Sensing method and device

Abstract

Disclosed are a sensing method and device. The method is applied to an oral cleaning device, and the oral cleaning device comprises an inertial measurement unit (IMU). The method comprises: sending a radio signal; receiving a reflected signal of the radio signal; and on the basis of the reflected signal, executing a first operation associated with an oral region of a user, the first operation comprising calibrating the IMU and / or determining a user's hand that holds the oral cleaning device. In this way, on the basis of the reflection status of a radio signal, the oral cleaning device can automatically and intelligently calibrate the IMU or recognize the user's hand that holds the oral cleaning device. In this process, the user does not need to perform settings by means of a complex APP interface, thereby improving the efficiency of intelligent region recognition.

Description

Sensing method and device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on January 26, 2024, with application number "202410123246.1" and application name "Perception Method and Device", the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of terminal technology, and in particular to a sensing method and device. Background Art

[0003] At present, some smart electric toothbrushes support intelligent partition recognition function, which can identify different areas of the mouth to effectively prevent missed brushing and maintain oral health. However, since each person's brushing method and brushing habits are different, the same partition algorithm may not be suitable for all users. In some solutions, the calibration function and left-hand and right-hand recognition functions can be used to assist in realizing the user's oral partition. For example, before brushing, the user manually starts the calibration function of the toothbrush and enters his or her left or right hand for brushing in the application (APP) interface of the mobile phone. The mobile phone controls the toothbrush to perform intelligent partition recognition based on the results of the calibration function and the brushing hand entered by the user. At present, the efficiency of toothbrushes in performing intelligent partition recognition of the oral cavity is low. Summary of the Invention

[0004] The present application provides a perception method and device that can intelligently and automatically trigger the execution of operations associated with the user's oral cavity partitions, thereby improving the efficiency of intelligent partition recognition.

[0005] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions.

[0006] In a first aspect, the present application provides a perception method, which is applied to an oral cleaning device, which can be a device or a component located in the device (for example, a chip, a chip system, or a processor, etc.). The following description takes the device as an example. The oral cleaning device includes an inertial measurement unit (IMU), and the method includes: sending a radio signal; receiving a reflected signal of the radio signal; and performing a first operation associated with a user's oral cavity partition based on the reflected signal, the first operation including: calibrating the IMU and / or determining the hand of the user holding the oral cleaning device.

[0007] In this application, the oral cleaning device can automatically and intelligently calibrate the IMU or identify the user's hand holding the oral cleaning device based on the reflection of the radio signal. This process does not require the user to set up through a complex app interface, which helps improve the efficiency of intelligent partition recognition.

[0008] In one possible design, calibrating the IMU based on the reflected signal includes: if it is determined based on the reflected signal that there is a user near the oral cleaning device, calibrating the IMU.

[0009] In this method, it can be understood that when someone approaches a toothbrush (one of the oral cleaning devices), it means that the user is likely to use the toothbrush. In this case, the toothbrush automatically wakes up the IMU calibration function. IMU calibration can be automatically performed in the scenario where the user needs to calibrate the toothbrush IMU. The IMU calibration is efficient and does not require the user to manually trigger the IMU calibration, reducing complexity.

[0010] In one possible design, determining, based on the reflected signal, that a user is present near the oral cleaning device includes:

[0011] If, based on the reflected signal, it is determined that the distance between the user and the oral cleaning device is less than a first distance threshold, and the speed of the user relative to the oral cleaning device is greater than a first speed threshold, it is determined that there is a user near the oral cleaning device.

[0012] In one possible design, calibrating the IMU based on the reflected signal includes:

[0013] According to the reflected signal, it is determined that there is a user near the oral cleaning device at the first moment, and the time interval between the first moment and the second moment is greater than the time threshold, then the IMU is calibrated; the second moment is the last time it was determined that there was a user near the oral cleaning device.

[0014] In this method, IMU calibration is performed only when the time interval between the user's current approach to the toothbrush and the last approach is long, which can reduce the power consumption of the toothbrush.

[0015] In one possible design, the oral cleaning device is provided with an antenna, and the sending of radio signals includes:

[0016] transmitting a radio signal via the antenna;

[0017] Receiving a reflected signal of the radio signal, comprising:

[0018] A reflected signal of the radio signal is received by the antenna.

[0019] In one possible design, the antenna includes a first antenna unit having a beamwidth in the range of 100-150 degrees. Thus, the first antenna unit with a large beamwidth and wide detection range can sense nearby users with low power consumption.

[0020] Optionally, the radio signal sent by the antenna may be, but is not limited to, a millimeter wave signal.

[0021] When only one antenna is provided on the toothbrush, the antenna unit can be understood as an antenna channel. For example, when only one antenna is provided on the toothbrush, the toothbrush can transmit a radio signal through one channel of the antenna (an example of the first antenna unit), receive the corresponding reflected signal, and perform IMU calibration based on the reflected signal. The beam width of this channel is in the range of 100-150 degrees.

[0022] For another example, if a toothbrush is provided with multiple antennas, the toothbrush can transmit a radio signal through one of the multiple antennas (an example of the first antenna unit), receive a corresponding reflected signal, and perform IMU calibration based on the reflected signal. The beam width of the one antenna is within the range of 100 degrees to 150 degrees.

[0023] In one possible design, the antenna further includes a second antenna unit and a third antenna unit; the second antenna unit is arranged on the left side of the handle of the oral cleaning device, and the third antenna unit is arranged on the right side of the handle of the oral cleaning device.

[0024] In one possible design, receiving a reflection signal of the radio signal includes: receiving a first reflection signal through the second antenna unit;

[0025] Determining the hand of the user holding the oral cleaning device according to the reflected signal includes: determining that the hand of the user holding the oral cleaning device is the left hand according to the first reflected signal.

