Oral irrigation device, oral irrigation method, and oral irrigation program

Abstract

To provide an oral cavity washing device capable of appropriately washing a target washing spot in the oral cavity.SOLUTION: An oral cavity washing device 1 includes: a camera part 12 for imaging the oral cavity; a washing part 11 for washing the oral cavity by discharging fluid; an image data acquisition part 113; a border detection part 114; a position determination part 115; and a discharge control part 116. The image data acquisition part 113 acquires image data acquired by the camera part 12. The border detection part 114 detects a border between the teeth and the gums in the oral cavity on the basis of the image data. The position determination part 115 determines whether or not the fluid discharged from the washing part hits the border on the basis of the image data. When the fluid discharged from the washing part 11 is determined to hit the border in the position determination part 115, the discharge control part 116 causes the fluid for washing the oral cavity to be discharged from the washing part 11.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to an oral cavity cleaning device, an oral cavity cleaning method, and an oral cavity cleaning program.

Background Art

[0002] Conventionally, in devices for cleaning the oral cavity using a brush or water flow, devices for more appropriately cleaning the cleaning target in the oral cavity have been proposed. Patent Document 1 discloses an oral care device provided with a sensor for acquiring movement data. The oral care device disclosed in Patent Document 1 calculates position information based on the data acquired by the acceleration sensor and accurately determines the position of the device in the oral cavity.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the oral care device disclosed in Patent Document 1, the position of the head portion of the oral care device in the oral cavity is determined based on the movement data acquired by the sensor. That is, the oral care device determines the position where the teeth and the head portion of the oral care device engage according to the movement of the oral care device. However, in actual oral cavity cleaning, it is required to specify a more detailed position, such as the boundary between the teeth and the gums, and perform cleaning. For example, when cleaning the oral cavity with water flow, if the water flow is discharged to a location different from the desired location, the water flow may be wasted.

[0005] The present disclosure has been made in view of such problems of the prior art. The object of the present disclosure is to provide an oral cavity cleaning device capable of appropriately cleaning the cleaning target location in the oral cavity. [Means for solving the problem]

[0006] An oral cleaning device according to an embodiment of the present disclosure comprises: a camera unit for photographing the inside of the oral cavity; a cleaning unit for cleaning the inside of the oral cavity by discharging a liquid; an image data acquisition unit for acquiring image data acquired by the camera unit; a boundary detection unit for detecting the boundary between teeth and gums in the oral cavity based on the image data; a position determination unit for determining whether or not the liquid discharged from the cleaning unit hits the boundary based on the image data; and a discharge control unit for discharging liquid for cleaning the inside of the oral cavity from the cleaning unit when the position determination unit determines that the liquid discharged from the cleaning unit hits the boundary.

[0007] Another embodiment of the present disclosure is a computer-operated oral cleaning method, which acquires image data obtained by a camera unit that photographs the inside of the mouth, detects the boundary between teeth and gums in the oral cavity based on the image data, determines whether the liquid discharged from a cleaning unit that cleans the inside of the mouth by discharging liquid hits the boundary based on the image data, and if it is determined that the liquid discharged from the cleaning unit hits the boundary, the cleaning unit discharges liquid for cleaning the inside of the mouth.

[0008] An oral cleaning program according to another aspect of the present disclosure acquires image data obtained by a camera unit that photographs the inside of the mouth, detects the boundary between teeth and gums in the oral cavity based on the image data, determines whether the liquid discharged from a cleaning unit that cleans the inside of the mouth by discharging liquid hits the boundary based on the image data, and if it is determined that the liquid discharged from the cleaning unit hits the boundary, causes the computer to perform a process of discharging liquid from the cleaning unit to clean the inside of the mouth. [Effects of the Invention]

[0009] According to this disclosure, it is possible to provide an oral cleaning device that can properly clean the areas to be cleaned within the oral cavity. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram of an oral cleaning device according to the first embodiment. [Figure 2A] This is a diagram illustrating a nozzle according to the first embodiment. [Figure 2B] This is a cross-sectional view of the nozzle in the IIB-IIB section shown in Figure 2A. [Figure 3] This is a block diagram showing the configuration of an oral irrigation device according to the first embodiment. [Figure 4] This is a block diagram showing the functional configuration of an oral cleaning device according to the first embodiment. [Figure 5A] This diagram illustrates the positional relationship between the nozzle of the oral irrigation device according to the first embodiment and the teeth. [Figure 5B] This is a diagram illustrating an image acquired by a camera according to the first embodiment. [Figure 6A] This diagram illustrates the positional relationship between the nozzle of the oral irrigation device according to the first embodiment and the teeth. [Figure 6B] This is a diagram illustrating an image acquired by a camera of an oral irrigation device according to the first embodiment. [Figure 7] This flowchart shows an example of the processing of an oral cleaning device according to the first embodiment. [Figure 8] This is a diagram illustrating the nozzle of an oral irrigation device according to a second embodiment. [Figure 9] This is a block diagram showing the functional configuration of an oral cleaning device according to the second embodiment. [Figure 10A] This diagram illustrates the control of the nozzle of an oral irrigation device according to a second embodiment. [Figure 10B] This diagram illustrates the control of the nozzle of an oral irrigation device according to a second embodiment. [Figure 10C] This diagram illustrates the control of the nozzle of an oral irrigation device according to a second embodiment. [Figure 11]It is a flowchart showing an example of the processing of the oral cavity cleaning device according to the second embodiment. [Figure 12] It is a block diagram showing the functional configuration of the oral cavity cleaning device according to the third embodiment. [Figure 13] It is a flowchart showing an example of the processing of the oral cavity cleaning device according to the third embodiment. [Figure 14] It is a flowchart showing an example of the processing related to the image quality information adjustment in the processing of the oral cavity cleaning device according to the third embodiment. [Figure 15] It is a schematic diagram of the oral cavity cleaning device according to another embodiment.

