Tooth brushing zone detection method, toothbrush and storage medium

Abstract

A tooth brushing zone detection method, a toothbrush and a storage medium. The tooth brushing zone detection method is applied to a toothbrush, and comprises: acquiring distance data and a roll angle of a toothbrush, wherein the distance data comprises the distance from a first sensor to a face and / or a non-facial object detected by the first sensor, and the roll angle of the toothbrush is a rotation angle corresponding to rotation, with the long axis of the toothbrush serving as a rotation axis, of the toothbrush detected by a second sensor; and on the basis of the distance data and the roll angle of the toothbrush, determining that a tooth brushing zone is a left-side zone or a right-side zone. Using the tooth brushing zone detection method, there is no dependency relationship between every two tooth brushing zone detection results, so that the probability of successive errors in tooth brushing zone detection can be effectively reduced, thereby improving the accuracy of tooth brushing zone detection.

Description

Toothbrushing partition detection method, toothbrush, and storage medium

[0001] This application claims priority to the Chinese patent application with application number 202410119362.6 filed with the State Intellectual Property Office of China on January 27, 2024, and priority to the Chinese patent application with the invention name “Toothbrushing partition detection method, toothbrush, and storage medium”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of electric toothbrushes, and in particular to a toothbrushing zone detection method, a toothbrush, and a storage medium. Background Art

[0003] Electric toothbrushes are popular among users for their powerful cleaning performance and ease of use. The earliest electric toothbrushes had only one speed and one brush head, without zone functions. With technological advancements, electric toothbrushes have become increasingly intelligent, and zone functions have begun to appear. For example, these toothbrushes can automatically adjust the speed and pressure of the brush head based on different oral areas and / or tooth surface types.

[0004] In general, different toothbrushing partitions are mainly partitions obtained based on different combinations of left and right, upper and lower, inguinal pressure surfaces, and side and molar surfaces of the oral cavity. In some partition determination methods, the processor determines whether the user's current toothbrushing partition belongs to the left partition or the right partition by combining the partition detection results of the previous moment and the change in the heading angle of the toothbrush. For example, if the toothbrushing partition at the previous moment was the left partition, and the change in the heading angle corresponding to the current rotation of the toothbrush to the right partition is greater than a certain angle, then it is determined that the current toothbrushing partition is switched from the left partition to the right partition. However, since the change in the heading angle of the toothbrush may sometimes be caused by the left and right rotation of the human head, and is not necessarily caused by a change in the position of the toothbrush relative to the oral cavity, it is easy to misdetect the switching of the left and right brushing partitions.

[0005] Therefore, how to improve the accuracy of toothbrushing zone detection has become a key research topic for those skilled in the art. Summary of the Invention

[0006] The present application provides a toothbrushing zone detection method, a toothbrush, and a storage medium to improve the accuracy of toothbrushing zone detection.

[0007] In a first aspect, the present application provides a toothbrushing partition detection method, which is applied to a toothbrush, wherein the toothbrush is equipped with a first sensor and a second sensor, and the method comprises: obtaining distance data and a roll angle of the toothbrush, the distance data comprising the distance from the face and / or objects outside the face to the first sensor detected by the first sensor, and the roll angle of the toothbrush being the rotation angle corresponding to the rotation of the toothbrush with the long axis of the toothbrush as the rotation axis detected by the second sensor; based on the distance data and the roll angle of the toothbrush, determining whether the toothbrushing partition is a left partition or a right partition.

[0008] Using the brushing zone detection method provided in this application, if the position of the toothbrush relative to the oral cavity remains unchanged, the distance data will not change significantly due to left-right head rotation, as the face also rotates synchronously when the head turns left and right. Furthermore, since the left-right head rotation does not rotate about the long axis of the toothbrush, the roll angle of the toothbrush will not change with left-right head rotation. Therefore, determining the left and right brushing zones based on this distance data and the roll angle of the toothbrush can reduce the probability of falsely detecting left-right switching of brushing zones due to left-right head rotation, further improving the accuracy of brushing zone detection.

[0009] In some possible implementations, the determining of the brushing partition as a left partition or a right partition based on the distance data and the roll angle of the toothbrush includes: determining a first type parameter of the brushing partition based on the distance data, the first type parameter including a lingual partition and a buccal partition; determining a second type parameter of the brushing partition based on the roll angle, the second type parameter including a first side and a second side, wherein the buccal side of the teeth on the left side of the mouth and the lingual side of the teeth on the right side of the mouth belong to the first side, and the lingual side of the teeth on the left side of the mouth and the buccal side of the teeth on the right side of the mouth belong to the second side; determining a third type parameter of the brushing partition based on the first type parameter and the second type parameter of the brushing partition, the third type parameter including at least one of the following: left outer partition, right inner partition, left inner partition, right outer partition.

[0010] Exemplarily, the toothbrush head includes bristles, and the detection direction of the first sensor is opposite to the orientation of the bristles. The distance data is used to determine whether the reflective object with the highest reflective energy currently detected by the first sensor is from the face or from an object other than the face. If the reflective object with the highest reflective energy detected by the first sensor is determined to be from the face based on the distance data, the first type parameter is the lingual partition. If the reflective object with the highest reflective energy detected by the first sensor is determined to be from a posterior reflective object other than the face based on the distance data, the first type parameter is the buccal partition.

[0011] It is understandable that during the brushing process, when the user's head rotates left and right and the position of the toothbrush relative to the mouth does not change, the user's face, toothbrush, and first sensor will also rotate synchronously, and the relative position between the first sensor and the face will not change during the rotation.

[0012] Among them, if the reflective object with the largest reflected energy determined by the first sensor based on the distance data before the rotation comes from the face, that is, the first type parameter of the brushing partition is the lingual partition, since the relative position between the first sensor and the face has not changed, then after the rotation, the first type parameter of the brushing partition determined based on the distance data is still the lingual partition. On the contrary, if the reflective object with the largest reflected energy determined by the first sensor based on the distance data before the rotation does not come from the face, that is, it comes from an object other than the face, such as a wall behind the face, that is, the first type parameter of the brushing partition is the buccal partition, then after the rotation, the reflective object with the largest reflected energy determined by the first sensor based on the distance data cannot be from the face. In other words, the first type parameter determined based on the distance data will not change as the human head rotates.

[0013] Also, since the left and right rotation of the human head does not rotate around the long axis of the toothbrush, the left and right rotation of the human head will not change the roll angle of the toothbrush, and the second type of parameter determined based on the roll angle of the toothbrush will not change due to the left and right rotation of the human head.

[0014] Therefore, the brushing zone detection method provided in this application, which determines the third type of parameters based on the above-mentioned first type of parameters and second type of parameters, can improve the probability of false detection of left and right switching of brushing zones due to left and right rotation of the human head, and improve the accuracy of brushing zone detection.

[0015] In some possible implementations, the toothbrush includes bristles, the detection direction of the first sensor is opposite to the direction of the bristles, and the distance data includes a second distance and a third distance, wherein the second distance is the distance of the reflector with the largest reflection energy detected by the first sensor, and the third distance is the distance of the reflector with the second highest reflection energy detected by the first sensor; determining the first type parameter of the brushing partition based on the distance data includes: when the second distance is less than the third distance, determining the first type parameter of the brushing partition to be the lingual partition; when the second distance is greater than the third distance, determining the first type parameter of the brushing partition to be the buccal partition.

[0016] Using this method, since the second distance and the third distance are both objective data detected by the first sensor, they are more objective than the distance threshold (the first threshold and / or the second threshold). Therefore, the first type parameter is determined based on the comparison of the second distance and the third distance. This can avoid the problem of incorrect brushing zone judgment caused by unreasonable distance threshold settings, and further improve the accuracy of brushing zone detection.

[0017] In some possible implementations, the toothbrush includes bristles, the detection direction of the first sensor is opposite to the direction of the bristles, and the distance data includes a first distance, which is the distance of the reflector with the largest reflection energy detected by the first sensor; determining the first type parameter of the brushing partition based on the distance data includes: when the first distance is less than or equal to a first threshold, determining the first type parameter of the brushing partition to be the lingual partition; when the first distance is greater than a second threshold, determining the first type parameter of the brushing partition to be the buccal partition, and the first threshold is less than or equal to the second threshold.

[0018] It is understandable that if the first sensor is a laser sensor (the detection range is almost a ray), the probability that the first sensor simultaneously detects the face and the rear reflective object outside the face with a small difference in reflection energy is almost 0. Then, based on the distance data, it can more accurately distinguish whether the first type parameter of the current brushing partition is the lingual partition or the buccal partition, which can further improve the accuracy of brushing partition detection. However, if the first sensor is a laser sensor, it will also face the problem that the distance data may only include one valid data (such as the first distance mentioned above). At this time, the first type parameter of the brushing partition based on the size relationship of the first distance, the first threshold, and the second threshold can be determined based on this method. That is, the implementation method of determining the first type parameter based on distance data provided by this application is flexible and has good applicability.