[0026] In this way, the toothbrush can be equipped with multiple antenna units and perform left-hand and right-hand recognition based on the reflected signals received by antennas at different positions, which can improve the efficiency of left-hand and right-hand recognition and is simple, convenient and low in complexity.

[0027] In one possible design, receiving a reflection signal of the radio signal includes: receiving a second reflection signal through the third antenna unit;

[0028] Determining the hand with which the user holds the oral cleaning device according to the reflected signal includes: determining that the hand with which the user holds the oral cleaning device is the right hand according to the second reflected signal.

[0029] In this way, the toothbrush can determine the direction in which the user picks up the toothbrush based on the reflection of the radio signal, and automatically identify the left and right hands accordingly, improving recognition efficiency.

[0030] In one possible design, determining, based on the first reflected signal, that the hand with which the user holds the oral cleaning device is the left hand includes:

[0031] If it is determined, based on the first reflected signal, that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold, and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, then determining that the hand with which the user is holding the oral cleaning device is the left hand;

[0032] Optionally, the toothbrush can also perform left-hand and right-hand recognition in combination with parameters other than speed and distance, such as the toothbrush performing left-hand and right-hand recognition based on the relative distance, relative speed, and relative acceleration between the object and the toothbrush.

[0033] In one possible design, determining, based on the second reflected signal, that the hand with which the user is holding the oral cleaning device is the right hand includes:

[0034] According to the second reflection signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold, and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, it is determined that the hand used by the user to hold the oral cleaning device is the right hand.

[0035] In one possible design, the beam width of the second antenna unit is in the range of 20 degrees to 30 degrees; and / or the beam width of the third antenna unit is in the range of 20 degrees to 30 degrees.

[0036] In a possible design, the antenna is mounted at an upper position on the handle of the oral cleaning device.

[0037] In this method, since the antenna is arranged at an upper position on the handle, the influence of obstacles on the signal during the antenna sending / receiving signals can be reduced, and the accuracy of detection can be improved.

[0038] In a second aspect, an oral cleaning device is provided, comprising an inertial measurement unit (IMU), and:

[0039] An antenna for transmitting a radio signal and receiving a reflected signal of the radio signal;

[0040] The processor is configured to perform a first operation associated with an oral zone of the user based on the reflected signal, wherein the first operation includes calibrating the IMU and / or determining a hand of the user holding the oral cleaning device.

[0041] In one possible design, calibrating the IMU based on the reflected signal includes:

[0042] If it is determined based on the reflected signal that there is a user near the oral cleaning device, the IMU is calibrated.

[0043] In one possible design, determining, based on the reflected signal, that a user is present near the oral cleaning device includes:

[0044] If, based on the reflected signal, it is determined that the distance between the user and the oral cleaning device is less than a first distance threshold, and the speed of the user relative to the oral cleaning device is greater than a first speed threshold, it is determined that there is a user near the oral cleaning device.

[0045] In one possible design, calibrating the IMU based on the reflected signal includes:

[0046] According to the reflected signal, it is determined that there is a user near the oral cleaning device at the first moment, and the time interval between the first moment and the second moment is greater than the time threshold, then the IMU is calibrated; the second moment is the last time it was determined that there was a user near the oral cleaning device.

[0047] In one possible design, the antenna includes a first antenna unit, and a beam width of the first antenna unit is in the range of 100 degrees to 150 degrees.

[0048] In one possible design, the antenna further includes a second antenna unit and a third antenna unit; the second antenna unit is arranged on the left side of the handle of the oral cleaning device, and the third antenna unit is arranged on the right side of the handle of the oral cleaning device.

[0049] In one possible design, receiving a reflection signal of the radio signal includes: receiving a first reflection signal through the second antenna unit;

[0050] Determining the hand of the user holding the oral cleaning device according to the reflected signal includes: determining that the hand of the user holding the oral cleaning device is the left hand according to the first reflected signal.

[0051] In one possible design, receiving a reflection signal of the radio signal includes: receiving a second reflection signal through the third antenna unit;

[0052] Determining the hand with which the user holds the oral cleaning device according to the reflected signal includes: determining that the hand with which the user holds the oral cleaning device is the right hand according to the second reflected signal.

[0053] In one possible design, determining, based on the first reflected signal, that the hand with which the user holds the oral cleaning device is the left hand includes:

[0054] If it is determined, based on the first reflected signal, that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold, and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, then determining that the hand with which the user is holding the oral cleaning device is the left hand;

[0055] In one possible design, determining, based on the second reflected signal, that the hand with which the user is holding the oral cleaning device is the right hand includes:

[0056] According to the second reflection signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold, and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, it is determined that the hand used by the user to hold the oral cleaning device is the right hand.

[0057] In one possible design, the beam width of the second antenna unit is in the range of 20 degrees to 30 degrees; and / or the beam width of the third antenna unit is in the range of 20 degrees to 30 degrees.

[0058] In a possible design, the antenna is mounted at an upper position on the handle of the oral cleaning device.

[0059] In a third aspect, a sensing device is provided, the device having the functionality to implement the method described in any of the above aspects and any possible implementation thereof. The functionality may be implemented in hardware, or may be implemented in hardware executing corresponding software. The hardware or software may include one or more modules corresponding to the above functionality.

[0060] In a fourth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program (also referred to as instructions or code), which, when executed by a sensing device, causes the sensing device to perform the method of any of the above aspects or any embodiment of any of the aspects.

[0061] In a fifth aspect, a computer program product is provided. When the computer program product runs on a perception device, the perception device executes a method of any aspect or any embodiment of any aspect.

[0062] In a sixth aspect, a circuit system is provided, the circuit system including a processing circuit, the processing circuit being configured to execute the method of any aspect or any embodiment of any aspect.