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments will be described in detail with reference to the drawings. However, a more detailed description than necessary may be omitted. For example, a detailed description of well-known matters or a redundant description of substantially the same configuration may be omitted. Note that the accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0012] (Schematic Configuration of Oral Cavity Cleaning Device 1) The oral cavity cleaning device 1 according to the present embodiment includes a camera for photographing the oral cavity, and based on the image data acquired by the image sensor of the camera, it is a device that appropriately cleans the oral cavity by injecting a water flow from the nozzle 10 to a desired position in the oral cavity. Hereinafter, the oral cavity cleaning device 1 will be described with reference to several specific embodiments.

[0013] (First Embodiment) Figure 1 is a schematic external view of an oral irrigation device 1 according to the first embodiment. The oral irrigation device 1 comprises a nozzle 10, a water tank 20, an operating switch 30, and a water pressure switching switch 40. The oral irrigation device 1 sprays a stream of water from the nozzle 10 based on the user pressing the operating switch 30 and predetermined conditions described later. The water pressure of this sprayed water stream cleans predetermined areas in the oral cavity. Furthermore, the water pressure of this water stream can be switched by the user pressing the water pressure switching switch 40.

[0014] The liquid (water) that forms the water stream ejected from the nozzle 10 is stored in the water tank 20 beforehand and ejected from the nozzle 10 via a hose. The liquid stored in the water tank 20 is not limited to water; for example, it may be a cleaning solution for cleaning the inside of the mouth. In this specification, the following explanation will describe the case where the liquid stored in the water tank 20 and discharged from the nozzle 10 is water.

[0015] Figure 2A is a magnified view of the tip of the nozzle 10 of the oral cavity irrigation device 1. As shown in Figure 2A, the tip of the nozzle 10 includes a cleaning unit 11 that cleans the inside of the mouth by discharging liquid, and a camera unit 12 that takes pictures of the inside of the mouth.

[0016] Figure 2B shows a cross-sectional view of the tip of the nozzle 10 in the IIB-IIB section of Figure 2A. The cleaning section 11 provided on the nozzle 10 has a pipe structure through which water passes and is discharged. The cleaning section 11 may also be replaceable, in which case it is fixed by a mounting section 14. For example, an O-ring can be used for the mounting section 14. The camera section 12 is equipped with a lens and an image sensor at its tip and sends the captured intraoral image data to the main body of the intraoral cleaning device 1 via a cable 13.

[0017] The oral irrigation device 1 controls the cleaning unit 11 and the camera unit 12 by a controller 100 (see Figure 3) located inside the oral irrigation device 1. Figure 3 is a block diagram showing the configuration of the controller 100 provided in the oral irrigation device 1, and the cleaning unit 11 and camera unit 12 controlled by the controller 100. The controller 100 also acquires information that the operating switch 30 and the water pressure switching switch 40 have been pressed as control signals.

[0018] As shown in Figure 3, the controller 100 is composed of a control unit 110, a memory unit 120, and an input / output IF 140 (interface). The controller 100 may also include a communication IF 130. The controller 100 may be configured as a general-purpose microcomputer equipped with a CPU (control unit 110), memory (memory unit 120), and input / output IF 140. In this case, a computer program for functioning as the oral irrigation device 1 may be installed on the microcomputer. By executing the computer program, the microcomputer functions as one of the multiple information processing circuits provided by the oral irrigation device 1. In this embodiment, an example is shown in which the multiple information processing circuits provided by the oral irrigation device 1 are realized by software, but of course, it is also possible to configure the information processing circuits by preparing dedicated hardware to perform each of the information processing operations shown below. Alternatively, the multiple information processing circuits may be configured by individual hardware.

[0019] The control unit 110 operates based on a program (not shown) stored in the memory unit 120 and executes the functions shown in Figure 4. Note that the program is not limited to being stored in the memory unit 120; for example, it may be stored in a ROM (not shown) within the controller 100.

[0020] The storage unit 120 acquires and stores images of the oral cavity captured by the camera unit 12 via the input / output IF 140. The storage unit 120 may also store programs for each function executed by the control unit 110, as described above. The images and programs stored in the storage unit 120 may be configured as physically or logically separated areas within a single storage device. Alternatively, the storage unit 120 for each data may be provided on multiple physically different storage devices.

[0021] The communication IF130 is an interface for communication between the oral irrigation device 1 and various external devices via a wired and / or wireless network. The user may update the control program of the oral irrigation device 1 via the communication IF130. The user may also retrieve image data, etc., stored in the storage unit 120 via the communication IF130.

[0022] The input / output IF140 is an interface for sending and receiving data, control signals, etc., between the controller 100 and the cleaning unit 11, camera unit 12, operating switch 30, and water pressure switching switch 40 of the oral irrigation device 1.

[0023] (Functional configuration of oral irrigation device 1) Figure 4 shows the functional configuration of the control unit 110 of the oral irrigation device 1 according to the first embodiment.

[0024] As shown in Figure 4, the control unit 110 includes the following functions: a switch press determination unit 111, a camera control unit 112, an image data acquisition unit 113, a boundary detection unit 114, a position determination unit 115, and a discharge control unit 116.

[0025] The switch press determination unit 111 obtains information regarding whether or not the operating switch 30 has been pressed by the user via the input / output IF 140, and determines whether or not the operating switch 30 has been pressed.

[0026] The camera control unit 112 controls the camera unit 12, including startup and shooting.

[0027] The image data acquisition unit 113 acquires image data obtained by the image sensor of the camera unit 12 via the input / output IF 140. The image data acquisition unit 113 may also store the acquired image data in the storage unit 120.

[0028] The boundary detection unit 114 detects the boundary between the tooth and the gum based on the image data acquired by the image data acquisition unit 113. Figure 5A is a diagram illustrating the positional relationship between the camera unit 12 of the nozzle 10 and the tooth T and gum G. The camera unit 12 acquires image data of the region including the tooth T and gum G at the position shown in Figure 5A. In Figure 5A, region A indicates the area where the water discharged from the discharge port of the cleaning unit 11 comes into contact with the tooth and / or gum.