[0019] In some possible implementations, when the first type parameter of the brushing partition is the lingual partition and the second type parameter of the brushing partition is the first side, the third type parameter is the right inner partition; when the first type parameter of the brushing partition is the buccal partition and the second type parameter of the brushing partition is the first side, the third type parameter is the left outer partition; when the first type parameter of the brushing partition is the lingual partition and the second type parameter of the brushing partition is the second side, the third type parameter is the left inner partition; when the first type parameter of the brushing partition is the buccal partition and the second type parameter of the brushing partition is the second side, the third type parameter is the right outer partition.

[0020] In some possible implementations, the method further includes: determining a fourth type parameter of the brushing partition based on the roll angle of the toothbrush, the fourth type parameter including a maxillary partition or a mandibular partition; determining a fifth type parameter of the brushing partition based on the third type parameter and the fourth type parameter, the fifth type parameter including at least one of the following: upper left outer partition, lower left outer partition, upper left inner partition, or lower left inner partition, upper right inner partition, lower right inner partition, upper right outer partition, lower right outer partition.

[0021] It is understandable that the toothbrushing partition detection method provided in this application can be applicable to a variety of partition schemes, for example, it is applicable to the partition scheme including the above-mentioned third type of parameters, and it is also applicable to the partition scheme including the fifth type of parameters, and has good applicability.

[0022] In some possible implementations, the toothbrush includes a brush handle and a brush head, and the first sensor is configured on the brush handle.

[0023] In this way, if the first sensor is a millimeter wave radar sensor, the radar beam width θ of the millimeter wave radar sensor is bw The smaller the distance, the lower the probability that the main lobe of the millimeter-wave radar sensor will detect both the face and the rear reflective object outside the face at the same time, and the higher the accuracy of the first type of parameters for the brushing zone determined based on the above distance data. bw The antenna aperture L of the millimeter wave radar sensor a There is an inverse relationship between the radar beam width θ and bw The smaller the antenna aperture L a The larger the sensor is (that is, the larger the volume of the first sensor is), the larger the first sensor is placed on the brush handle to provide a larger accommodation space for the first sensor, thereby increasing the radar beam width θ bw It can be designed to be as small as possible, thereby further improving the accuracy of brushing zone detection.

[0024] In some possible implementations, the first sensor is a photoelectric ranging sensor, a microwave ranging sensor, or an acoustic wave sensor. The photoelectric ranging sensor includes a laser sensor, and the acoustic wave ranging sensor includes a millimeter wave radar sensor.

[0025] In a second aspect, the present application provides a toothbrush, which is equipped with a first sensor, a second sensor, and a processor, wherein the processor is electrically connected to the first sensor and the second sensor; the processor is used to obtain distance data and a roll angle of the toothbrush, the distance data including the distance from the face and / or objects outside the face detected by the first sensor to the first sensor, and the roll angle of the toothbrush is the rotation angle corresponding to the rotation of the toothbrush with the long axis of the toothbrush as the rotation axis detected by the second sensor; the processor is also used to determine whether the brushing partition is a left partition or a right partition based on the distance data and the roll angle of the toothbrush.

[0026] In some possible implementations, the processor is specifically used to determine the first type parameter of the brushing partition based on the distance data, and the first type parameter includes a lingual partition and a buccal partition; the processor is also specifically used to determine the second type parameter of the brushing partition based on the roll angle, and the second type parameter includes a first side and a second side, wherein the buccal side of the teeth on the left side of the mouth and the lingual side of the teeth on the right side of the mouth belong to the first side, and the lingual side of the teeth on the left side of the mouth and the buccal side of the teeth on the right side of the mouth belong to the second side; the processor is also specifically used to determine the third type parameter of the brushing partition based on the first type parameter and the second type parameter of the brushing partition, and the third type parameter includes at least one of the following: a left outer partition, a right inner partition, a left inner partition or a right outer partition.

[0027] In some possible implementations, the toothbrush includes bristles, the detection direction of the first sensor is opposite to the direction of the bristles, and the distance data includes a first distance, which is the distance of the reflector with the largest reflection energy detected by the first sensor; the processor is specifically used to determine that the first type parameter of the brushing partition is the lingual partition when the first distance is less than or equal to a first threshold; the processor is also specifically used to determine that the first type parameter of the brushing partition is the buccal partition when the first distance is greater than a second threshold, and the first threshold is less than or equal to the second threshold.

[0028] In some possible implementations, the toothbrush includes bristles, the detection direction of the first sensor is opposite to the direction of the bristles, and the distance data includes a second distance and a third distance, wherein the second distance is the distance of the reflector with the largest reflection energy detected by the first sensor, and the third distance is the distance of the reflector with the second highest reflection energy detected by the first sensor; the processor is specifically used to determine that the first type parameter of the brushing partition is the lingual partition when the second distance is less than the third distance; the processor is also specifically used to determine that the first type parameter of the brushing partition is the buccal partition when the second distance is greater than the third distance.

[0029] In some possible implementations, when the first type parameter of the brushing partition is the lingual partition and the second type parameter of the brushing partition is the first side, the third type parameter is the right inner partition; when the first type parameter of the brushing partition is the buccal partition and the second type parameter of the brushing partition is the first side, the third type parameter is the left outer partition; when the first type parameter of the brushing partition is the lingual partition and the second type parameter of the brushing partition is the second side, the third type parameter is the left inner partition; when the first type parameter of the brushing partition is the buccal partition and the second type parameter of the brushing partition is the second side, the third type parameter is the right outer partition.

[0030] In some possible implementations, the processor is further used to determine the fourth type parameter of the brushing partition based on the roll angle of the toothbrush, and the fourth type parameter includes the maxillary partition or the mandibular partition; the processor is further used to determine the fifth type parameter of the brushing partition based on the third type parameter and the fourth type parameter, and the fifth type parameter includes at least one of the following: upper left outer partition, lower left outer partition, upper left inner partition, or lower left inner partition, upper right inner partition, lower right inner partition, upper right outer partition, and lower right outer partition.

[0031] In some possible implementations, the toothbrush includes a brush handle and a brush head, and the first sensor is configured on the brush handle.

[0032] In some possible implementations, the first sensor is a photoelectric ranging sensor, a microwave ranging sensor, or an acoustic wave sensor. The photoelectric ranging sensor includes a laser sensor, and the acoustic wave ranging sensor includes a millimeter wave radar sensor.

[0033] In a third aspect, the present application further provides a computer-readable storage medium, which stores a computer program or instructions. When the computer program or instructions are executed, the method in the above embodiment is implemented.

[0034] In a fourth aspect, the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the method in the above embodiment.

[0035] In a fifth aspect, the present application also provides a computer program for implementing the method in the above embodiment.

[0036] In a sixth aspect, an embodiment of the present application further provides a circuit, which is coupled to a memory and is used to execute the method shown in the above embodiment. The circuit may include a chip circuit.

[0037] In a seventh aspect, the present application further provides a chip system, comprising: at least one processor and an interface, wherein the at least one processor is coupled to a memory via the interface, and when the at least one processor runs a computer program or instruction in the memory, the chip system executes the method in any of the above method embodiments. Optionally, the chip system may be composed of a chip, or may include a chip and other discrete devices, which is not specifically limited in the embodiments of the present application.

[0038] It is understood that the toothbrush, computer storage medium, computer program, computer program product, and chip system provided above are all used to perform the method shown in any implementation of the first aspect of the embodiment of the present application. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding method and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] FIG1A is a schematic diagram of a posture angle of a toothbrush provided in an embodiment of the present application;

[0040] 1B to 1D are schematic diagrams of the roll angle, heading angle, and pitch angle of a toothbrush provided in an embodiment of the present application;

[0041] FIG2 is a schematic diagram of the three-axis attitude angle of an IMU provided in an embodiment of the present application;

[0042] FIG3 is a schematic diagram of a beam range of a millimeter wave radar sensor provided in an embodiment of the present application;

[0043] FIG4 is a schematic diagram of some tooth brushing zoning schemes in the industry provided in an embodiment of the present application;

[0044] FIG5 is a flow chart of another toothbrushing zone detection method provided in an embodiment of the present application;

[0045] FIG6 is a comparative diagram of a toothbrush posture corresponding to a lower right inner portion and a lower left outer portion, respectively, provided in an embodiment of the present application;

[0046] FIG7 is a flow chart of a toothbrushing zone detection method provided in an embodiment of the present application;

[0047] FIG8 is a flow chart of another toothbrushing zone detection method provided in an embodiment of the present application;

[0048] FIG9 is a flow chart of another toothbrushing zone detection method provided in an embodiment of the present application;

[0049] FIG10 is a schematic diagram of a lingual partition and a buccal partition provided in an embodiment of the present application;

[0050] FIG11 is a schematic diagram of the position of a first sensor in a toothbrush provided in an embodiment of the present application;

[0051] FIG12 is a schematic diagram showing the difference in distances from the face and rear reflectors to a point on the same ray extending from the middle of a toothbrush in the lingual and buccal partitions, provided by an embodiment of the present application;

[0052] FIG13A is a schematic diagram showing the position relationship of the toothbrush relative to the head when the user places the toothbrush on the lingual teeth at the lower right side of the mouth for brushing, according to an embodiment of the present application;

[0053] FIG13B is a schematic diagram illustrating the relationship between the scanning range of the radar beam of the first sensor and the position of a face or an object other than the face in the scenario shown in FIG13A , provided by an embodiment of the present application;

[0054] FIG13C is a schematic diagram of distance data detected by a first sensor in the scenario shown in FIG13A , provided by an embodiment of the present application;

[0055] FIG14A is a schematic diagram showing the positional relationship of the toothbrush relative to the head when the user places the toothbrush on the buccal teeth on the left side of the mouth for brushing, according to an embodiment of the present application;

[0056] FIG14B is a schematic diagram illustrating the relationship between the scanning range of the radar beam of the first sensor and the position of a face or an object other than the face in the scenario shown in FIG14A , provided by an embodiment of the present application;

[0057] FIG14C is a schematic diagram of distance data detected by a first sensor in the scenario shown in FIG14A , provided by an embodiment of the present application;

[0058] 15A and 15B are schematic diagrams of a first side and a second side provided in an embodiment of the present application;

[0059] FIG16 is a schematic diagram of determining a third type of parameter for a tooth brushing zone based on a first type of parameter and a second type of parameter for a tooth brushing zone according to an embodiment of the present application;

[0060] FIG17 is a schematic structural diagram of a toothbrush provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] The following introduces the terms that may be involved in this application.