[0063] In the seventh aspect, a chip system is provided, comprising at least one processor and at least one interface circuit, wherein the at least one interface circuit is used to perform transceiver functions and send instructions to the at least one processor. When the at least one processor executes the instructions, the at least one processor executes the method of any aspect or any embodiment of any aspect.

[0064] In an eighth aspect, a sensing device is provided, comprising a processor and a memory. The memory is configured to store a computer program (also referred to as instructions or code), and the processor is configured to execute the computer program to cause the sensing device to perform the method of any of the above aspects or any embodiment of any of the aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] FIG1 is a schematic diagram of a device architecture provided in an embodiment of the present application;

[0066] FIG2 is a schematic diagram of an antenna installation position provided in an embodiment of the present application;

[0067] FIG3 is a schematic diagram of the architecture of a radio frequency channel provided in an embodiment of the present application;

[0068] FIG4 is a schematic diagram of a scenario of a perception method provided in an embodiment of the present application;

[0069] FIG5 is a schematic diagram of an IMU calibration scenario provided in an embodiment of the present application;

[0070] FIG6 is a schematic diagram of a scene for left and right hand recognition provided by an embodiment of the present application;

[0071] FIG7 is a schematic diagram of a scenario in which a user is prompted to face a toothbrush in accordance with an embodiment of the present application;

[0072] FIG8 is a schematic diagram of another scenario of left and right hand recognition provided by an embodiment of the present application;

[0073] FIG9 is a schematic diagram of a flow chart of a sensing method according to an embodiment of the present application;

[0074] FIG10 is a schematic diagram of the structure of the device provided in an embodiment of the present application;

[0075] FIG11 is a schematic structural diagram of a chip system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0076] The device provided in the embodiment of the present application can be implemented by the device in Figure 1. Figure 1 shows a schematic diagram of the hardware structure of the device provided in the embodiment of the present application. The device includes at least one processor 501.

[0077] The processor 501 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0078] In a specific implementation, as an embodiment, the processor 501 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 1 .

[0079] In a specific implementation, as an example, a device may include multiple processors, such as processor 501 and processor 504 in Figure 1. Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0080] Optionally, the device may further include at least one communication interface 502. The communication interface 502 is used to communicate with other devices. In the embodiment of the present application, the communication interface can be a module, circuit, bus, interface, transceiver, or other device capable of implementing a communication function, used to communicate with other devices. Optionally, when the communication interface is a transceiver, the transceiver can be an independently provided transmitter that can be used to send information to other devices, or the transceiver can be an independently provided receiver that is used to receive information from other devices. The transceiver can also be a component that integrates the functions of sending and receiving information. The embodiment of the present application does not limit the specific implementation of the transceiver.

[0081] In the embodiment of the present application, the communication interface 502 includes a radio frequency channel, which includes radio frequency components. In some examples, the radio frequency channel can switch between transmitting and receiving. When the radio frequency channel of a device switches to a receiving channel, the device can receive signals. When the radio frequency channel of the device switches to a transmitting channel, the device can transmit signals.

[0082] Taking the device shown in Figure 1 as a toothbrush, as shown in Figure 2, the toothbrush may be equipped with multiple antennas, such as Antenna 1 and Antenna 2, and these antennas may belong to different radio frequency channels. The toothbrush can transmit radio signals through the antennas and, based on the reception of reflected signals from the radio signals, detect whether a user is nearby and whether the user is holding the toothbrush with their left or right hand. The specific method for the toothbrush to make this determination based on the reception of reflected signals is described below.

[0083] Exemplarily, the above-mentioned multiple antennas can be integrated into a chip, and the chip can be set in the toothbrush.

[0084] For example, as shown in Figure 2, the multiple antennas can be placed on the toothbrush handle at the position indicated by the dotted line. This position is at the top of the handle, which can reduce the impact of obstacles on the signal during the antenna transmission / reception process, thereby improving the accuracy of detection.

[0085] Alternatively, the multiple antennas may also be arranged at other locations on the toothbrush without limitation.

[0086] Exemplarily, multiple antennas are arranged in a linear array so that detection can be achieved with a smaller beam width.

[0087] In some scenarios, an antenna can be used to receive information, while in other scenarios, it can also be used to transmit information. In other words, the same antenna can have both the function of receiving information and the function of transmitting information. Alternatively, there can be an antenna specifically used for transmitting information, or an antenna specifically used for receiving information. The embodiments of this application do not limit the specific implementation of the antenna.

[0088] In different communication scenarios of the embodiments of the present application, the type of antenna, number of antennas, and radiation angle range of the antenna used by the device may be different. Antenna types may include omnidirectional antennas and directional antennas.

[0089] For a particular antenna, it can be an omnidirectional antenna or a directional antenna. Alternatively, in other embodiments, a single antenna can function as both a directional antenna and an omnidirectional antenna. In other words, the antenna can have both directional and omnidirectional states. When used in the directional state, it can be considered a directional antenna, while when used in the omnidirectional state, it can be considered an omnidirectional antenna. As a possible implementation, the antenna state can be switched between omnidirectional and directional using techniques such as beamforming.

[0090] In the embodiments of the present application, the number of antennas in the same RF channel may be one or more. When the same RF channel includes multiple antennas, the multiple antennas may be of the same type or of different types. For example, all antennas may be omnidirectional, all antennas may be directional, or some antennas may be omnidirectional and some antennas may be directional.