[0029] Figure 5B shows an example of image data acquired by the camera unit 12 in relation to the positional relationship shown in Figure 5A. In the example shown in Figure 5B, the area where the water discharged from the outlet of the washing unit 11 comes into contact with the tooth T and / or gum G is indicated by region A at the center of the image data. In addition, in the example shown in Figure 5B, the boundary between the tooth T and the gum G is indicated by multiple boundary points B.

[0030] In this embodiment, the boundary point B between the tooth T and the gum G is detected by the pixel intensity of the image data. In this embodiment, if each pixel of the image data acquired by the image sensor is represented by 8 bits, each pixel is represented by a grayscale with gradations from 0 to 255. Furthermore, a pixel value of 0 represents black, and a pixel value of 255 represents white. Generally, the color of teeth is close to white, and conversely, the color of gums is closer to black than that of teeth. Therefore, the pixel value of the gum G will be smaller than the pixel value of the tooth T region. In this embodiment, the boundary detection unit 114 determines the boundary between the tooth T and the gum G using a boundary threshold previously detected by experiment.

[0031] Furthermore, in this embodiment, the boundary between the tooth T and the gum G is detected discretely at predetermined intervals. That is, the boundary detection unit 114 detects the boundary between the tooth T and the gum G as a plurality of discrete points based on the pixel values ​​of the image data. The boundary detected as a plurality of discrete points may be configured such that, for example, one arbitrary boundary point is detected and then the boundaries are calculated sequentially at predetermined intervals. Alternatively, the boundary detection unit 114 may detect the boundary as a plurality of discrete points by thinning the data from the detected boundary.

[0032] In this embodiment, the predetermined interval of the boundary detected between the tooth T and the gum G is set to 2 mm. However, this configuration of setting the predetermined interval of the boundary detected between the tooth T and the gum G to 2 mm is not limited to the configuration of this embodiment, and for example, it may be arbitrarily set by the user between 1 mm and 3 mm. In this way, the oral irrigation device 1 can reduce the amount of data acquired compared to calculating the boundary for all pixel values ​​by detecting the boundary between the tooth T and the gum G as a plurality of discrete points.

[0033] The position determination unit 115 determines whether the boundary between the tooth T and the gum G detected by the boundary detection unit 114 is at a predetermined position. Here, the predetermined position corresponds to the position (region A) where the water discharged from the cleaning unit 11 hits. That is, the position determination unit 115 determines whether the position of the boundary between the tooth T and the gum G detected by the boundary detection unit 114 coincides with the position where the water discharged from the cleaning unit 11 hits. For example, in the example shown in Figure 5B, boundary point B, which is the boundary between the tooth T and the gum G, is included in region A, which is the position where the water discharged from the cleaning unit 11 hits. In this case, the position determination unit 115 determines that the boundary between the tooth T and the gum G detected by the boundary detection unit 114 is the position where the water discharged from the cleaning unit 11 hits.

[0034] Figures 6A and 6B show comparative examples where the water discharged from the cleaning unit 11 does not hit the boundary between the tooth T and the gum G. As shown in Figure 6A, the area A hit by the water discharged from the cleaning unit 11 is located away from the gum G. Also, as shown in Figure 6B, the boundary point B, which is the boundary between the tooth T and the gum G, is not included in the area A hit by the water discharged from the cleaning unit 11. In other words, in the examples shown in Figures 6A and 6B, the position determination unit 115 determines that the boundary between the tooth T and the gum G detected by the boundary detection unit 114 is not the location hit by the water discharged from the cleaning unit 11.

[0035] The discharge control unit 116, when the position determination unit 115 determines that the water discharged from the washing unit 11 is hitting the boundary between the tooth T and the gum G, discharges water from the washing unit 11 to wash the inside of the mouth. This ensures that water is discharged to the desired location in the mouth, thus washing the inside of the mouth. Conversely, the discharge control unit 116, when the position determination unit 115 determines that the water discharged from the washing unit 11 is not hitting the boundary between the tooth T and the gum G, does not discharge water from the washing unit 11 to wash the inside of the mouth. This prevents the oral cavity washing device 1 from wasting water during oral cavity washing.

[0036] Furthermore, the discharge control unit 116 terminates the discharge after a predetermined time has elapsed since the start of discharge. In this embodiment, the predetermined time is, for example, 0.5 seconds. However, the water discharge time from the cleaning unit 11 is not limited to 0.5 seconds; it may be configured to discharge for a time shorter than 0.5 seconds or longer than 0.5 seconds. This makes it possible for the oral cleaning device 1 to prevent the unnecessary discharge of water during oral cleaning.

[0037] (Processing flow of oral irrigation device 1) Next, the process related to oral cleaning in the oral cleaning device 1 (oral cleaning method) will be explained based on the flowchart in Figure 7. The series of operations of the oral cleaning device 1 shown in the flowchart in Figure 7 begin when the oral cleaning device 1 is turned on and end when the power is turned off. In addition to turning off the power, the process shown in the flowchart in Figure 7 can also be terminated by an interrupt indicating the end of processing. Furthermore, in the explanation of the flowchart below, the same content as described in the explanation of the oral cleaning device 1 above will be omitted or simplified.

[0038] In step S701, the switch press determination unit 111 obtains information via the input / output IF 140 regarding whether or not the operating switch 30 has been pressed by the user, and determines whether or not the operating switch 30 has been pressed. In step S701, if the switch press determination unit 111 determines that the operating switch 30 has been pressed (step S701: YES), the process proceeds to step S702. On the other hand, in step S701, if the switch press determination unit 111 determines that the operating switch 30 has not been pressed (step S701: NO), the process returns to step S701, and the process of step S701 is repeated. That is, the process of step S701 is repeatedly executed until the operating switch 30 is pressed.