[0062] (1) Toothbrush attitude angle (roll angle, heading angle, pitch angle)

[0063] In the embodiments of the present application, the toothbrush's attitude angle, as distinguished from the bending angle of the toothbrush's own structure, refers to the toothbrush's three-axis attitude angle, as shown in Figure 1A. The x-axis, y-axis, and z-axis of the three-axis attitude angle are the roll angle, pitch angle, and heading angle, respectively. The x-axis and y-axis are parallel to the horizontal plane, and the z-axis is perpendicular to the horizontal plane. The horizontal plane can be a plane perpendicular to the bristles of the toothbrush. During the rotation of the toothbrush, as the direction of the bristles of the toothbrush changes, the horizontal plane will also change accordingly. For example, as shown in Figure 1A, if the toothbrush is placed horizontally on a table with the bristles facing upward, the horizontal plane is the table.

[0064] Among them, the roll angle of the toothbrush is the rotation angle of the first posture of the toothbrush relative to the initial posture. The initial posture is the posture corresponding to the zero position of the roll angle of the toothbrush. The first posture is the posture obtained by rotating the toothbrush with the long axis of the toothbrush as the rotation axis.

[0065] As an example, the initial posture of a toothbrush is the posture when the toothbrush is placed horizontally on a horizontal surface with the bristles facing upward. The long axis of the toothbrush is the central axis of the brush body perpendicular to the bristles. The first posture can be the posture obtained by rotating the toothbrush at any angle based on the initial posture and with the long axis as the rotation axis.

[0066] As an example, as shown in FIG1B , the posture shown with a roll angle of 0° is the initial posture of the toothbrush, and the rotation axis shown by the dotted line is the long axis of the toothbrush. For example, rotating the toothbrush 90° clockwise with the long axis of the toothbrush as the rotation axis can obtain posture a as shown in FIG1B , and rotating it 90° counterclockwise can obtain posture b as shown in FIG1B . It should be noted that counterclockwise and clockwise are relative terms, and the posture obtained by rotating the toothbrush counterclockwise with the long axis of the toothbrush as the rotation axis can also be obtained by rotating it clockwise with the long axis of the toothbrush as the rotation axis. For example, rotating the toothbrush 270° clockwise with the long axis of the toothbrush as the rotation axis can also obtain posture b as shown in FIG1B .

[0067] As an example, referring again to FIG1B , the range of the roll angle of the toothbrush can be divided into greater than or equal to 0° and less than or equal to +180°, and less than 0° and greater than -180°, where +180° and -180° correspond to the same toothbrush posture. It should be noted that the division of the range of the roll angle of the toothbrush here is only an example, and there may be other suitable range division methods, which are not limited in this document. For example, the range of the roll angle of the toothbrush can also be greater than or equal to 0° and less than or equal to 360°, where 0° and 360° correspond to the same toothbrush posture.

[0068] The heading angle of the toothbrush is the projection of the long axis of the toothbrush on the horizontal plane in the second posture of the toothbrush, and the rotation angle of the projection of the long axis of the toothbrush on the horizontal plane relative to the initial posture of the toothbrush. The initial posture is the posture corresponding to the zero position of the heading angle of the toothbrush, and the horizontal plane can be a plane perpendicular to the bristles of the toothbrush.

[0069] As an example, as shown in Figure 1C, the table top perpendicular to the bristles of the toothbrush is used as the horizontal plane. The initial posture and c posture of the toothbrush are both with the long axis of the toothbrush close to the table top. Then the angle between the projection of the long axis of the toothbrush on the horizontal plane in the initial posture and the projection of the long axis of the toothbrush on the horizontal plane in the c posture (second posture) is the heading angle.

[0070] The pitch angle of the toothbrush is the angle between the projection of the long axis of the toothbrush on the horizontal plane in the third posture of the toothbrush and the long axis of the toothbrush in the third posture.

[0071] As an example, as shown in Figure 1D, with the tabletop perpendicular to the bristles of the toothbrush as the horizontal plane, the angle between the projection of the toothbrush's long axis on the horizontal plane in the d-position (third position) and the long axis of the toothbrush in the third position is the toothbrush's pitch angle. The projection of the toothbrush's long axis on the horizontal plane in the d-position can also be understood as the long axis of the toothbrush when the pitch angle is at zero.

[0072] In some possible implementations, the three-axis attitude angle of the toothbrush can be detected based on an inertial measurement unit (IMU). IMU is a device used to measure the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU includes a three-axis gyroscope and a three-axis accelerometer, and some also include a three-axis magnetometer. The accelerometer detects the acceleration signal of the object in the three independent axes of the carrier coordinate system, while the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system, measures the angular velocity and acceleration of the object in three-dimensional space, and uses this to calculate the attitude angle of the object. Figure 2 shows the external shape of the IMU and a schematic diagram of the three axes of the three-axis attitude angle of the IMU.

[0073] (2) Millimeter-wave radar sensor

[0074] Generally, the signal beam emitted by a millimeter-wave radar sensor for detecting reflective objects can be divided into main lobes and side lobes based on its radiation intensity. The number of main lobes is typically one, while the number of side lobes is greater than or equal to one. As shown in Figure 3, the signal beam emitted by this millimeter-wave radar sensor includes one main lobe and two side lobes. The lobe corresponding to the beam with the strongest radiation intensity is the main lobe, and the remaining lobes are called side lobes.

[0075] The following introduces the development history of electric toothbrushes and the advantages of the toothbrushing zone detection method provided in this application compared with other toothbrushing zone detection methods.

[0076] The earliest electric toothbrushes had only one speed and one brush head, without a zone function. Later, as technology advanced, electric toothbrushes became increasingly intelligent, and zone functions began to appear. These toothbrushes with zone functions can automatically adjust the speed and force of the brush head according to different areas and tooth types. These toothbrushes usually have multiple modes, such as cleaning mode, massage mode, and rinsing mode. Over time, the zone function of toothbrushes has become more intelligent and personalized. Currently, electric toothbrushes can automatically adjust the speed, force, and time of the brush head based on the user's oral health and personal preferences by connecting to a smartphone app. Some electric toothbrushes can also help users better control the time and method of brushing through sound prompts, vibration, and light displays.

[0077] The main purpose of toothbrush partitioning is to make brushing more targeted and effective, so that every tooth can be cleaned thoroughly and everyone's teeth are healthier. Toothbrush partition detection mainly uses artificial intelligence algorithms to identify the area of ​​the teeth that the user is currently brushing. The partitions mainly include left, right, upper, lower, and incisor surfaces. A single tooth includes the side (inside and outside) and molar surface. Based on the complexity of the algorithm, the industry's partitioning schemes include 4 partitions, 5 partitions, 8 partitions, 12 partitions, and 16 partitions. Figure 4 shows the partition diagrams corresponding to these partitioning schemes (in Figure 4, the partitions in each partitioning scheme are numbered with positive integers in sequence).

[0078] In some other partition detection methods, the judgment is made by combining the partition information of the previous moment and the currently calculated toothbrush posture angle. Among them, the principle of distinguishing the left partition and the right partition is shown in Figure 5, wherein the posture angle of the toothbrush is obtained by IMU. When the posture angle change of the toothbrush meets certain conditions, combined with the historical partition information (historical partition information can also be understood as the last determined toothbrush state), the algorithm determines whether the brushing partition is on the left or right side based on the historical partition information and the change in posture angle. For example, if the brushing partition at the previous moment was the left partition, and the change in the heading angle corresponding to the current rotation of the toothbrush to the right is greater than a certain angle, it is determined that the current brushing partition is switched from the left partition to the right partition.

[0079] In this zone detection method, a key parameter for distinguishing between left and right zones is the toothbrush's heading angle. However, changes in the toothbrush's heading angle can sometimes be caused by a person's head turning left or right, rather than a change in the toothbrush's position relative to the mouth. This can easily lead to false detection of left-right brushing zone switching.