[0091] Figure 3 provides an exemplary schematic diagram of the RF components and antennas in the RF channel working together. The transmitting channel may include devices such as an oscillator and a coupler. The receiving channel may include devices such as a mixer. The oscillator generates a signal. Part of the signal generated by the oscillator is output to the mixer through the coupler as a local oscillator signal, while part is transmitted through the transmitting antenna and reflected by an object is received by the receiving antenna. In the mixer, the reflected signal is mixed with the local oscillator signal to produce a mixed signal. The mixed signal contains information about the target object, such as at least one of the relative distance, speed, and angle between the target object and the toothbrush. The mixed signal (for example, it can be a mixed signal that has been passed through a low-pass filter and amplified; the low-pass filter is not shown in Figure 3) is transmitted to a processor, which processes the mixed signal (for example, by performing a fast Fourier transform or spectral analysis on the signal) to obtain information about the target object and, based on the target object information, performs oral cavity zone association operations. For example, if the toothbrush determines that a user is nearby based on the reflected signal of the radio signal, it will perform inertial measurement unit (IMU) calibration.

[0092] The device may also include an IMU for performing measurements to assist in performing oral zoning. Optionally, the IMU may include an accelerometer, a gyroscope, and a magnetometer. The IMU may also include more or fewer components, and this embodiment of the application is not limited thereto.

[0093] Optionally, the device may further include a memory 503. Optionally, the memory 503 may also be included in the processor 501. The memory 503 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a communication line. The memory may also be integrated with the processor.

[0094] The memory 503 is used to store computer-executable instructions for implementing the solution of the present application, and the execution is controlled by the processor 501. The processor 501 is used to execute the computer-executable instructions stored in the memory 503, thereby implementing the methods provided in the following embodiments of the present application.

[0095] Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application code, instructions, computer programs or other names, which are not specifically limited in the embodiments of the present application.

[0096] It is understood that the structure shown in FIG1 does not constitute a specific limitation on the device. In other embodiments of the present application, the device may include more or fewer components than shown, or some components may be combined or separated, or the components may be arranged differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0097] The terms "first" and "second" in the specification and drawings of this application are used to distinguish different objects, or to distinguish different treatments of the same object. Words such as "first" and "second" can distinguish between identical or similar items with substantially the same functions and effects. For example, the first device and the second device are merely used to distinguish different devices and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity or execution order, and words such as "first" and "second" do not necessarily limit differences.

[0098] "At least one" means one or more, and "a plurality" means two or more.

[0099] "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or plural.

[0100] Furthermore, the terms "including," "having," and any variations thereof, as used in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0101] It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being more preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0102] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solutions of the embodiments of this application are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals. This is a unified description and will not be repeated below.

[0103] The features, structures, or characteristics of the embodiments of the present application may be combined in any suitable manner in one or more embodiments. In the various embodiments of the present application, the order of the sequence numbers of the processes does not necessarily indicate the order of execution. The order of execution of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0104] In this application, unless otherwise specified, the same or similar parts between the various embodiments can be referenced to each other. In the various embodiments of this application, unless otherwise specified and there is no logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships. The implementation methods of this application do not constitute a limitation on the scope of protection of this application.

[0105] Furthermore, some steps in the method embodiments may be equivalently replaced with other possible steps. Alternatively, some steps in the method embodiments are optional and may be deleted in certain usage scenarios. Alternatively, other possible steps may be added to the method embodiments.

[0106] For example, as shown in Figure 4, the toothbrush sends a radio signal through the antenna and receives the reflected signal of the radio signal. Based on the reflected signal, it is determined that there is a user near the toothbrush (corresponding to step a of Figure 4), and then the IMU calibration is performed (corresponding to step b of Figure 4). For example, IMU calibration can be implemented as follows: the toothbrush reads the gyroscope angular velocity in a static state and obtains the zero-point drift value through calculation. After that, the gyroscope angular velocity is read at a certain interval, and the gyroscope angular velocity read this time is integrated, and the zero-point drift value is subtracted from the integral value to obtain the calibrated gyroscope angular velocity.

[0107] The solution of the embodiment of the present application is to set an antenna on the toothbrush. The toothbrush can send a radio signal through the antenna, and automatically perform IMU calibration when it determines that there is a user nearby based on the reflected signal of the radio signal. This process does not require the user to manually trigger the IMU calibration, and the calibration complexity is lower, it is simple and convenient, and the calibration efficiency is higher. In addition, in this solution, when the IMU calibration is performed in advance after it is recognized that someone is approaching, on the one hand, it can ensure foresight and does not require the user to pick up the toothbrush to start the calibration; on the other hand, the toothbrush can turn off the calibration function after detecting that the person has left the vicinity of the toothbrush to reduce power consumption.

[0108] In some embodiments, the toothbrush determines that there is a user moving within the detection range if it determines, based on the reflected signal of the radio signal, that the speed of the user relative to the toothbrush is greater than or equal to a first speed threshold, and the distance between the user and the toothbrush is less than or equal to a first distance threshold. Accordingly, the toothbrush determines that there is a user nearby, triggering the execution of the above-mentioned IMU calibration process.

[0109] In other embodiments, the toothbrush may also combine parameters other than speed and distance to determine whether a user is near the toothbrush. For example, the toothbrush may determine whether a user is moving near the toothbrush based on the relative distance, relative speed, or relative acceleration between the object and the toothbrush. The embodiments of the present application do not limit the specific method of sensing the presence of a user.

[0110] Optionally, the first distance threshold may be a radius corresponding to the signal coverage range of the toothbrush antenna, for example, set to 1 m.

[0111] Exemplarily, the first speed threshold is set to 0.1 m / s or other values.

[0112] While the above example uses the toothbrush detecting the presence of a user to trigger IMU calibration, other conditions can also trigger IMU calibration. In some embodiments, the toothbrush can determine the user's movement path by reflecting the wireless signal received by the antenna. If the toothbrush determines that the user is approaching, IMU calibration is triggered.