[0039] In step S702, the camera control unit 112 controls the camera unit 12 to start up. The process then proceeds to step S703.

[0040] In step S703, the camera control unit 112 acquires image data obtained by the image sensor of the camera unit 12. Specifically, the camera control unit 112 acquires sensor information obtained by the image sensor of the camera unit 12 as image data. The process then proceeds to step S704.

[0041] In step S704, the boundary detection unit 114 detects the boundary between the tooth T and the gum G based on the image data acquired by the image data acquisition unit 113. The process then proceeds to step S705.

[0042] In step S705, the position determination unit 115 determines whether or not there is a boundary between the tooth T and the gum G detected by the boundary detection unit 114 in the area (region A) where the water discharged from the cleaning unit 11 hits. If the position determination unit 115 determines in step S705 that there is a boundary between the tooth T and the gum G detected by the boundary detection unit 114 in area A where the water discharged from the cleaning unit 11 hits (step S705: YES), the process proceeds to step S706. On the other hand, if the position determination unit 115 determines in step S705 that there is no boundary between the tooth T and the gum G in area A where the water discharged from the cleaning unit 11 hits (step S705: NO), the process returns to step S703. After that, the process from step S703 is repeatedly executed.

[0043] In step S706, if the position determination unit 115 determines that the boundary between the tooth T and the gum G is the position where the water discharged from the cleaning unit 11 will hit, the discharge control unit 116 discharges water from the cleaning unit 11. As a result, water is discharged to the desired position in the oral cavity, and the oral cavity is cleaned. The process then proceeds to step S707.

[0044] In step S707, the discharge control unit 116 determines whether a predetermined time has elapsed since the start of water discharge from the cleaning unit 11. In this embodiment, the predetermined time is, for example, 0.5 seconds. Note that the water discharge time from the cleaning unit 11 is not limited to 0.5 seconds; the system may be configured to discharge water for a shorter or longer time than 0.5 seconds. If the discharge control unit 116 determines in step S707 that a predetermined time has elapsed since the start of water discharge from the cleaning unit 11 (step S707: YES), the process proceeds to step S708. On the other hand, if the discharge control unit 116 determines in step S707 that a predetermined time has not elapsed since the start of water discharge from the cleaning unit 11 (step S707: NO), the process returns to step S707, and the process of step S707 is repeated.

[0045] In step S708, the discharge control unit 116 controls the washing unit 11 to stop discharging water from it. The process then proceeds to step S709.

[0046] In step S709, the control unit 110 determines whether the operating switch 30 has been turned off. In step S709, if the switch press determination unit 111 determines that the operating switch 30 has been turned off (step S709: YES), the process ends. On the other hand, in step S709, if the switch press determination unit 111 determines that the operating switch 30 has not been turned off (step S709: NO), the process returns to step S703, and the process from step S703 is repeatedly executed.

[0047] As described above, the oral cleaning device 1 according to the first embodiment includes a camera unit 12 for photographing the inside of the mouth, a cleaning unit 11 for cleaning the inside of the mouth by discharging liquid, an image data acquisition unit 113, a boundary detection unit 114, a position determination unit 115, and a discharge control unit 116. The image data acquisition unit 113 acquires image data acquired by the camera unit 12. The boundary detection unit 114 detects the boundary between teeth and gums in the oral cavity based on the image data. The position determination unit 115 determines, based on the image data, whether or not the liquid discharged from the cleaning unit hits the boundary. The discharge control unit 116 discharges liquid from the cleaning unit 11 to clean the inside of the mouth when the position determination unit 115 determines that the liquid discharged from the cleaning unit 11 hits the boundary. As a result, the oral cleaning device 1 can properly clean the target area of ​​the oral cavity.

[0048] Furthermore, the discharge control unit 116 of the oral irrigation device 1 does not need to discharge liquid from the cleaning unit 11 if the position determination unit 115 determines that the liquid discharged from the cleaning unit 11 does not hit the boundary. This makes it possible for the oral irrigation device 1 to prevent the discharge of unnecessary water during oral irrigation.

[0049] Furthermore, the discharge control unit 116 of the oral irrigation device 1 may terminate the discharge after a predetermined time has elapsed since the start of discharge. This makes it possible for the oral irrigation device 1 to prevent the unnecessary discharge of water during oral irrigation.

[0050] Furthermore, the boundary detection unit 114 of the oral irrigation device 1 may detect the boundary as a plurality of discrete points based on the pixel values ​​of the image data. By detecting the boundary between the tooth T and the gum G as a plurality of discrete points, the oral irrigation device 1 can reduce the amount of data acquired compared to calculating the boundary for all pixel values.

[0051] (Second embodiment) As described above, one specific embodiment has been explained, but the above-described embodiment is illustrative and does not limit the embodiments. For example, in the above-described embodiment, an example was given of cleaning the oral cavity when the boundary between the tooth T and the gum G is in the water discharge area from the cleaning unit 11. Here, we will further describe an oral cavity cleaning device 1 according to a second embodiment in which the position of cleaning the oral cavity is adjusted based on the image acquired by the camera unit 12, and will describe a configuration that differs from the first embodiment.

[0052] Figure 8 is a schematic diagram illustrating the configuration of the nozzle 10 of the oral irrigation device 1 according to the second embodiment. As shown in Figure 8, the nozzle 10 of the oral irrigation device 1 according to the second embodiment differs from the nozzle 10 of the oral irrigation device 1 according to the first embodiment described above in that it includes a drive mechanism 15 and a drive control unit 16.

[0053] The drive mechanism 15 is a mechanism for driving the tip of the nozzle 10 in a predetermined direction. This drive mechanism 15 may also be a mechanism that enables the tip of the nozzle 10 to tilt in the horizontal direction shown in Figure 8. In this specification, the horizontal direction in Figure 8 is defined as the X-axis direction.