[0080] In view of this, the present application provides a partition detection method, which includes: a processing unit obtains distance data and a roll angle of a toothbrush, the distance data including the distance from the face and / or objects outside the face detected by a first sensor to the first sensor, and the roll angle of the toothbrush is the rotation angle corresponding to the rotation of the toothbrush with the long axis of the toothbrush as the rotation axis detected by a second sensor; the processing unit determines whether the brushing partition is a left partition or a right partition based on the distance data and the roll angle of the toothbrush.

[0081] When the position of the toothbrush relative to the oral cavity does not change, the distance data and the roll angle of the toothbrush will not change significantly due to the left and right rotation of the head. Therefore, the left and right partitions of the brushing zone are determined based on the distance data and the roll angle of the toothbrush, which can reduce the probability of false detection of left and right switching of the brushing zone due to the left and right rotation of the human head, and further improve the accuracy of brushing zone detection.

[0082] For example, during the toothbrush brushing process, if the user's head turns left or right and the position of the toothbrush relative to the oral cavity does not change, the user's face, toothbrush, and first sensor will also rotate synchronously, and the relative position between the first sensor and the face will not change during the rotation. In other words, if the first sensor can detect the face before the head turns left or right, then the first sensor can still detect the face after the rotation, and the reflected energy remains unchanged. In addition, since the maximum amplitude of the head rotation left or right is 90° to the left or 90° to the right, the first sensor rotates within this angle range. If the first sensor can detect a rear reflective object other than the face (for example, the rear reflective object is a wall) before the rotation, then after the rotation, the first sensor will most likely be able to detect the rear reflective object, and the reflected energy remains unchanged.

[0083] Also, when the position of the toothbrush relative to the oral cavity does not change, the left and right rotation of the human head does not rotate around the long axis of the toothbrush, and thus the left and right rotation of the human head will not change the roll angle of the toothbrush.

[0084] On the other hand, the above-mentioned other partition detection methods that combine historical partition information and the current toothbrush posture angle to determine the brushing partition, the detection of the brushing partition must rely on historical partition information. In a brushing process, if the partition judgment at the previous moment is wrong, the subsequent partition judgments will be wrong one after another, unless the toothbrush is restarted and the default parameters are restored before restarting the partition detection.

[0085] However, by using the tooth brushing zone detection method provided in the present application, the detection of tooth brushing zones does not rely on historical zone information, thereby effectively reducing the probability of successive errors in tooth brushing zone detection and improving the accuracy of tooth brushing zone detection.

[0086] On the other hand, in the aforementioned other partition detection methods that combine historical partition information and the current toothbrush posture angle to determine the brushing zone, an important parameter for distinguishing the left and right partitions is the toothbrush heading angle. However, as shown in Figure 6 (or Figures 13A and 14A), since the user's toothbrush posture is very similar when brushing the teeth in the lower left outer partition and the lower right inner partition, it may happen that the toothbrush posture changes very little and the heading angle change does not meet the threshold, making it difficult to detect whether the left and right partitions have switched. The accuracy of partition detection needs to be improved.

[0087] However, using the method provided in the embodiment of the present application, although the toothbrush postures corresponding to the lower left outer partition and the lower right inner partition (or the lower left inner partition and the lower right outer partition, or the upper left inner partition and the upper right outer partition, or the upper left outer partition and the upper right inner partition) are similar, there are large differences in the corresponding distance data. Therefore, the method of this scheme can improve the discrimination of partitions with similar toothbrush postures and improve the accuracy of brushing partition detection.

[0088] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0089] The following describes an embodiment of the present application in conjunction with Figure 7 to provide a toothbrushing partition detection method, which is applied to a toothbrush, and the toothbrush is equipped with a first sensor and a second sensor. The executor of the method is a processing unit, and the processing unit is electrically connected to the first sensor and the processing unit is electrically connected to the second sensor. The processing unit can be a processor configured in the toothbrush or other processing circuit or electronic device with processing functions, which is not limited in this article.

[0090] As shown in FIG7 , the method includes:

[0091] S701: The processing unit obtains distance data and a roll angle of the toothbrush, where the distance data includes the distance from the face and / or an object other than the face detected by the first sensor to the first sensor.

[0092] In the embodiment of the present application, the distance data includes the distance from the face and / or non-face object to the first sensor as detected by the first sensor, and the roll angle of the toothbrush is the rotation angle corresponding to the toothbrush rotating about the long axis of the toothbrush as detected by the second sensor. It can also be understood that the roll angle of the toothbrush is the rotation angle of the first posture of the toothbrush relative to the initial posture, the initial posture being the posture corresponding to the zero position of the toothbrush roll angle, and the first posture being the posture obtained by rotating the toothbrush about the long axis of the toothbrush as the rotation axis.

[0093] In an embodiment of the present application, the first sensor has the function of measuring the distance to an obstacle, which refers to an obstacle appearing in the transmission direction of the signal (light signal or sound signal, etc.) of the first sensor, and the obstacle includes the face and / or objects other than the face.

[0094] As an example, the first sensor may be a photoelectric ranging sensor, a microwave ranging sensor, or an acoustic wave sensor, wherein the photoelectric ranging sensor includes a laser sensor, and the acoustic wave ranging sensor includes a millimeter wave radar sensor.

[0095] In the embodiment of the present application, the second sensor has the function of detecting the three-axis attitude angle (or angular rate) and acceleration of the object. As an example, the second sensor can be an IMU.

[0096] In some possible implementations, the first sensor and the second sensor may be the same sensor, for example, a multifunctional sensor, which has both the function of detecting the distance to an obstacle and the function of detecting the three-axis attitude angle of an object.

[0097] In some possible implementations, the toothbrush handle is further provided with a grip sensor (or pressure sensor), which is electrically connected to the processing unit. Before executing step S701, the processing unit may first obtain a target grip value detected by the grip sensor; if the target grip value is greater than a preset grip value, steps S701 and S702 are executed. If the target grip value is less than or equal to the preset grip value, the processing unit may not perform brushing zone detection. The target grip value being greater than the preset grip value is used to indicate that the user is using the toothbrush.

[0098] S702: The processing unit determines whether the toothbrush brushing zone is a left zone or a right zone based on the distance data and the roll angle of the toothbrush.

[0099] In a possible implementation, referring to FIG. 8 , step S702 specifically includes:

[0100] S7021, the processing unit determines a first type parameter of the brushing partition based on the distance data, where the first type parameter includes a lingual partition and a buccal partition.

[0101] As an example, referring to Figure 10 , the buccal area is the side of the left and right sides of the mouth where the teeth touch the cheek, and the lingual area is the side of the left and right sides of the mouth where the teeth touch the tongue. The left side of the mouth is the same as the left hand of the human body. The oral model shown in Figure 10 can be a maxillary or mandibular model, and this is not limited to this.

[0102] As an example, please refer to Figure 11. The toothbrush includes a handle and a brush head. The end of the handle connected to the brush head is called the first end. The first sensor is arranged on the handle and close to the first end. Referring to Figure 12 again, the transmission direction of the signal used to detect the distance in the first sensor is shown as the dotted line direction shown in Figure 12, wherein the angle between the transmission direction of the signal and the brush head can be about 30°, or it can be understood as a ray extending from a point in the middle of the toothbrush, and the angle between the ray and the brush head is about 30°. When the user's current brushing zone is the right inner zone (belonging to the lingual zone), the distance obtained by the first sensor is d, which is the distance from the face to the first sensor. When the user's current brushing zone is the left outer zone (belonging to the buccal zone), the distance obtained by the first sensor is D, which is the distance from other objects outside the face (reflective objects behind the face, such as walls) to the first sensor. There is a large difference between the d value and the D, so it can be determined whether the current brushing zone belongs to the buccal zone or the lingual zone based on whether the distance detected by the first sensor is close to the d or closer to the D.

[0103] Exemplarily, the toothbrush head is provided with bristles, and the detection direction of the first sensor is opposite to the direction of the bristles. The processing unit can determine based on the distance data whether the reflective object with the largest reflective energy currently detected by the first sensor is from the face or from other objects outside the face. The distance data includes the distance from the face and / or objects outside the face to the first sensor detected by the first sensor. When the distance data includes both the distance from the face to the first sensor and the distance from the object outside the face to the first sensor, the reflection energies corresponding to the distance from the face to the first sensor and the distance from the object outside the face to the first sensor are different. If the processing unit determines based on the distance data that the reflective object with the largest reflective energy detected by the first sensor is from the face, the first type parameter is the lingual partition; if the processing unit determines based on the distance data that the reflective object with the largest reflective energy detected by the first sensor is not from the face (i.e., from a rear reflective object outside the face), the first type parameter is the buccal partition.

[0104] For example, how the processing unit determines the first type parameter of the toothbrushing partition based on the distance data (step S7021) can be implemented in the following two ways (way 1 and way 2).

[0105] Method 1:

[0106] The distance data includes a first distance, which is the distance of the reflective object with the maximum reflected energy detected by the first sensor. The processing unit determines a first type parameter of the brushing zone based on the distance data, specifically including: if the first distance is less than or equal to a first threshold, the processing unit determines the first type parameter of the brushing zone to be a lingual zone; if the first distance is greater than a second threshold, the processing unit determines the first type parameter of the brushing zone to be a buccal zone, and the first threshold is less than or equal to the second threshold.