[0113] Alternatively, in some other embodiments, the toothbrush processor may also determine whether to trigger IMU calibration based on the time interval when the user is detected approaching or present. For example, the toothbrush detects that the user is approaching and triggers IMU calibration. Afterwards, the toothbrush detects that the user is approaching the toothbrush again within a short period of time. In this case, since the toothbrush has already performed IMU calibration a short time ago, the toothbrush no longer performs IMU calibration, thereby reducing the power consumption of the toothbrush. Afterwards, the toothbrush detects that the user is approaching the toothbrush again after a longer period of time (for example, the time interval is greater than the time threshold). In this case, the toothbrush promptly performs IMU calibration to help improve the accuracy of the user's oral cavity zoning when brushing the toothbrush.

[0114] Alternatively, in some other embodiments, the toothbrush processor can also determine whether to trigger IMU calibration based on the user's brushing time. For example, the user usually brushes their teeth between 7:00-8:00 in the morning and 9:00-10:00 in the evening. At 9:15 pm, the toothbrush detects the user approaching, and triggers IMU calibration. When the user brushes their teeth with an IMU-calibrated toothbrush, the accuracy of the user's oral zoning can be improved. At 7:00 pm, the toothbrush detects the user approaching and does not trigger IMU calibration to avoid high power consumption caused by frequent calibration.

[0115] Optionally, when the toothbrush detects that the user is approaching the toothbrush during brushing time, it can voice prompt the user to rinse first, and then use the calibrated toothbrush to brush teeth after 10 seconds.

[0116] As a possible implementation method, the toothbrush can determine the time period when the user has historically appeared near the toothbrush based on the reflected signals received in the past, and send radio signals during this period, and not send radio signals during other periods to reduce the power consumption of the toothbrush. For example, based on the historical reflected signals, the toothbrush determines that the probability of the user appearing near the toothbrush is high between 8:00-10:00 in the morning and 8:00-10:00 in the evening. Then, the toothbrush can control the antenna to send radio signals between 8:00-10:00 in the morning and 8:00-10:00 in the evening every day, and perform IMU calibration based on the reflected signals. Alternatively, the toothbrush can control the antenna to send radio signals between 8:00-10:00 in the morning and 8:00-10:00 in the evening every three days, and perform IMU calibration based on the reflected signals.

[0117] As a possible implementation, a toothbrush can use a single-channel antenna to detect the presence of a user nearby. As shown in Figure 2, the toothbrush transmits a radio signal through antenna 1 on RF channel 1 and receives a reflection of the radio signal. Based on the reflection signal, the toothbrush's processor determines that the distance and speed between the user and the toothbrush meet the aforementioned conditions. If this determines the presence of a user, the toothbrush triggers the aforementioned IMU calibration.

[0118] Optionally, the beam width of the above-mentioned single-channel antenna is in the range of 100 degrees to 150 degrees so that users within the corresponding radiation range can be detected. For example, the top view of the toothbrush and the user is shown in Figure 5 (a). The toothbrush sends a radio signal through antenna C, and the beam width of antenna C is 100 degrees (corresponding to the angle between the two dotted lines). If the user is within this radiation range, the toothbrush can detect the user and automatically trigger the execution of IMU calibration when the conditions are met.

[0119] In this way, a single-channel antenna with a large beam width and wide detection range can be used to perceive nearby users with low power consumption.

[0120] As a possible implementation, the toothbrush can also use a multi-channel antenna to detect whether a user is nearby. The embodiment of the present application does not limit the number and type of antennas used to sense the presence of a user.

[0121] The present application also provides a sensing method that uses radio signal reflections to automatically and intelligently identify whether the user is holding the toothbrush with their left or right hand. Based on the left-hand or right-hand recognition results, the method assists in determining the user's oral cavity zoning, reducing false positive rates. For example, the method can assist in identifying the starting point of brushing during brushing.

[0122] In some embodiments, after the toothbrush performs IMU calibration, it activates multiple antennas for left-hand and right-hand recognition. For example, as shown in Figure 6, the toothbrush's processor controls antennas AE to transmit radio signals and receive corresponding reflected signals. Based on how the antennas receive the reflected signals, the toothbrush can determine whether the user's dominant brushing hand is right or left. As shown in Figure 6, when the toothbrush is facing the user, antenna A is the left antenna corresponding to the user's left hand, and antenna E is the right antenna corresponding to the user's right hand.

[0123] Optionally, the beam width of antennas AE as shown in FIG6 is within the range of 20 degrees to 30 degrees. For example, the beam width of each antenna is 20 degrees. Accordingly, each antenna can detect a target object within the corresponding radiation range.

[0124] As shown in Figure 6(a), the left antenna A (an example of the second antenna unit) receives a reflected signal from the hand. Based on this reflected signal, the toothbrush determines that the relative distance between the user's hand and the toothbrush is less than or equal to the second distance threshold, the hand's movement speed relative to the toothbrush is greater than or equal to the second speed threshold, and the hand is gradually approaching the toothbrush, which means that the user's left hand is approaching to pick up the toothbrush. Therefore, the toothbrush determines that the result of left-right hand recognition is the left hand, that is, the user is accustomed to holding the toothbrush with their left hand. Alternatively, if the left antenna B receives a reflected signal from the hand, the toothbrush determines that the relative distance between the user's hand and the toothbrush is less than or equal to the second distance threshold, the hand's movement speed relative to the toothbrush is greater than or equal to the second speed threshold, and the hand is gradually approaching the toothbrush. In this case, the toothbrush determines that it is the user's left hand approaching the toothbrush, and the result of left-right hand recognition is the left hand.