[0054] Furthermore, the drive mechanism 15 may be a mechanism that allows the tip of the nozzle 10 to be tilted in the direction of the front and depth directions in Figure 8, in addition to the X-axis direction in Figure 8 described above. In this specification, the front and depth directions in Figure 8 are defined as the Z-axis direction.

[0055] Furthermore, the drive mechanism 15 may be a mechanism that allows the tip of the nozzle 10 to rotate not only in the X-axis and Z-axis directions shown in Figure 8, but also in the plane formed by the X-axis and Z-axis in Figure 8.

[0056] Figure 9 is a block diagram showing the functional configuration of the control unit 110 in the oral irrigation device 1 according to the second embodiment. The control unit 110 of the oral irrigation device 1 according to the second embodiment differs from the functional configuration of the control unit 110 of the oral irrigation device 1 according to the first embodiment in that it includes a nozzle control unit 117.

[0057] The nozzle control unit 117 controls the orientation of the tip of the nozzle 10 based on the result of the position determination unit 115's determination of whether or not the water discharge point from the nozzle 10 is at the boundary between the tooth T and the gum G. Specifically, if the position determination unit 115 determines that the water discharge point from the nozzle 10 is not at the boundary between the tooth T and the gum G, the nozzle control unit 117 changes the orientation of the tip of the nozzle 10 so that the water discharge point from the nozzle 10 is at the boundary between the tooth T and the gum G. In other words, if the position determination unit 115 determines that the water discharged from the cleaning unit 11 does not hit the boundary, the nozzle control unit 117 changes the discharge direction of the water from the cleaning unit 11 so that the water discharged from the cleaning unit 11 hits the boundary.

[0058] Figures 10A to 10C illustrate an example of changing the orientation of the tip of the nozzle 10 by the nozzle control unit 117. Figure 10A shows an example where the tip of the nozzle 10 tilts in the vertical direction (X-axis direction in Figure 8). In the example shown in Figure 10A, the center of region A, which is the destination of water discharge from the nozzle 10, and the center of the boundary point B between the tooth T and the gum G, which is located on a vertical line passing through the center of region A, are separated by a distance D. In this case, the nozzle control unit 117 sends a control signal to the drive control unit 16 to tilt the tip of the nozzle 10 downwards by a distance D. Based on the control signal from the nozzle control unit 117, the drive control unit 16 controls the drive mechanism 15 to tilt the tip of the nozzle 10 downwards by a distance D. As a result, the position of region A, which is the destination of water discharge from the nozzle 10, and the boundary point B between the tooth T and the gum G coincide, enabling proper cleaning of the oral cavity.

[0059] Figure 10B shows an example where the tip of the nozzle 10 tilts in the vertical direction (X-axis direction in Figure 8) and the horizontal direction (Z-axis direction in Figure 8). In Figure 10B, where there is no boundary point B between the tooth T and the gum G, the boundary between the tooth T and the gum G is estimated by a straight line L connecting the centers of boundary point B and other boundary points B. In Figure 10B, the nozzle control unit 117 estimates the position of the straight line L connecting the centers of boundary points B1 and B2 as the boundary between the tooth T and the gum G.

[0060] In the example shown in Figure 10B, the distance between the point where the vertical and horizontal lines passing through the center of region A intersect with the boundary between tooth T and gum G is shorter in the horizontal direction than in the center of region A. Therefore, in the example shown in Figure 10B, the nozzle control unit 117 sends a control signal to the drive control unit 16 to tilt the tip of the nozzle 10 by a distance D in the horizontal direction. Based on the control signal from the nozzle control unit 117, the drive control unit 16 controls the drive mechanism 15 to tilt the tip of the nozzle 10 by a distance D to the left in Figure 10B. As a result, region A, which is the destination of water discharge from the nozzle 10, coincides with the boundary between tooth T and gum G, enabling proper cleaning of the oral cavity.

[0061] Figure 10C shows an example where the tip of the nozzle 10 rotates. In Figure 10C, the nozzle control unit 117 changes the orientation of the tip of the nozzle 10 relative to the boundary point B between the nearest tooth T and gum G, where the water is discharged from the nozzle 10 to the area A. In the example in Figure 10C, an example is shown where the position of area A is changed to the boundary point B. As a result, the boundary between area A, where the water is discharged from the nozzle 10, and the tooth T and gum G coincides, enabling proper cleaning of the oral cavity.

[0062] (Processing flow of oral irrigation device 1) Next, the process (oral cleaning method) related to oral cleaning in the oral cleaning device 1 according to the second embodiment will be explained based on the flowchart in Figure 11. The series of operations of the oral cleaning device 1 shown in the flowchart in Figure 11 start when the oral cleaning device 1 is activated and end when the power is turned off. In addition to turning off the power, the flowchart in Figure 11 also ends when an interrupt indicating the end of processing occurs. Furthermore, in the explanation of the flowchart below, the same content as described in the explanation of the oral cleaning device 1 above will be omitted or simplified.

[0063] The processes from step S1101 to step S1104 are the same as the processes from step S701 to step S704 shown in Figure 7 above, so we will omit the explanation here.

[0064] In step S1105, the position determination unit 115 determines whether the area A, which is the destination of water discharge from the nozzle 10, is at the boundary between the tooth T and the gum G. In the second embodiment, if there is a boundary point B, the boundary between the tooth T and the gum G is boundary point B. On the other hand, in the second embodiment, if there is no boundary point B, the boundary between the tooth T and the gum G is estimated to be the straight line L connecting the centers of adjacent boundary points B.

[0065] In step S1105, if the position determination unit 115 determines that area A, which is the destination of water discharge from the nozzle 10, is at the boundary between the tooth T and the gum G (step S1105: YES), the process proceeds to step S1106. On the other hand, in step S1105, if the position determination unit 115 determines that area A, which is the destination of water discharge from the nozzle 10, is not at the boundary between the tooth T and the gum G (step S1105: NO), the process proceeds to step S1110.