[0107] As an example, referring again to Figures 11 and 12, if the position of the first sensor in the brush handle is as shown in Figure 11, and the transmission direction of the signal for detecting the distance in the first sensor is as shown in Figure 12, and d is less than or equal to 0.1 meters (m), and D is greater than 0.8m, then the first threshold value can be 0.1m and the second threshold value can be 0.8m. In some other possible implementations, the second threshold value can also be equal to the first threshold value, for example, the first threshold value and the second threshold value are both 0.5m, which is not limited in this document. It is understandable that the description of the first threshold value being 0.1m, the second threshold value being 0.8m, or the first threshold value and the second threshold value being 50 centimeters is only an example, and the first threshold value and the second threshold value can also have other suitable values ​​according to the specific circumstances, as long as the other suitable values ​​can be used to distinguish whether the first type parameter of the toothbrush partition is the buccal partition or the lingual partition. The specific values ​​of the first threshold value and the second threshold value are not limited in this document.

[0108] As an example, taking the first sensor as a millimeter wave radar sensor as an example, Figures 13A to 14C are used to introduce how the processing unit determines the first type parameter of the brushing zone based on method 1.

[0109] FIG13A shows the position of the toothbrush relative to the head when the user places the toothbrush on the lingual teeth on the lower right side of the mouth to brush their teeth. The radar beam width corresponding to the main lobe of the radar beam in the first sensor is θ bw , for example, the θ bw It can be 20°. The angle between the first beam in the main lobe beam emitted by the first sensor and the brush head is about 30°. The first beam is the beam closest to the brush head.

[0110] In the scenario shown in Figure 13A, the relationship between the radar beam scanning range of the first sensor and the position of the face or other objects other than the face is shown in Figure 13B. Point A in Figure 13B represents a location on the face, point B represents the location of the reflective object behind the head, the vertical distance from point A to the first sensor is d = 0.1 meters (m), and the vertical distance from point B to the first sensor is D = 0.88 meters.

[0111] In the scenario shown in Figure 13A, the distance data detected by the first sensor may include the data shown in Figure 13C. In Figure 13C, the X-axis represents the distance value of the object detected by the first sensor (shown as Range in the figure, in meters), and the Y-axis represents the reflected energy value of the object detected by the first sensor (shown as Amplitude in the figure, in decibels, dB). The distance resolution is approximately 0.294 meters.

[0112] Among them, based on the distance data of Figure 13C, the processing unit can determine that the object with the largest reflected energy is the sampling point (sampling point 1) corresponding to 0m on the curve. It can be understood that the sampling point corresponding to 0m is point A shown in Figure 13B, because the distance between point A and the first sensor is 0.1m, but because the distance resolution is 0.294m, 0.1m is closer to 0m than 0.294m, so point A is identified as the sampling point corresponding to 0m. Based on the fact that the distance corresponding to the sampling point A (0m) is less than the first threshold (for example, the first threshold is 10cm), the processing unit determines that the first type parameter of the brushing partition is the lingual partition.

[0113] The other data on the curve of Figure 13C except for sampling point 1 can be understood as distance noise. Among them, the sampling point with the second highest reflection energy value on the curve (i.e., sampling point 2 corresponding to 0.88m) can also be understood as the above-mentioned point B. However, the reflection energy value corresponding to point B detected by the first sensor is smaller than the reflection energy value of point A. Possible reasons include: point B is farther away from the first sensor and / or the beam detected at point B belongs to the sidelobe beam emitted by the first sensor, and the beam intensity of the sidelobe beam is smaller than that of the mainlobe beam.

[0114] FIG14A shows the positional relationship of the toothbrush relative to the head when the user places the toothbrush on the buccal teeth on the left side of the mouth to brush their teeth.

[0115] In the scenario shown in Figure 14A, the relationship between the radar beam scanning range of the first sensor and the position of the face or other objects other than the face is shown in Figure 14B. Point E in Figure 14B represents the location of the reflective object behind the head, point F represents a location on the face, the vertical distance from point A to the first sensor is d = 0.1 meters (m), and the vertical distance from point B to the first sensor is D = 0.88 meters.

[0116] In the scenario shown in Figure 14A, the distance data detected by the first sensor may include data shown in Figure 14C. In Figure 14C, the X-axis is the distance value of the object detected by the first sensor, and the Y-axis is the reflected energy value of the object detected by the first sensor. The distance resolution is approximately 0.294m.

[0117] Based on the distance data shown in FIG14C , the processing unit can determine that the object with the greatest reflected energy is the sampling point (sampling point 3) corresponding to 0.88 m on the curve. It is understood that the sampling point corresponding to 0.88 m is point E shown in FIG14B . Based on the fact that the distance corresponding to sampling point 3 is greater than a first threshold (e.g., the first threshold is 0.8 m), the processing unit determines that the first type parameter of the brushing zone is the buccal zone.

[0118] The other data on the curve of Figure 14C, except for sampling point 3 with the largest reflected energy, can be understood as distance noise. Among them, the point with the second highest reflected energy value on the curve can also be understood as the above-mentioned point F (that is, sampling point 4 corresponding to 0 m). However, the reflected energy value corresponding to point F detected by the first sensor is smaller than the transmitted energy value corresponding to point E. The possible reason is that the beam detected at point F belongs to the sidelobe beam in the first sensor.

[0119] Method 2:

[0120] The distance data includes a second distance and a third distance, wherein the second distance is the distance of the reflector with the largest reflected energy detected by the first sensor, and the third distance is the distance of the reflector with the second highest reflected energy detected by the first sensor. The processing unit determines the first type parameter of the brushing zone based on the distance data. Specifically, if the second distance is less than the third distance, the processing unit determines the first type parameter of the brushing zone to be the lingual zone; if the second distance is greater than the third distance, the processing unit determines the first type parameter of the brushing zone to be the buccal zone.

[0121] As an example, taking the first sensor as a millimeter-wave radar sensor, referring to Figure 13C again, the processing unit can determine that the distance corresponding to the reflector with the largest reflection energy (sampling point A) is 0m based on the distance data in Figure 13C, and the distance corresponding to the reflector with the second highest reflection energy (that is, the third distance) is 0.88m. The second distance (0m) is less than the third distance (0.88m), which indicates that the second distance comes from the face (or the second distance is called the facial distance), and the third distance is the distance from the rear reflector outside the face to the first sensor. The first sensor detects that the reflection energy of the face is greater than the reflection energy of the rear reflector outside the face, then the processing unit can determine that the first type parameter of the brushing partition is the lingual partition.

[0122] Alternatively, referring to Figure 14C again, based on the distance data shown in Figure 14C, the processing unit can determine that the distance corresponding to the reflector with the largest reflection energy (i.e., sampling point 3) is 0.88m, and the distance corresponding to the reflector with the second highest reflection energy ranking (i.e., sampling point 4) is 0m (i.e., the third distance). The second distance (0.88m) is less than the third distance (0m), indicating that the second distance is the distance of the rear reflector outside the face, and the third distance is the facial distance. The first sensor detects that the reflection energy of the rear reflector outside the face is greater than the reflection energy of the face, and the processing unit determines that the first type parameter of the brushing partition is the buccal partition.

[0123] S7022, the processing unit determines the second type of parameters of the brushing partition based on the roll angle of the toothbrush, and the second type of parameters includes a first side and a second side, wherein the buccal side of the teeth on the left side of the mouth and the lingual side of the teeth on the right side of the mouth belong to the first side, and the lingual side of the teeth on the left side of the mouth and the buccal side of the teeth on the right side of the mouth belong to the second side.

[0124] As an example, please refer to Figure 15A. In Figure 15A, the molar surface of a tooth is marked with '2'; the left side of the tooth (first side) is marked with '0'; and the right side of the tooth (second side) is marked with '1'. Corresponding to the oral cavity, please refer to Figure 15B. The buccal side of the tooth on the left side of the mouth and the lingual side of the tooth on the right side of the mouth are the first side (marked with '0'), and the lingual side of the tooth on the left side of the mouth and the buccal side of the tooth on the right side of the mouth are the second side (marked with '1').

[0125] It is understandable that, referring again to Figures 10-15B above, when the processing unit determines that the first type parameter of the brushing partition is the buccal partition, since the side of the teeth on the left and right sides of the mouth that are against the cheek are both buccal partitions, the processing unit cannot determine whether the current brushing partition belongs to the left partition or the right partition based solely on the first type parameter, let alone determine the third type parameter of the brushing partition. In addition, when the processing unit determines that the second type parameter of the brushing partition is the first side, since the buccal side of the teeth on the left side of the mouth and the lingual side of the teeth on the right side of the mouth are both the first side ('0'), the processing unit cannot determine whether the current brushing partition belongs to the left partition or the right partition based solely on the second type parameter, let alone determine the third type parameter of the brushing partition.

[0126] S7023, the processing unit determines a third type parameter of the brushing partition based on the first type parameter and the second type parameter of the brushing partition, the third type parameter including a left outer partition, a right inner partition, a left inner partition or a right outer partition.

[0127] It should be noted that S7021 and S7022 can be executed simultaneously or sequentially, and this document does not limit the order of their execution.