[0125] Similarly, as shown in FIG6(b), the right antenna E (an example of the third antenna unit) receives a reflected signal from the hand. Based on this reflected signal, the toothbrush determines that the relative distance between the user's hand and the toothbrush is less than or equal to the second distance threshold, the hand's movement speed relative to the toothbrush is greater than or equal to the second speed threshold, and the hand is gradually approaching the toothbrush, which means that the user's right hand is approaching the toothbrush and the user is using their right hand to pick up the toothbrush. Accordingly, the toothbrush determines that the result of left-right hand recognition is the right hand. Alternatively, if the right antenna D receives a reflected signal from the hand, the toothbrush determines that the relative distance between the user's hand and the toothbrush is less than or equal to the second distance threshold, the hand's movement speed relative to the toothbrush is greater than or equal to the second speed threshold, and the hand is gradually approaching the toothbrush, then the result of left-right hand recognition is the right hand.

[0126] In short, when the left antenna of the multiple antennas on the toothbrush handle receives a reflected signal from the hand, the toothbrush determines based on this reflected signal that the relative speed and relative distance between the hand and the toothbrush meet certain conditions, and then identifies the hand holding the toothbrush as the left hand. When the antenna on the right side of the toothbrush handle (referred to as the right antenna) receives a reflected signal from the hand, the toothbrush determines based on this reflected signal that the relative speed and relative distance between the hand and the toothbrush meet certain conditions, and then identifies the hand holding the toothbrush as the right hand.

[0127] Exemplarily, the second distance threshold is 0.5 m, and the second speed threshold is 0.1 m / s.

[0128] After the toothbrush performs left-hand and right-hand recognition, it saves the results. Subsequently, the toothbrush can perform oral cavity partitioning based on the left-hand and right-hand recognition results.

[0129] The above example uses a toothbrush that performs IMU calibration and activates multiple antennas to perform left-hand and right-hand recognition. In other embodiments, the toothbrush can also trigger left-hand and right-hand recognition based on time intervals. For example, the toothbrush detects the user's approach based on the reflected signal received by the antenna. After performing IMU calibration, if the time interval since the last left-hand and right-hand recognition is short, left-hand and right-hand recognition will not be triggered. Conversely, if the time interval since the last left-hand and right-hand recognition is long, left-hand and right-hand recognition will be triggered.

[0130] In some embodiments, in order to improve the accuracy of left-hand and right-hand recognition, the toothbrush may prompt the user to adjust the spatial position relationship between the user and the toothbrush before left-hand and right-hand recognition.

[0131] For example, as shown in Figure 7(a), the user is on the left side of the toothbrush. To prevent the user from holding the toothbrush with their right hand, antenna A on the left side of the toothbrush handle receives a reflected signal from the hand. The toothbrush then determines that the hand's speed and distance meet certain conditions based on this reflected signal, and mistakenly identifies the right hand holding the toothbrush as the left hand. The toothbrush can then provide a voice prompt to the user: "Please face the toothbrush directly," to improve the accuracy of left-right hand recognition. As shown in Figure 7(b), the user can adjust their position to face the toothbrush directly according to this voice prompt.

[0132] As shown in Figure 7(b), after the toothbrush activates the left-hand or right-hand recognition function, it controls the multiple antennas installed on the toothbrush handle (such as the aforementioned antennas AE) to transmit radio signals. After the user adjusts the toothbrush to face the toothbrush directly, when the user picks up the toothbrush with their right hand, the right antenna (such as antenna E) among the multiple antennas receives the reflected signal from the hand. The toothbrush determines based on the reflected signal that the speed and distance of the hand meet the aforementioned conditions, and then identifies the hand picking up the toothbrush as the right hand. It can be seen that after the user and the toothbrush are adjusted to face each other, in the scenario where the user picks up the toothbrush with their right hand, the toothbrush is likely to receive the reflected signal from the hand through the antenna installed on the right side of the handle (such as antenna A or antenna B), and correctly identify the hand picking up the toothbrush as the right hand based on the reflected signal. Similarly, in the scenario where the user picks up the toothbrush with their left hand, the toothbrush is likely to receive the reflected signal from the hand through the antenna installed on the left side of the handle, and correctly identify the hand picking up the toothbrush as the left hand based on the reflected signal.

[0133] The solution of the embodiment of the present application can automatically perform left and right hand recognition, which is convenient and simple. In the process, the user does not need to manually enter the left and right hand information on the application interface, reducing the risk of the application leaking user privacy.

[0134] The embodiment of the present application also provides a perception method, in which the toothbrush can identify the left and right hands by combining the reflected signal received by the antenna and the perception data of the IMU to improve the accuracy of the left and right hand recognition results.

[0135] For example, as shown in (a-1) of Figure 8, the user extends his right hand to pick up the toothbrush. During this process, the right antenna (such as the antenna E mentioned above) provided on the toothbrush handle receives the reflected signal of the hand. Based on the reflected signal, the toothbrush uses the right hand as the preliminary result of left-right hand recognition. As shown in (a-2) of Figure 8, after the user picks up the toothbrush with his right hand, the toothbrush can use the right hand as the final result of left-right hand recognition based on the sensing data collected by the IMU. For example, after the user picks up the toothbrush with his right hand, he tilts the toothbrush at a certain angle as shown in (a-2) of Figure 8. The IMU collects the tilt angle of the toothbrush. Based on the tilt angle and the brushing action habits, the toothbrush can determine that when the upper end of the toothbrush is tilted to the left, the user's holding hand is the right hand.

[0136] For another example, as shown in Figure 8 (b-1), the user extends his left hand to pick up the toothbrush. During this process, the left antenna (such as antenna A mentioned above) set on the toothbrush handle receives the reflected signal of the hand. Based on the reflected signal, the toothbrush uses the left hand as the preliminary result of left and right hand recognition. As shown in Figure 8 (b-2), after the user picks up the toothbrush with his left hand, he switches to holding the toothbrush with his right hand. For example, the IMU collects the tilt angle of the toothbrush, and the toothbrush can determine that the user is holding the toothbrush with his right hand based on the tilt angle and the brushing action habits.