[0066] The process from step S1106 to step S1109 is the same as the process from step S706 to step S709 shown in Figure 7 above, so we will omit the explanation here.

[0067] In step S1110, the nozzle control unit 117 changes the direction of the tip of the nozzle 10. Specifically, the nozzle control unit 117 sends a control signal to the drive control unit 16 so that the area A, which is the destination of water discharge from the nozzle 10, is located at the boundary between the tooth T and the gum G. Based on the control signal from the nozzle control unit 117, the drive control unit 16 controls the drive mechanism 15 to change the direction of the tip of the nozzle 10.

[0068] As described above, the oral irrigation device 1 according to the second embodiment further includes a nozzle control unit 117 that controls a drive mechanism 15 for changing the direction of liquid discharge from the cleaning unit 11. When the position determination unit 115 determines that the liquid discharged from the cleaning unit 11 does not hit the boundary, the nozzle control unit 117 changes the direction of liquid discharge from the cleaning unit 11 so that the liquid discharged from the cleaning unit 11 hits the boundary. As a result, in the oral irrigation device 1 according to the second embodiment, the area A to which the water is discharged from the nozzle 10 coincides with the boundary between the teeth T and gums G, enabling proper cleaning of the oral cavity.

[0069] (Third embodiment) Next, a third embodiment will be described. In the following description, when the same reference numerals as in the first and / or second embodiments are used, they indicate the same configuration as in the first and / or second embodiments, and unless otherwise specified, the preceding description will be referred to. Here, a configuration different from that of the first and / or second embodiments will be described for the oral irrigation device 1 according to the third embodiment, which is capable of adjusting the image quality of image data acquired by the image sensor of the camera unit 12.

[0070] Figure 12 is a block diagram showing the functional configuration of the control unit 110 in the oral irrigation device 1 according to the third embodiment. The control unit 110 of the oral irrigation device 1 according to the third embodiment differs from the functional configuration of the control unit 110 of the oral irrigation device 1 according to the first and second embodiments in that it includes an image quality information adjustment unit 118.

[0071] The intraoral image data acquired by the camera unit 12 may be generally bright or dark depending on the brightness of the area where the intraoral irrigation device 1 is used. For example, if the image data is generally bright or dark, the boundary between the teeth and gums may not be accurately determined. The intraoral irrigation device 1 according to the third embodiment adjusts the image quality of the image data using the image quality information adjustment unit 118, enabling accurate determination of the boundary between the teeth and gums.

[0072] The image quality information adjustment unit 118 calculates the average value of pixel values ​​for the image data acquired by the image sensor of the camera unit 12. The image quality information adjustment unit 118 then determines whether the calculated average value of pixel values ​​falls within a predetermined range. Specifically, the image quality information adjustment unit 118 compares the calculated average value of pixel values ​​with image quality judgment thresholds (upper and lower limits) stored in the storage unit 120 to determine whether the average value of pixel values ​​falls within a predetermined range.

[0073] Furthermore, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values ​​is not within a predetermined range, it adjusts the image quality of the image data. Specifically, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values ​​is higher than the predetermined range (upper limit of the image quality judgment threshold), it subtracts a predetermined value from the pixel values ​​of the entire image quality data so that the average value of the pixel values ​​falls within the predetermined range. Similarly, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values ​​is lower than the predetermined range (lower limit of the image quality judgment threshold), it adds a predetermined value to the pixel values ​​of the entire image quality data so that the average value of the pixel values ​​falls within the predetermined range. In other words, the image quality information adjustment unit 118 calculates the average value of the pixel values ​​of the image data and adjusts the image quality of the image data based on the average value.

[0074] Here, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values ​​is higher than a predetermined range (the upper limit of the image quality judgment threshold), it may calculate the difference between the average value of the pixels and the midpoint between the upper and lower limits of the image quality judgment threshold. Furthermore, the image quality information adjustment unit 118 may adjust the image quality of the image data by subtracting the difference value from each pixel value of the image data.

[0075] Similarly, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values ​​is lower than a predetermined range (lower limit of the image quality judgment threshold), it may calculate the difference between the average value of the pixels and the midpoint between the upper and lower limits of the image quality judgment threshold. Furthermore, the image quality information adjustment unit 118 may adjust the image quality of the image data by adding the difference value to each pixel value of the image data.

[0076] (Processing flow of oral irrigation device 1) Next, the process (oral cleaning method) related to oral cleaning in the oral cleaning device 1 according to the third embodiment will be explained based on the flowcharts in Figures 13 and 14. The series of operations of the oral cleaning device 1 shown in the flowcharts in Figures 13 and 14 begin when the oral cleaning device 1 is started and end when the power is turned off. In addition to power off, the flowcharts in Figures 13 and 14 also end when an interrupt indicating the end of processing occurs. Furthermore, in the following explanation of the flowcharts, the same content as described in the above explanation of the oral cleaning device 1 will be omitted or simplified.

[0077] The processes from step S1301 to step S1303 shown in Figure 13 are the same as the processes from step S701 to step S703 in Figure 7 described above, so their explanation is omitted here.

[0078] In step S1304, the image quality information adjustment unit 118 adjusts the image quality of the image data acquired by the image sensor of the camera unit 12. Specifically, the image quality information adjustment subroutine shown in Figure 14 is performed.

[0079] In step S1401 shown in Figure 14, the image quality information adjustment unit 118 calculates the average value of the pixel values ​​for the image data acquired by the image sensor of the camera unit 12. The process then proceeds to step S1402.

[0080] In step S1402, the image quality information adjustment unit 118 determines whether the average value of the pixel values ​​calculated in step S1401 is within a predetermined range. Specifically, the image quality information adjustment unit 118 compares the calculated average value of the pixel values ​​with an image quality determination threshold previously stored in the storage unit 120 to determine whether the average value of the pixel values ​​is within a predetermined range.