[0128] In some possible implementations, if the first sensor does not detect the face or other objects other than the face, it can also be understood that the information contained in the distance data is empty or the distance data only contains some noise data with relatively low reflection energy (for example, lower than the reflection energy corresponding to the face), indicating that the current brushing zone belongs to the buccal zone and there are no obstacles behind the user within the detection range of the first sensor, then the processing unit determines that the first type parameter is buccal.

[0129] In the tooth brushing partition detection method provided in the present application, the processing unit uniquely determines the third type parameter of the tooth brushing partition based on the first type parameter being the buccal partition and the second type parameter being the first side ('0'). Exemplarily, as shown in FIG16 , when the first type parameter of the tooth brushing partition is the lingual partition and the second type parameter of the tooth brushing partition is the first side, the processing unit determines that the third type parameter of the tooth brushing partition is the right inner partition; when the first type parameter of the tooth brushing partition is the buccal partition and the second type parameter of the tooth brushing partition is the first side, the processing unit determines that the third type parameter of the tooth brushing partition is the left outer partition; when the first type parameter of the tooth brushing partition is the lingual partition and the second type parameter of the tooth brushing partition is the second side, the processing unit determines that the third type parameter of the tooth brushing partition is the left inner partition; when the first type parameter of the tooth brushing partition is the buccal partition and the second type parameter of the tooth brushing partition is the second side, the processing unit determines that the third type parameter of the tooth brushing partition is the right outer partition.

[0130] By adopting the partition detection method provided in the present application, on the one hand, compared with the heading angle parameter of the toothbrush, the above-mentioned distance data used in the partition judgment of this scheme will not cause the detected partition parameter to change from the lingual side to the buccal side due to the left and right rotation of the human head, and the roll angle of the toothbrush used will not cause the detected partition parameter to change from the first side to the second side due to the left and right rotation of the human head, thereby reducing the probability of false detection of left and right partitions.

[0131] On the other hand, by adopting the partition detection method provided in the present application, the detection of the current partition does not need to rely on the historical partition information. Instead, when the brushing partition needs to be updated, the distance data and the roll angle of the toothbrush obtained at the corresponding time can be directly used to determine whether the brushing partition is the left partition or the right partition. There is no dependency between the detection results of each partition, which can effectively reduce the probability of successive errors in the brushing partition detection.

[0132] On the other hand, although the corresponding postures of the toothbrush when brushing the lower left outer partition and the lower right inner partition (or the lower left inner partition and the lower right outer partition, or the upper left inner partition and the upper right outer partition, or the upper left outer partition and the upper right inner partition) are similar, but different from the heading angle parameters of the toothbrush, the distance data used in this scheme for partition judgment are quite different for the distance data corresponding to the left outer partition and the right inner partition, or the distance data corresponding to the left inner partition and the right outer partition. For details, please refer to the description of Figure 12. Therefore, the method of this scheme can improve the discrimination of partitions with similar toothbrush postures, thereby improving the accuracy of brushing partition detection.

[0133] In some possible implementations, one or more parameters of the first sensor (millimeter wave radar sensor) corresponding to FIG. 13A or FIG. 14A may have the following values:

[0134] Radar beamwidth θ bw =20°.

[0135] The radar signal uses 60 gigahertz (GHz) millimeter waves with a wavelength of λ=5 mm.

[0136] The radar signal bandwidth is 500 MHz, and the radar signal wave is a frequency modulated continuous wave (FMCW).

[0137] Antenna aperture Can be placed in toothbrush chips.

[0138] Among these parameters, the radar beamwidth θ bw The smaller the distance, the smaller the probability that the main lobe of the millimeter-wave radar sensor simultaneously detects (that is, simultaneously detects a small difference in reflected energy) the face and the rear reflective object outside the face, and the higher the accuracy of the first type parameter of the brushing zone determined by the processing unit based on the above distance data. bw and antenna aperture L a There is an inverse relationship between the radar beam width θ and bw The smaller the antenna aperture L a The larger the first sensor is (that is, the larger the volume of the first sensor is), the first sensor can be placed at the brush handle to provide a larger accommodation space for the first sensor, thereby increasing the radar beam width θ bw It can be designed to be as small as possible, thereby further improving the accuracy of brushing zone detection.

[0139] It should be noted that the description that the first sensor is arranged on the brush handle and close to the first end, and the angle between the transmission direction of the detection signal of the first sensor closest to the brush head and the brush head is approximately 30° is only an example. The first sensor can also be arranged at other suitable positions on the toothbrush, and the angle between the transmission direction of the detection signal of the first sensor closest to the brush head and the brush head can also be other suitable values, as long as the distance value and the reflected energy value of the facial reflector detected by the first sensor at this position are significantly different from the distance value and the reflected energy value of the rear reflector outside the face. For example, the closer the first sensor is to the top of the brush head, the greater the angle between the transmission direction of the detection signal of the first sensor closest to the brush head and the brush head. This can better ensure that when the user uses the toothbrush to brush the buccal teeth, the probability of the main lobe of the first sensor detecting the face and the rear reflector outside the face at the same time is low, thereby ensuring the accuracy of the brushing zone detection.

[0140] In some other possible implementations, the first sensor is a laser sensor. The detection signal emitted by the laser sensor is a ray. This allows the first sensor to simultaneously detect the face and rear reflective objects outside the face with a small difference in reflection energy with a near-zero probability, thereby improving the accuracy of brushing zone detection. It should be noted that when the first sensor is a laser sensor, the distance data generally only includes one data point (e.g., the first distance described above). In this case, the first type parameter of the brushing zone can be determined using the above-described method 1.

[0141] It should be noted that the above statement that the detection direction of the first sensor is opposite to the orientation of the bristles is only an example. In the embodiment of the present application, the detection direction of the first sensor may be the same as the orientation of the bristles. However, when the detection direction of the first sensor is the same as the orientation of the bristles, the first type parameter of the brushing partition determined by the processing unit based on the above distance data is opposite to the first type parameter of the brushing partition determined by the processing unit based on the above distance data when the detection direction of the first sensor is the same as the orientation of the bristles. Exemplarily, when the detection direction of the first sensor is the same as the orientation of the bristles, the processing unit may determine the first type parameter of the brushing partition based on the distance data in the following two ways (Method 3 and Method 4).

[0142] Method 3: The distance data includes a first distance, which is the distance of the reflective object with the maximum reflected energy detected by the first sensor. The processing unit determines a first type parameter of the brushing zone based on the distance data, specifically including: if the first distance is less than or equal to a first threshold, the processing unit determines the first type parameter of the brushing zone as the buccal zone; if the first distance is greater than a second threshold, the processing unit determines the first type parameter of the brushing zone as the lingual zone, and the first threshold is less than or equal to the second threshold.

[0143] Method 4: The distance data includes a second distance and a third distance, wherein the second distance is the distance to the reflector with the highest reflected energy detected by the first sensor, and the third distance is the distance to the reflector with the second highest reflected energy detected by the first sensor. The processing unit determines the first type parameter of the brushing zone based on the distance data. Specifically, if the second distance is less than the third distance, the processing unit determines the first type parameter of the brushing zone to be the buccal zone; if the second distance is greater than the third distance, the processing unit determines the first type parameter of the brushing zone to be the lingual zone.

[0144] It should be noted that, as described in the embodiments of the present application, the distance data and the roll angle of the toothbrush acquired by the processing unit are data from the same time (which can also be understood as the same moment).

[0145] Please refer to FIG9 , which shows another toothbrushing zone detection method provided by the present application, the method comprising:

[0146] S901: The processing unit obtains distance data and the roll angle of the toothbrush.

[0147] For a detailed description of step S901, please refer to the above related description, for example, please refer to the related description of S701 in Figure 7, and will not be described in detail here.

[0148] S902, the processing unit determines a first type parameter of the brushing partition based on the distance data, determines a second type parameter of the brushing partition based on the roll angle of the toothbrush, and determines a third type parameter of the brushing partition based on the first type parameter and the second type parameter.

[0149] In the embodiment of the present application, the third type parameter includes a left outer partition, a right inner partition, a left inner partition or a right outer partition.

[0150] For detailed descriptions of the first type parameters, the second type parameters, and step S902, please refer to the relevant descriptions above, for example, please refer to the relevant descriptions of S702 in Figure 7 and S7021 to S7023 in Figure 8, which will not be described in detail here.

[0151] S903: The processing unit determines a fourth type of parameters of the brushing zones based on the roll angle of the toothbrush, where the fourth type of parameters includes an upper jaw zone and a lower jaw zone.

[0152] As an example, the initial toothbrush posture is when the bristles of the toothbrush are facing upward and placed horizontally on a horizontal surface. The roll angle of the toothbrush can range from greater than or equal to 0° to less than or equal to +180°, and less than 0° to greater than -180°, where +180° and -180° correspond to the same toothbrush posture. It can be assumed that toothbrush roll angles greater than or equal to 0° to less than or equal to +90° and greater than or equal to -90° to less than 0° represent the maxillary zone, while roll angles greater than +90° to less than or equal to +180° and less than -90° to less than -180° represent the mandibular zone.