[0137] The solution of the embodiment of the present application adopts the two methods of jointly performing left and right hand recognition based on the reflected signal of the radio signal and the perception data collected by the IMU, so that the accuracy of the left and right hand recognition results is improved and the probability of misidentifying the user's dominant hand can be minimized.

[0138] In the above solution, multiple antennas are provided on the toothbrush, and operations related to oral cavity zoning are performed according to the reflection signals of the radio signals from the corresponding antennas, which can improve the efficiency and accuracy of oral cavity zoning.

[0139] The above description is made by taking a toothbrush provided with multiple antennas as an example. In other embodiments, as shown in FIG5( b ), the toothbrush may be provided with only one antenna, which is a multi-channel antenna.

[0140] In some embodiments, the toothbrush can activate one of multiple channels. The beamwidth of this channel ranges from 100 degrees to 150 degrees (for example, set to 100 degrees). The antenna transmits a radio signal through this channel and receives a reflected signal. Based on the reflected signal, the toothbrush determines that a user is nearby and triggers the IMU calibration of the toothbrush.

[0141] In some embodiments, the toothbrush can activate multiple channels. The beamwidth of each channel ranges from 20 degrees to 30 degrees (e.g., set to 20 degrees). The antenna transmits radio signals through the multiple channels. The toothbrush determines that the user has picked up the toothbrush based on the reflected signal received from at least one of the multiple channels, and then triggers left-hand recognition.

[0142] In this embodiment, only one antenna is provided on the toothbrush, which can reduce costs, and the IMU calibration and left-hand and right-hand identification do not need to be performed manually by the user, which is highly efficient.

[0143] While the above example uses an antenna on a toothbrush for sensing, other embodiments can also utilize contact, photoelectric, or acoustic sensors for IMU calibration and hand recognition. For example, an acoustic sensor could be installed on a toothbrush to detect a user approaching through acoustic waves, activating IMU calibration.

[0144] In one or more embodiments of the present application, an entrance for starting the above-mentioned smart IMU calibration (smart calibration function for short) and smart left-hand and right-hand recognition functions may be provided. For example, a corresponding switch is set on the toothbrush. In response to the user turning on the switch, the toothbrush can perform IMU calibration and left-hand and right-hand recognition according to the above method. The switch may be the same as or a different switch from the switch that starts the toothbrush for brushing teeth. When the switch is combined with the switch that starts the toothbrush, the user can start the toothbrush or start the above-mentioned smart functions through different operations. For example, long press the switch to start the toothbrush; double-click the switch to start the smart IMU calibration function and the smart left-hand and right-hand recognition function.

[0145] For example, a user can enable the toothbrush's intelligent IMU calibration and intelligent left-hand recognition functions through a mobile phone or other terminal. After enabling these functions, the toothbrush controls the antenna to send radio signals and performs IMU calibration and left-hand recognition based on the reflected signals received from the radio signals.

[0146] In one or more embodiments of the present application, the toothbrush may also support intelligent voice reminder functions, such as interacting with other smart devices when a user approaches the toothbrush, providing the user with a better human-computer interaction experience. For example, upon detecting the user's approach, the toothbrush may control the activation of lighting, preheating, ventilation, or a magic mirror.

[0147] Figure 9 illustrates an example process flow of a method according to an embodiment of the present application. If the toothbrush senses the presence of a user, it performs IMU calibration; otherwise, it continues sensing. After IMU calibration, the toothbrush senses whether the user has picked up the toothbrush. If so, it performs left-right hand recognition; otherwise, it continues sensing whether the user has picked up the toothbrush.

[0148] The above takes a toothbrush as an example, and the embodiments of the present application can also be applied to oral cleaning devices such as water flossers.

[0149] Other embodiments of the present application provide a device, which may be the above-mentioned oral cleaning device. The device may include: a display screen, a memory, and one or more processors. The display screen, the memory, and the processor are coupled. The memory is used to store computer program code, which includes computer instructions. When the processor executes the computer instructions, the device may perform the various functions or steps in the above-mentioned method embodiments. The structure of the device can refer to the device (device) shown in Figure 1.

[0150] The core structure of the device can be represented as the structure shown in FIG10 , and the device includes: a processing module 2301 , a storage module 2303 and a display module 2304 .

[0151] Processing module 2301 may include at least one of a central processing unit (CPU), an application processor (AP), or a communication processor (CP). Processing module 2301 may perform operations or data processing related to the control and / or communication of at least one of the other components of the user device. Specifically, processing module 2301 may be used to control the content displayed on the main screen based on certain trigger conditions. Processing module 2301 may also be used to process input instructions or data and determine a display style based on the processed data.

[0152] Optionally, an input module 2302 may be included to receive user input commands or data and transmit the received commands or data to other modules of the device. Specifically, the input module 2302 may accept input methods such as touch, gestures, proximity to the screen, or voice input. For example, the input module may be the device's screen, receive user input operations, generate input signals based on the received input operations, and transmit the input signals to the processing module 2301.

[0153] The storage module 2303 may include a volatile memory and / or a non-volatile memory. The storage module is used to store at least one instruction or data related to other modules of the user equipment device.

[0154] The display module 2304 may include, for example, a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, a microelectromechanical system (MEMS) display, or an electronic paper display, and is used to display user-viewable content (e.g., text, images, videos, icons, symbols, etc.).

[0155] Optionally, a communication module 2305 is also included to support personal devices communicating with other personal devices (via a communication network). For example, the communication module can be connected to a network via wireless communication or wired communication to communicate with other personal devices or network servers. Wireless communication can use at least one of cellular communication protocols, such as Long Term Evolution (LTE), Advanced Long Term Evolution (LTE-A), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Universal Mobile Telecommunications System (UMTS), Wireless Broadband (WiBro), or Global System for Mobile Communications (GSM). Wireless communication may include, for example, short-range communication. Short-range communication may include at least one of Wireless Fidelity (Wi-Fi), Bluetooth, Near Field Communication (NFC), Magnetic Stripe Transmission (MST), or GNSS.