[0081] In step S1402, if the image quality information adjustment unit 118 determines that the average value of the pixel values ​​is within a predetermined range (step S1402: YES), the process returns to step S1304 and proceeds to step S1305. On the other hand, in step S1402, if the image quality information adjustment unit 118 determines that the average value of the pixel values ​​is not within a predetermined range (step S1402: NO), the process proceeds to step S1403.

[0082] In step S1403, the image quality information adjustment unit 118 adjusts the image quality of the image data. Specifically, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values ​​is higher than a predetermined range, it subtracts a predetermined value from the pixel values ​​of the entire image quality data so that the average value of the pixel values ​​falls within the predetermined range. Similarly, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values ​​is lower than a predetermined range, it adds a predetermined value to the pixel values ​​of the entire image quality data so that the average value of the pixel values ​​falls within the predetermined range. The process returns to step S1304 and proceeds to step S1305.

[0083] The process from step S1305 to step S1310 is the same as the process from step S704 to step S709 in Figure 7 above, so we will omit the explanation here.

[0084] As described above, the oral irrigation device 1 according to the third embodiment further includes an image quality information adjustment unit 118 that calculates the average value of the pixel values ​​of the image data and adjusts the image quality of the image data based on the average value. As a result, the oral irrigation device 1 according to the third embodiment can adjust the image quality of the image data using the image quality information adjustment unit 118, enabling accurate determination of the boundary between the teeth and gums.

[0085] (Other embodiments) Although the embodiments have been described above, the embodiments are not limited to these, and various modifications are possible within the scope of the gist of the embodiments. Furthermore, it is possible to combine some or all of the various embodiments to create new embodiments. In other words, since the embodiments described above are for illustrative purposes of the technology in this disclosure, various changes, substitutions, additions, omissions, etc., can be made within the scope of the claims or equivalents thereof.

[0086] In the above-described embodiment, the detection of the boundary between the tooth T and the gum G was shown to be based on the pixel values ​​of the image data acquired by the camera unit 12. However, a configuration that more accurately detects the boundary using a histogram may also be used. By calculating a histogram of the image data, it becomes possible to recognize the distribution of pixel values ​​in the respective regions of the tooth T and gum G in the image data, making it easier to remove noise and other imperfections from regions other than the tooth T and gum G. Furthermore, when the inside of the mouth is photographed with a light source, white reflective information may be detected near the boundary between the tooth T and gum G in the gum G. The boundary detection unit 114 of the oral cavity cleaning device 1 can use this reflective information to detect the boundary between the tooth T and gum G with even greater accuracy.

[0087] Figure 15 is a perspective view showing an example of the configuration of an oral irrigation device 1 in which the nozzle 10 and the main body including a water tank are integrated. As shown in Figure 15, the integrated oral irrigation device 1 is easy to carry, and improves convenience for the user, for example, by allowing the oral irrigation device 1 to be used when out and about.

[0088] Furthermore, a computer program (oral cleaning program) that causes a computer to execute the oral cleaning method described above, and a computer-readable recording medium on which that program is stored, are included within the scope of this embodiment. Here, the type of computer-readable recording medium is arbitrary. Also, the computer program described above is not limited to one stored on the recording medium described above, but may be transmitted via telecommunication lines, wireless or wired communication lines, networks such as the Internet, etc.

[0089] The following describes the features of the oral cleaning device 1, oral cleaning method, and oral cleaning program according to this embodiment.

[0090] (1) The oral irrigation device 1 has the following configuration: (i) Includes a camera unit 12 for taking pictures of the inside of the oral cavity. (ii) Includes a cleaning unit 11 that cleans the inside of the mouth by dispensing liquid. (iii) Includes an image data acquisition unit 113 that acquires image data acquired by the camera unit 12. (iv) Includes a boundary detection unit 114 that detects the boundary between teeth and gums in the oral cavity based on image data. (v) Includes a position determination unit 115 that determines whether or not the liquid discharged from the cleaning unit 11 hits a boundary based on image data. (vi) The position determination unit 115 determines that the liquid discharged from the cleaning unit 11 hits a boundary, and includes a discharge control unit 116 that causes the cleaning unit 11 to discharge liquid for cleaning the inside of the mouth.

[0091] According to this disclosure, the discharge control unit 116 of the oral irrigation device 1 discharges liquid for cleaning the oral cavity from the cleaning unit 11 when the position determination unit 115 determines that the liquid discharged from the cleaning unit 11 is hitting a boundary. This enables the oral irrigation device 1 to properly clean the target areas of the oral cavity.

[0092] (2) The discharge control unit 116 of the oral irrigation device 1 does not have to discharge liquid for irrigating the oral cavity from the washing unit 11 if the position determination unit 115 determines that the liquid discharged from the washing unit 11 does not hit the boundary.

[0093] According to this disclosure, the oral irrigation device 1 can prevent the unnecessary discharge of water during oral irrigation.

[0094] (3) The discharge control unit 116 of the oral irrigation device 1 may terminate the discharge after a predetermined time has elapsed since the start of discharge.

[0095] According to this disclosure, the oral irrigation device 1 can prevent the unnecessary discharge of water during oral irrigation.

[0096] (4) The boundary detection unit 114 of the oral irrigation device 1 may detect the boundary as a plurality of discrete points based on the pixel values ​​of the image data.

[0097] According to this disclosure, the oral irrigation device 1 detects the boundary between the tooth T and the gum G as multiple discrete points, thereby reducing the amount of data acquired compared to calculating the boundary for all pixel values.

[0098] (5) The oral irrigation device 1 may further have the following configurations: (vii) The system may further include a nozzle control unit 117 that controls a drive mechanism 15 for changing the direction of liquid discharge from the cleaning unit 11.

[0099] According to this disclosure, the oral irrigation device 1 has a boundary that coincides with the teeth T and gums G, where the area A to which water is discharged from the nozzle 10 is located.