[0153] S904, the processing unit determines the fifth type parameter of the brushing partition based on the above-mentioned third type parameter and the fourth type parameter, and the fifth type parameter includes at least one of the following: upper left outer partition, lower left outer partition, upper left inner partition, or lower left inner partition, upper right inner partition, lower right inner partition, upper right outer partition, and lower right outer partition.

[0154] For example, the upper left outer partition, the lower left outer partition, the upper left inner partition, or the lower left inner partition, the upper right inner partition, the lower right inner partition, the upper right outer partition, and the lower right outer partition can correspond to the numbers 1, 10, 3, 12, 6, 9, 4, and 7 in the 12 partition scheme in Figure 4, respectively.

[0155] As an example, assuming that the roll angle of the toothbrush is greater than or equal to 0° and less than or equal to +90° and greater than or equal to -90° and less than 0°, it is the maxillary partition, and greater than +90° and less than or equal to +180° and less than -90° and less than -180° is the mandibular partition. Also, greater than or equal to 0° and less than or equal to +180° belongs to the first side, and greater than -180° and less than 0° belongs to the second side. Accordingly, when the roll angle of the toothbrush is greater than or equal to 0° and less than or equal to +90°, the second type parameter corresponding to the brushing partition is the first side, and the corresponding fourth type parameter is the maxillary partition. When the roll angle of the toothbrush is greater than or equal to -90° and less than 0°, the second type parameter corresponding to the brushing partition is the second side, and the corresponding fourth type parameter is the maxillary partition. When the roll angle of the toothbrush is greater than +90° and less than or equal to +180°, the second type parameter corresponding to the brushing partition is the first side, and the corresponding fourth type parameter is the mandibular partition. When the roll angle of the toothbrush is within the range of less than -90° and less than -180°, the second type parameter corresponding to the brushing zone is the second side, and the corresponding fourth type parameter is the mandibular zone.

[0156] In some other possible implementations, the toothbrushing zoning method provided in this application can be applied to any zoning scheme shown in FIG. 4 .

[0157] Exemplarily, the fifth type of parameters can be determined based on the first type of parameters, the second type of parameters, and the fourth type of parameters. The fifth type of parameters may include an upper left lateral partition, an upper left molar surface partition, an upper left inner partition, an upper right lateral partition, an upper right molar surface partition, an upper right inner partition, a lower right lateral partition, a lower right molar surface partition, a lower right inner partition, a lower left lateral partition, a lower left molar surface partition, and a lower left inner partition (corresponding to areas 1 to 12 in the 12 partition scheme shown in FIG. 4 , respectively).

[0158] Exemplarily, based on the above-mentioned first type parameters, second type parameters, and fourth type parameters, a sixth type parameter can be determined, which includes an upper left partition, an upper right partition, a lower left partition, and a lower right partition (corresponding to areas 1 to 4 in the 4-partition scheme shown in Figure 4, respectively).

[0159] Exemplarily, the seventh type of parameters is determined based on the above-mentioned first type parameters, second type parameters, fourth type parameters, and the pitch angle of the toothbrush. The seventh type of parameters includes an upper left rear partition, an upper front partition, an upper right rear partition, a lower right rear partition, a lower front partition, and a lower right rear partition (corresponding to areas 1 to 6 in the 6-partition scheme shown in Figure 4, respectively).

[0160] By analogy, the idea of ​​determining whether the brushing partition belongs to the left partition or the right partition based on the distance data and the roll angle of the toothbrush provided in this application can be used, and any partitioning scheme as shown in Figure 4 can be executed on the basis of this idea. The partitioning detection result reduces the probability of successive errors and improves the accuracy of the partitioning detection result compared to using other detection methods to execute any partitioning scheme as shown in Figure 4. The other detection method can be to determine whether the brushing partition belongs to the left partition or the right partition based on the heading angle and historical partition information.

[0161] Please refer to Figure 17, which is a structural diagram of a toothbrush 1700 provided in this application.

[0162] As shown in FIG17 , the toothbrush 1700 is equipped with a processor 1701, a first sensor 1702, and a second sensor 1703. The processor 1701 is in communication with the first sensor 1702, and the processor 1701 is in communication with the second sensor 1703.

[0163] The processor 1701 is configured to obtain distance data and a roll angle of the toothbrush, wherein the distance data includes the distance from the face and / or an object outside the face to the first sensor 1702 as detected by the first sensor 1702, and the roll angle of the toothbrush is the rotation angle corresponding to the rotation of the toothbrush about the long axis of the toothbrush as detected by the second sensor 1703;

[0164] The processor 1701 is further configured to determine whether the brushing zone is a left zone or a right zone based on the distance data and the roll angle of the toothbrush.

[0165] In some possible implementations, the toothbrush 1700 includes a brush handle 1704 and a brush head 1705 , the first sensor 1702 and the second sensor 1703 are disposed on the brush handle 1704 , and the brush head 1705 includes bristles 17051 .

[0166] In some possible implementations, the processor 1701 is specifically used to determine the first type parameter of the brushing partition based on the above-mentioned distance data; the above-mentioned processor 1701 is also specifically used to determine the second type parameter of the brushing partition based on the roll angle; the processor 1701 is also specifically used to determine the third type parameter of the brushing partition based on the first type parameter and the second type parameter of the brushing partition, and the third type parameter includes at least one of the following: left outer partition, right inner partition, left inner partition or right outer partition.

[0167] In some possible implementations, the detection direction of the first sensor 1702 is opposite to the orientation of the bristles 17051. The processor 1701 is specifically configured to determine that the first type parameter of the brushing zone is the lingual zone when the first distance is less than or equal to a first threshold; the processor 1701 is further configured to determine that the first type parameter of the brushing zone is the buccal zone when the first distance is greater than a second threshold, and the first threshold is less than or equal to the second threshold.

[0168] In some possible implementations, the above-mentioned processor 1701 is specifically used to determine that the first type parameter of the brushing partition is the lingual partition when the second distance is less than the third distance; the processor is also specifically used to determine that the first type parameter of the brushing partition is the buccal partition when the second distance is greater than the third distance.

[0169] In some possible implementations, the above-mentioned processor 1701 is also used to determine the fourth type parameter of the brushing partition based on the roll angle of the toothbrush, and the fourth type parameter includes the maxillary partition or the mandibular partition; the processor 1701 is also used to determine the fifth type parameter of the brushing partition based on the third type parameter and the fourth type parameter, and the fifth type parameter includes at least one of the following: upper left outer partition, lower left outer partition, upper left inner partition, or lower left inner partition, upper right inner partition, lower right inner partition, upper right outer partition, and lower right outer partition.

[0170] In some possible implementations, one or more of the processor 1701 , the first sensor 1702 , and the second sensor 1703 are coupled.

[0171] For the description of the roll angle of the toothbrush, the initial posture of the toothbrush, the first posture, the first type parameter, the second type parameter, the third type parameter, the fourth type parameter, the fifth type parameter, the lingual partition, the buccal partition, the first distance, the second distance, the third distance, the first threshold, the second threshold, the first sensor, and the second sensor, please refer to the relevant description above and will not be described in detail here.

[0172] It should be noted that the steps or functions executed by the above-mentioned processor 1701 can refer to the relevant description in the above-mentioned toothbrushing partition detection method and will not be described in detail here.

[0173] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction is executed, the method in the above embodiment is implemented.

[0174] An embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the method in the above embodiment.

[0175] The present application also provides a computer program, which is used to implement the method in the above embodiment.

[0176] The present application also provides a circuit, which is coupled to a memory and is used to execute the method shown in the above embodiment. The circuit may include a chip circuit.

[0177] It should be noted that the above units or one or more of the units can be implemented by software, hardware, or a combination of the two. When any of the above units or units is implemented by software, the software exists in the form of computer program instructions and is stored in a memory, and a processor can be used to execute the program instructions and implement the above method flow.

[0178] In this application, a processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or all or part of the circuitry in the aforementioned devices used to implement processing functions, which may implement or execute the various methods, steps, and logic block diagrams disclosed in this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in this application may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0179] When the above units or units are implemented in hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, a SoC, an FPGA, a programmable logic device (PLD), a dedicated digital circuit, a hardware accelerator or a non-integrated discrete device, which can run the necessary software or not rely on the software to execute the above method flow.

[0180] Optionally, an embodiment of the present application further provides a chip system, comprising: at least one processor and an interface, wherein the at least one processor is coupled to a memory via the interface, and when the at least one processor executes a computer program or instruction in the memory, the chip system executes the method in any of the above method embodiments. Optionally, the chip system may be composed of a chip, or may include a chip and other discrete devices, which is not specifically limited in the embodiments of the present application.

[0181] The memory in the present application can also be a circuit or any other device capable of realizing a storage function, for storing program instructions and / or data. A memory is any other medium that can be used to carry or store a desired program code in the form of an instruction or data structure and can be accessed by a computer, but is not limited thereto. For example, the memory can be a non-volatile memory, such as a digital versatile disc (DVD), a hard disk drive (HDD) or a solid-state drive (SSD), etc., or a volatile memory (volatile memory), such as a random-access memory (RAM).