[0156] It should be noted that each functional module of the device can execute one or more steps in the above method embodiment.

[0157] An embodiment of the present application also provides a chip system, as shown in Figure 11, which includes at least one processor 1401 and at least one interface circuit 1402. The processor 1401 and the interface circuit 1402 can be interconnected via lines. For example, the interface circuit 1402 can be used to receive signals from other devices (such as the memory of the device). For another example, the interface circuit 1402 can be used to send signals to other devices (such as the processor 1401). Exemplarily, the interface circuit 1402 can read instructions stored in the memory and send the instructions to the processor 1401. When the instruction is executed by the processor 1401, the device can execute the various steps in the above embodiments. Of course, the chip system can also include other discrete devices, which is not specifically limited in the embodiment of the present application.

[0158] An embodiment of the present application also provides a computer-readable storage medium, which includes computer instructions. When the computer instructions are executed on the above-mentioned device, the device executes each function or step in the above-mentioned method embodiment.

[0159] The embodiment of the present application further provides a computer program product, which, when executed on a computer, enables the computer to execute the functions or steps executed by the mobile phone in the above method embodiment.

[0160] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0161] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0162] Units described as separate components may or may not be physically separate, and components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0163] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0164] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0165] The above content is only a specific embodiment of this application, but the scope of protection of this application is not limited to this. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A perception method, characterized in that, Applied to an oral cleaning device, the oral cleaning device includes an inertial measurement unit (IMU), and the method includes: Sending a radio signal; Receiving a reflected signal of the radio signal; Performing a first operation associated with the oral regions of the user according to the reflected signal, the first operation including: calibrating the IMU and / or determining the hand with which the user holds the oral cleaning device.

2. The method according to claim 1, characterized in that Calibrating the IMU according to the reflected signal includes: If it is determined according to the reflected signal that there is a user near the oral cleaning device, calibrate the IMU.

3. The method according to claim 2, wherein Determining that there is a user near the oral cleaning device according to the reflected signal includes: According to the reflected signal, if it is determined that the distance between the user and the oral cleaning device is less than a first distance threshold and the speed of the user relative to the oral cleaning device is greater than a first speed threshold, it is determined that there is a user near the oral cleaning device.

4. The method according to any one of claims 1 to 3, characterized in that Calibrating the IMU according to the reflected signal includes: According to the reflected signal, if it is determined that there is a user near the oral cleaning device at a first moment and the time interval between the first moment and a second moment is greater than a time threshold, calibrate the IMU; the second moment is the moment when it was last determined that there was a user near the oral cleaning device.

5. The method according to any one of claims 1-4, characterized in that, The oral cleaning device is provided with an antenna, and sending the radio signal includes: Sending a radio signal through the antenna; Receiving the reflected signal of the radio signal includes: Receiving the reflected signal of the radio signal through the antenna.

6. The method according to claim 5, wherein The antenna includes a first antenna unit, and the beam width of the first antenna unit is in the range of 100 degrees to 150 degrees.

7. The method according to claim 5 or 6, characterized in that, The antenna further includes a second antenna unit and a third antenna unit; the second antenna unit is arranged at a left position on the handle of the oral cleaning device, and the third antenna unit is arranged at a right position on the handle of the oral cleaning device.

8. The method according to claim 7, wherein Receiving the reflected signal of the radio signal includes: receiving a first reflected signal through the second antenna unit; Determining the hand with which the user holds the oral cleaning device according to the reflected signal includes: determining that the hand with which the user holds the oral cleaning device is the left hand according to the first reflected signal.

9. The method according to claim 7, wherein Receiving the reflected signal of the radio signal includes: receiving a second reflected signal through the third antenna unit; Determining the hand with which the user holds the oral cleaning device according to the reflected signal includes: determining that the hand with which the user holds the oral cleaning device is the right hand according to the second reflected signal.

10. The method according to claim 8, wherein Determining that the hand with which the user holds the oral cleaning device is the left hand according to the first reflected signal includes: According to the first reflected signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, it is determined that the hand with which the user holds the oral cleaning device is the left hand.

11. The method according to claim 9, characterized in that, Determining that the hand with which the user holds the oral cleaning device is the right hand according to the second reflected signal includes: According to the second reflected signal, if it is determined that the speed of the user's hand relative to the oral cleaning device is greater than or equal to a second speed threshold and the distance of the user's hand relative to the oral cleaning device is less than or equal to a second distance threshold, it is determined that the hand with which the user holds the oral cleaning device is the right hand.

12. The method according to any one of claims 5 to 11, characterized in that, The beam width of the second antenna unit is in the range of 20 degrees - 30 degrees; and / or the beam width of the third antenna unit is in the range of 20 degrees - 30 degrees.

13. The method according to any one of claims 1 to 12, characterized in that The antenna is mounted at an upper position on the handle of the oral cleaning device.

14. A sensing device, characterized in that, The device includes an inertial measurement unit IMU and: An antenna for transmitting a radio signal; receiving a reflected signal of the radio signal; A processor for performing a first operation associated with the oral regions of the user according to the reflected signal, the first operation including: calibrating the IMU and / or determining the hand with which the user holds the device.

15. A sensing device, characterized in that, Includes a processor and an antenna; The antenna for transmitting a radio signal; receiving a reflected signal of the radio signal; The processor for performing the method according to any one of claims 1 - 13 according to the reflected signal.

16. A computer-readable storage medium, characterized in that, Includes a program or instructions, and when the program or instructions are executed, the method according to any one of claims 1 - 13 is implemented.

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