[0100] (6) The oral irrigation device 1 may further have the following configurations: (viii) The system may further include an image quality information adjustment unit 118 that calculates the average value of the pixel values ​​of the image data and adjusts the image quality based on the average value.

[0101] According to this disclosure, the oral cleaning device 1 adjusts the image quality of the image data using the image quality information adjustment unit 118, enabling accurate determination of the boundary between the teeth and gums.

[0102] (7) A computer-based oral cleaning method comprises the following processes: (i) Includes the process of acquiring image data obtained by a camera unit that photographs the inside of the oral cavity. (ii) Includes a process for detecting the boundary between teeth and gums in the oral cavity based on image data. (iii) Based on image data, the process includes determining whether the liquid discharged from the cleaning unit, which cleans the inside of the mouth by discharging liquid, hits a boundary. (iv) If it is determined that the liquid discharged from the cleaning unit 11 hits a boundary, the process includes discharging liquid from the cleaning unit 11 for cleaning the inside of the mouth.

[0103] According to this disclosure, the oral cavity cleaning method discharges liquid for cleaning the oral cavity from the cleaning unit 11 when it is determined that the liquid discharged from the cleaning unit 11 has reached a boundary. This enables the oral cavity cleaning method to properly clean the target area of ​​the oral cavity.

[0104] (8) The oral cleaning program to be executed by a computer has the following processes: (i) Includes the process of acquiring image data obtained by a camera unit that photographs the inside of the oral cavity. (ii) Includes a process for detecting the boundary between teeth and gums in the oral cavity based on image data. (iii) Based on image data, the process includes determining whether the liquid discharged from the cleaning unit, which cleans the inside of the mouth by discharging liquid, hits a boundary. (iv) If it is determined that the liquid discharged from the cleaning unit 11 hits a boundary, the process includes discharging liquid from the cleaning unit 11 for cleaning the inside of the mouth.

[0105] According to this disclosure, the oral cleaning program discharges liquid for cleaning the oral cavity from the cleaning unit 11 when it is determined that the liquid discharged from the cleaning unit 11 has reached a boundary. This enables the oral cleaning program to properly clean the target areas of the oral cavity. [Industrial applicability]

[0106] This disclosure is applicable to oral irrigation devices equipped with cameras that can properly clean areas within the oral cavity. Specifically, this disclosure is applicable to commercial and household oral irrigators, etc. [Explanation of Symbols]

[0107] 1. Oral irrigation device 10 nozzles 11 Cleaning section 12 Camera section 13 Cables 14 Mounting part 15 Drive mechanism 16 Drive control unit 20 water tanks 30. Activation switch 40. Water pressure selector switch 100 controllers 110 Control Unit 111 Switch press detection unit 112 Camera Control Unit 113 Image Data Acquisition Unit 114 Boundary detection unit 115 Position determination section 116 Discharge control unit 117 Nozzle Control Unit 118 Image Quality Information Adjustment Section

Claims

1. A camera unit for taking pictures inside the mouth, A cleaning unit that cleans the inside of the oral cavity by discharging liquid, An image data acquisition unit that acquires image data obtained by the camera unit, A boundary detection unit detects the boundary between the teeth and gums in the oral cavity based on the aforementioned image data, A position determination unit determines whether the liquid discharged from the cleaning unit hits the boundary based on the image data, An oral cleaning device comprising: a position determination unit that determines that the liquid discharged from the cleaning unit hits the boundary, and a discharge control unit that causes the cleaning unit to discharge the liquid for cleaning the inside of the mouth.

2. The oral cleaning device according to claim 1, wherein the discharge control unit, when the position determination unit determines that the liquid discharged from the cleaning unit does not hit the boundary, does not discharge the liquid for cleaning the inside of the mouth from the cleaning unit.

3. The discharge control unit terminates the discharge after a predetermined time has elapsed since the start of discharge. The oral cleaning device according to claim 1 or 2.

4. The boundary detection unit detects the boundary as a plurality of discrete points based on the pixel values ​​of the image data. The oral cleaning device according to any one of claims 1 to 3.

5. The system further includes a nozzle control unit that controls a drive mechanism for changing the direction of discharge of the liquid from the cleaning unit, The nozzle control unit, when the position determination unit determines that the liquid discharged from the cleaning unit does not hit the boundary, changes the discharge direction of the liquid from the cleaning unit so that the liquid discharged from the cleaning unit hits the boundary. The oral cleaning device according to any one of claims 1 to 4.

6. The oral cleaning device according to any one of claims 1 to 5, further comprising an image quality information adjustment unit that calculates the average value of the pixel values ​​of the image data and adjusts the image quality of the image data based on the average value and an image determination threshold having a predetermined range, so that the average value falls within the predetermined range.

7. A method of oral cleaning performed by a computer, The image data acquisition unit of the aforementioned computer acquires image data acquired by the camera unit that photographs the inside of the oral cavity, The boundary detection unit of the computer detects the boundary between the teeth and gums in the oral cavity based on the image data, The position determination unit of the computer determines, based on the image data, whether the liquid discharged from the cleaning unit that cleans the inside of the mouth by discharging liquid hits the boundary. An oral cleaning method comprising: a discharge control unit in the computer, which, when it determines that the liquid discharged from the cleaning unit hits the boundary, causes the cleaning unit to discharge the liquid for cleaning the inside of the mouth.

8. The camera unit that takes pictures of the inside of the mouth acquires image data, Based on the aforementioned image data, the boundary between the teeth and gums in the oral cavity is detected. Based on the image data, it is determined whether the liquid discharged from the cleaning unit that cleans the inside of the mouth by discharging liquid hits the boundary. An oral cavity cleaning program that causes a computer to perform a process of discharging the liquid for cleaning the oral cavity from the cleaning unit when it is determined that the liquid discharged from the cleaning unit hits the boundary.

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