[0182] It should be understood that in the description of the present application, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship, for example, A / B can represent A or B; wherein A and B can be singular or plural. Also, in the description of the present application, unless otherwise specified, "multiple" refers to two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, wherein a, b, c can be single or multiple. In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that terms such as "first" and "second" do not limit the quantity or order of execution, and do not necessarily define differences. For example, the prefix "first" in the first carrier frequency is merely used to distinguish the first carrier frequency used to broadcast N different PLMNs provided in the embodiment of the present application from other carrier frequencies with similar functions, and does not indicate the ranking of the first carrier frequency among one or more primary B carrier frequencies. For another example, the prefix "first" in the first operator network only specifically refers to the operator network corresponding to the terminal, and does not indicate the ranking of the first operator network among the N operator networks. Furthermore, in the embodiments of the present application, terms such as "as an example," "exemplary," or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner for easier understanding.

[0183] References to "embodiments" herein mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in one or more embodiments of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It will be understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0184] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0185] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art can understand and implement other changes to the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0186] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

[0187] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0188] The components in the device of the embodiment of the present application can be merged, divided, or deleted according to actual needs. Those skilled in the art can combine or combine the different embodiments and features of the different embodiments described in this specification.

[0189] In this application, under the premise of no logical contradiction, the examples can reference each other, for example, the methods and / or terms between method embodiments can reference each other, for example, the functions and / or terms between device embodiments can reference each other, for example, the functions and / or terms between device examples and method examples can reference each other.

Claims

1. A method for detecting toothbrushing areas, characterized in that, Applied to a toothbrush, the toothbrush being configured with a first sensor and a second sensor, the method comprising: Obtaining distance data and the roll angle of the toothbrush, the distance data including the distance from the face and / or an object outside the face detected by the first sensor to the first sensor, and the roll angle of the toothbrush being the rotation angle corresponding to the rotation of the toothbrush about its long axis detected by the second sensor; Based on the distance data and the roll angle of the toothbrush, determining that the brushing area is a left-side area or a right-side area.

2. The method according to claim 1, characterized in that, The determining that the brushing area is a left-side area or a right-side area based on the distance data and the roll angle of the toothbrush includes: Determining a first type parameter of the brushing area based on the distance data, the first type parameter including a lingual-side area and a buccal-side area; Determining a second type parameter of the brushing area based on the roll angle, the second type parameter including a first side and a second side, wherein the buccal surfaces of the teeth on the left side of the oral cavity and the lingual surfaces of the teeth on the right side of the oral cavity belong to the first side, and the lingual surfaces of the teeth on the left side of the oral cavity and the buccal surfaces of the teeth on the right side of the oral cavity belong to the second side; Determining a third type parameter of the brushing area based on the first type parameter and the second type parameter of the brushing area, the third type parameter including at least one of the following: a left outer area, a right inner area, a left inner area, and a right outer area.

3. The method according to claim 2, wherein The toothbrush includes bristles, the detection direction of the first sensor is opposite to the orientation of the bristles, the distance data includes a first distance, and the first distance is the distance of the reflector with the maximum reflected energy detected by the first sensor; the determining the first type parameter of the brushing area based on the distance data includes: When the first distance is less than or equal to a first threshold, determining that the first type parameter of the brushing area is the lingual-side area; When the first distance is greater than a second threshold, determining that the first type parameter of the brushing area is the buccal-side area, the first threshold being less than or equal to the second threshold.

4. The method according to claim 2, characterized in that The toothbrush includes bristles, the detection direction of the first sensor is opposite to the orientation of the bristles, the distance data includes a second distance and a third distance, wherein the second distance is the distance of the reflector with the maximum reflected energy detected by the first sensor, and the third distance is the distance of the reflector with the second-highest reflected energy detected by the first sensor; the determining the first type parameter of the brushing area based on the distance data includes: When the second distance is less than the third distance, determining that the first type parameter of the brushing area is the lingual-side area; When the second distance is greater than the third distance, determining that the first type parameter of the brushing area is the buccal-side area.

5. The method according to any one of claims 2-4, wherein When the first type parameter of the brushing area is the lingual-side area and the second type parameter of the brushing area is the first side, the third type parameter is the right inner area; When the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the first side, the third type parameter is the left outer area; When the first type parameter of the brushing area is the lingual area and the second type parameter of the brushing area is the second side, the third type parameter is the left inner area; When the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the second side, the third type parameter is the right outer area.

6. The method according to any one of claims 2-5, characterized in that, The method further includes: Determining a fourth type parameter of the brushing area based on the roll angle of the toothbrush, where the fourth type parameter includes the upper jaw area or the lower jaw area; Determining a fifth type parameter of the brushing area based on the third type parameter and the fourth type parameter, where the fifth type parameter includes at least one of the following: the upper left outer area, the lower left outer area, the upper left inner area, or the lower left inner area, the upper right inner area, the lower right inner area, the upper right outer area, the lower right outer area.

7. The method according to any one of claims 1-6, characterized in that, The toothbrush includes a brush handle and a brush head, and the first sensor is disposed on the brush handle.

8. The method according to any one of claims 1 to 7, characterized in that The first sensor is an optoelectronic ranging sensor, a microwave ranging sensor, or an acoustic wave sensor, the optoelectronic ranging sensor includes a laser sensor, and the acoustic wave ranging sensor includes a millimeter wave radar sensor.

9. A toothbrush, characterized in that, The toothbrush is configured with a first sensor, a second sensor, and a processor, and the processor is electrically connected to the first sensor and the second sensor; The processor is configured to obtain distance data and the roll angle of the toothbrush, where the distance data includes the distance from the face and / or an object outside the face detected by the first sensor to the first sensor, and the roll angle of the toothbrush is the rotation angle corresponding to the rotation of the toothbrush about the long axis of the toothbrush detected by the second sensor; The processor is further configured to determine that the brushing area is the left area or the right area based on the distance data and the roll angle of the toothbrush.

10. The toothbrush according to claim 9, wherein The processor is specifically configured to determine a first type parameter of the brushing area based on the distance data, where the first type parameter includes the lingual area and the buccal area; The processor is further specifically configured to determine a second type parameter of the brushing area based on the roll angle, where the second type parameter includes the first side and the second side, and among them, the buccal side of the teeth on the left side of the oral cavity and the lingual side of the teeth on the right side of the oral cavity belong to the first side, and the lingual side of the teeth on the left side of the oral cavity and the buccal side of the teeth on the right side of the oral cavity belong to the second side; The processor is further specifically configured to determine a third type parameter of the brushing area based on the first type parameter and the second type parameter of the brushing area, where the third type parameter includes at least one of the following: the left outer area, the right inner area, the left inner area, or the right outer area.

11. The toothbrush according to claim 10, wherein, The toothbrush includes bristles, the detection direction of the first sensor is opposite to the orientation of the bristles, the distance data includes a first distance, and the first distance is the distance of the reflector with the maximum reflected energy detected by the first sensor; The processor is specifically configured to determine that the first type parameter of the brushing area is the lingual area when the first distance is less than or equal to a first threshold; The processor is also specifically configured to determine that the first type parameter of the brushing area is the buccal area when the first distance is greater than a second threshold, and the first threshold is less than or equal to the second threshold.

12. The toothbrush according to claim 10, wherein, The toothbrush includes bristles, the detection direction of the first sensor is opposite to the orientation of the bristles, the distance data includes a second distance and a third distance, wherein the second distance is the distance of the reflector with the maximum reflected energy detected by the first sensor, and the third distance is the distance of the reflector with the second-highest reflected energy detected by the first sensor; The processor is specifically configured to determine that the first type parameter of the brushing area is the lingual area when the second distance is less than the third distance; The processor is also specifically configured to determine that the first type parameter of the brushing area is the buccal area when the second distance is greater than the third distance.

13. The toothbrush according to any one of claims 10-12, wherein when the first type parameter of the brushing area is the lingual area and the second type parameter of the brushing area is the first side, the third type parameter is the right inner area; when the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the first side, the third type parameter is the left outer area; when the first type parameter of the brushing area is the lingual area and the second type parameter of the brushing area is the second side, the third type parameter is the left inner area; when the first type parameter of the brushing area is the buccal area and the second type parameter of the brushing area is the second side, the third type parameter is the right outer area.

14. The toothbrush according to any one of claims 10-13, wherein the processor is further configured to determine a fourth type parameter of the brushing area based on the roll angle of the toothbrush, and the fourth type parameter includes an upper jaw area or a lower jaw area; the processor is further configured to determine a fifth type parameter of the brushing area based on the third type parameter and the fourth type parameter, and the fifth type parameter includes at least one of the following: the upper left outer area, the lower left outer area, the upper left inner area, or the lower left inner area, the upper right inner area, the lower right inner area, the upper right outer area, the lower right outer area.

15. The toothbrush according to any one of claims 9-14, characterized in that, The toothbrush includes a brush handle and a brush head, and the first sensor is disposed on the brush handle.

16. The toothbrush according to any one of claims 9-15, characterized in that, The first sensor is an optoelectronic ranging sensor, a microwave ranging sensor, or an acoustic wave sensor. The optoelectronic ranging sensor includes a laser sensor, and the acoustic wave ranging sensor includes a millimeter-wave radar sensor.

17. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and when the computer program is executed, the method according to any one of claims 1-8 is executed.

18. A computer program, characterized in that, When the computer program is executed, the method according to any one of claims 1-8 is executed.

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