light source 2 is located in the pattern 11.

[0116] For example, such as Figure 4 As shown, the axis of the light guide 5 can be arranged obliquely from right front to left rear. Figure 4 The dashed line A in the diagram, the axis of light source 2 can be... Figure 4 The angle formed by dashed line B, dashed line A and pattern 11 can be acute, and dashed lines A and B can intersect at point C, which can be located on pattern 11.

[0117] Since the light emitted from the light source 2 along the direction of the dashed line B has the strongest and brightest light signal, the arrangement of the dashed lines A and B and point C allows the sensor 3 to collect the light signal at the strongest point, which can further improve the accuracy of monitoring.

[0118] In other embodiments, the light guide 5 extends perpendicularly to the pattern 11, and the intersection of the axis of the light guide 5 and the axis of the light source 2 is located in the pattern.

[0119] For example, such as Figure 5 As shown, the light guide 5 can be positioned behind the light source 2. The light guide 5 is generally conical, and its axis corresponds to the dashed line A, which can extend horizontally. The axis of the light source 2 can be the dashed line B, which can be arranged obliquely from right front to left rear. Figure 5 In the diagram, the intersection point C of dashed lines A and B can also be located on pattern 11. This allows for the acquisition of light signals at the strongest and brightest points, ensuring the accuracy of the monitoring.

[0120] In some embodiments, such as Figure 2 As shown, the position sensing and positioning component may further include a fixing plate 6, which may be arranged at intervals from the moving part 4. The light source 2 and the sensor 3 mentioned above can both be mounted on the fixing plate 6. The fixing plate 6 may specifically be a control board such as a circuit board, or it may be other rectangular plates processed from steel plates, sheet metal, etc.

[0121] The oral care device according to an embodiment of the present invention is described below.

[0122] The oral care device of this invention includes a position sensing and positioning component, which can be the position sensing and positioning component described in any of the above embodiments. The oral care device may include a drive mechanism, and the transmission part of the drive mechanism can constitute a moving part 4, which can specifically be a tubular structure, etc. The carrier 1 can be a part of the moving part 4, or the carrier 1 can be a patch, etc.

[0123] It should be noted that the application of the above-mentioned position sensing and positioning components to oral care equipment is not considered a limitation on the application areas of position sensing and positioning components. Position sensing and positioning components can also be applied to production lines, warehouses, and other fields that require the position positioning of moving parts.

[0124] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0125] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0126] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0127] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0128] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0129] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A position sensing and positioning component, characterized in that, include: A carrier having a pattern including at least two basic colors and for being disposed on a moving part, wherein the at least two basic colors form a plurality of color mark pixels on the pattern, and any two of the plurality of color mark pixels are different. A light source, the light source being used to generate light that illuminates the pattern, the light containing at least the spectral components corresponding to the two basic colors mentioned above; A sensor is provided for receiving reflected light reflected from at least one of the color mark pixels of the pattern, and for detecting color information of at least two basic colors. When the moving part moves relative to the light source and the sensor, the reflected light is used to determine the current position of the moving part based on the corresponding at least one color mark pixel.

2. The position sensing and positioning component according to claim 1, characterized in that, The motion of the moving part includes at least two degrees of freedom: planar motion, which involves movement along the lateral and longitudinal directions of the moving part, or circumferential rotation, which involves translation along the axial direction of the moving part and rotation along the circumferential direction of the moving part.

3. The position sensing and positioning component according to claim 1, characterized in that, The carrier is provided with a limiting edge, which is annular and located on the outer periphery of the pattern. The limiting edge includes a plurality of limiting pixels, and each limiting pixel is the same as the color mark pixel of the edge of the pattern in the inward and outward directions.

4. The position sensing and positioning component according to claim 1, characterized in that, The at least two basic colors include a first basic color and a second basic color, and the first basic color and the second basic color are diagonally distributed. The pattern includes a first vertical direction and a second vertical direction; The color information of the first basic color changes gradually along both the first and second directions, and the gradual changes of the color information of the first basic color in the first and second directions are different. The color information of the second basic color changes gradually along both the first and second directions, and the gradual changes of the color information of the second basic color in the first and second directions are different.

5. The position sensing and positioning component according to claim 1, characterized in that, The at least two basic colors include a first basic color and a second basic color, both of which cover the pattern. The pattern includes a first vertical direction and a second vertical direction, and the moving part includes at least a first motion direction and a second motion direction; The first and second directions of the pattern correspond to the first and second directions of motion of the moving part, respectively. The color information of the first basic color changes gradually along one of the first and second directions, and the color information of the second basic color changes gradually along the other of the first and second directions.

6. The position sensing and positioning component according to claim 5, characterized in that, The color information includes the color intensity of the first primary color and the second primary color, and the value range of the color intensity is from 0 to M. The color information corresponding to each color mark pixel is as follows: In the formula: v R Z is the color intensity of the first primary color corresponding to the color mark pixel in the first direction; Z is the length dimension of the pattern in the first direction; γ is the distance of the color mark pixel in the first direction from the edge of the pattern parallel to the second direction. v B θ is the color intensity of the second primary color corresponding to the color mark pixel in the second direction; T is the length dimension of the pattern in the second direction; θ is the distance of the color mark pixel in the second direction from the edge of the pattern parallel to the first direction.

7. The position sensing and positioning component according to claim 6, characterized in that, The carrier has a limiting edge, which is annular and located on the outer periphery of the pattern. The limiting edge includes a plurality of limiting pixels, and the color information corresponding to each limiting pixel is as follows: In the formula: W R W represents the color intensity of the first primary color corresponding to the limiting pixel in the first direction. B The color intensity of the second primary color corresponding to the limiting pixel in the second direction.

8. The position sensing and positioning component according to claim 5, characterized in that, The at least two basic colors include a third basic color, the arrangement of which is consistent with the arrangement of one of the first basic color and the second basic color, and the third basic color is used to assist in determining the current position of the moving part represented by the first basic color or the second basic color.

9. The position sensing and positioning component according to claim 1, characterized in that, The light source includes a focusing section for focusing the light onto a local area of ​​the pattern.

10. The position sensing and positioning component according to any one of claims 1-9, characterized in that, It also includes a light guide, which is disposed on the sensor. The end of the light guide away from the sensor forms a light-collecting port, and the light guide is used to conduct the reflected light collected by the light-collecting port to the sensor.

11. The position sensing and positioning component according to claim 10, characterized in that, The radial dimension of the light guide gradually decreases along the direction from the sensor to the pattern; And / or, the light guide is a hollow structure or a solid structure. And / or, the surface of the light guide is coated with a coating that blocks and / or absorbs interfering light from ambient light and color mark pixels in non-target areas.

12. The position sensing and positioning component according to claim 10, characterized in that, The power of the light source is adjustable, and the power of the light source is negatively correlated with the radial dimension of the light-collecting port, and / or the power of the light source is positively correlated with the sensitivity of the sensor to light intensity.

13. The position sensing and positioning component according to claim 10, characterized in that, The light source is arranged perpendicular to the pattern, the angle formed by the extension direction of the light guide and the pattern is an acute angle, and the intersection point of the axis of the light guide and the axis of the light source is located in the pattern. Alternatively, the light guide extends perpendicular to the pattern arrangement, and the intersection of the axis of the light guide and the axis of the light source is located in the pattern.

14. An oral care device, characterized in that, Includes the position sensing and positioning component as described in any one of claims 1-13 above.

Images