Apparatus and method for oral cleaning and storage medium

Abstract

An apparatus and method for oral cleaning and a storage medium. The method for oral cleaning is applied to the apparatus for oral cleaning, and comprises: controlling an attitude sensor (30) of the apparatus for oral cleaning (100) to acquire first attitude information; controlling a signal transmitting assembly (401) of the apparatus for oral cleaning (100) to transmit a first signal, and controlling a signal receiving assembly (402) of the apparatus for oral cleaning (100) to receive a second signal obtained by reflection of the first signal; acquiring first relative position information between the apparatus for oral cleaning (100) and a target site based at least on the second signal; and acquiring a target region in an oral cavity of a user, wherein the target region is an oral cavity region where a cleaning component is currently located, and at least a portion of the target region is determined based at least on the first attitude information and the first relative position information.

Description

Oral cleaning devices, methods and storage media

[0001] This application claims priority to Chinese Patent Application No. 202411433408.8, filed on October 14, 2024, entitled "Oral Cleaning Device, Method and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of personal care technology, and in particular to an oral cleaning device, method and storage medium. Background Technology

[0003] With the development of intelligent electric products, electric oral hygiene devices are becoming increasingly popular for daily oral cleaning due to their convenience. During oral cleaning, different cleaning techniques are typically used for different areas of the mouth to improve cleaning effectiveness.

[0004] However, existing electric oral cleaning devices cannot accurately identify oral cavity areas. Summary of the Invention

[0005] The main objective of this application is to provide an oral cleaning device, method, and storage medium, which aims to accurately identify the oral cavity areas to be cleaned or currently being cleaned in the user's mouth, thereby improving the oral cleaning effect.

[0006] In a first aspect, embodiments of this application provide an oral cleaning device, comprising:

[0007] A housing that forms an accommodating space;

[0008] A driving component, at least partially housed in the receiving space, and at least used to drive the cleaning component to clean a target area in the user's mouth;

[0009] An attitude sensor is used to acquire attitude information of the oral cleaning device;

[0010] A distance sensor is used to acquire relative position information between the oral cleaning device and the user's target area, and the distance sensor includes a signal transmitting component for transmitting signals and a signal receiving component for receiving signals;

[0011] The controller is communicatively connected to the drive component, the attitude sensor, and the distance sensor, and is used for at least:

[0012] The attitude sensor is controlled to acquire the first attitude information of the oral cleaning device;

[0013] The signal transmitting component is controlled to transmit a first signal, and the signal receiving component is controlled to receive a second signal obtained by reflecting the first signal through the target part of the user;

[0014] At least based on the second signal, first relative position information between the oral cleaning device and the target area is obtained;

[0015] The target region in the user's oral cavity is obtained, wherein the target region is the oral cavity region where the cleaning component is currently located, and at least a portion of the target region is determined based on the first posture information and the first relative position information.

[0016] In this embodiment, during the user's oral cleaning process using the oral cleaning device, the device can accurately locate the oral cavity area where the cleaning component is currently located using posture sensors and distance sensors, avoiding misidentification of the target area. This allows the oral cleaning device to accurately clean each oral cavity area, thereby effectively improving the oral cleaning effect. This avoids the positioning error that occurs when only using posture sensors to locate part of the target area to be cleaned or the currently cleaned area in the oral cavity, which ultimately leads to inaccurate identification of the target area, resulting in some oral cavity areas not being cleaned and some oral cavity areas being over-cleaned.

[0017] In some implementations, after acquiring the target region in the user's oral cavity, the controller is further configured to:

[0018] Obtain a target cleaning strategy that matches the target area, and control the oral cleaning device to clean the target area in the user's mouth using the target cleaning strategy.

[0019] In this embodiment, a target cleaning strategy adapted to the target area is adopted for cleaning different target areas, which can effectively improve the cleaning effect of the corresponding target areas.

[0020] In some implementations, the controller acquires a target region in the user's oral cavity, including:

[0021] The target region in the user's oral cavity is determined based at least on the first posture information and the first relative position information.

[0022] In this embodiment, the target area in the oral cavity to be cleaned or currently being cleaned can be obtained by the oral cleaning device through analysis of the first posture information and the first relative position information, without the need for external equipment.

[0023] In some implementations, the controller acquires a target region in the user's oral cavity, including:

[0024] The oral cleaning device is controlled to send the first posture information and the first relative position information to a terminal device that is communicatively connected to the oral cleaning device.

[0025] The terminal device receives the target region in the user's oral cavity, the target region being determined by the terminal device based at least on the first posture information and the first relative position information.

[0026] In this embodiment, the target area in the oral cavity to be cleaned or currently being cleaned can be obtained by a terminal device that is connected to the oral cleaning device through analysis of the first posture information and the first relative position information, without increasing the data analysis burden of the oral cleaning device.

[0027] In some embodiments, the target cleaning strategy includes at least a target cleaning time corresponding to the target area. During the process of controlling the oral cleaning device to clean the target area in the user's mouth using the target cleaning strategy, the controller is further configured to:

[0028] Calculate the cleaning time corresponding to the oral cleaning device performing the cleaning operation in the current target area using the target cleaning strategy;

[0029] When the cleaning time is greater than or equal to the target cleaning time, the oral cleaning device and / or the terminal device connected to the oral cleaning device outputs a first prompt, wherein the first prompt is used to prompt the user to switch the target area for cleaning, or to prompt the user that the current cleaning time of the target area is too long.

[0030] In this embodiment, during the cleaning process of the oral cleaning device on the target area, the cleaning time corresponding to the cleaning operation of the cleaning device on the target area is recorded, and when the cleaning time is greater than or equal to the target cleaning time, the oral cleaning device or terminal device outputs a first prompt, thereby avoiding the user from performing cleaning operations on the same oral area for a long time, causing wear and tear on the cleaned object (such as teeth and gums).

[0031] In some embodiments, the controller is further configured to: when the cleaning time is less than the target cleaning time, and the oral cleaning device cleans another oral region in the user's mouth that is different from the target region, control the oral cleaning device and / or a terminal device communicatively connected to the oral cleaning device to output a second prompt.

[0032] In this embodiment, during the cleaning process of the oral cleaning device on the target area, the cleaning time corresponding to the cleaning operation of the cleaning device on the target area is recorded. If the cleaning time is less than the target cleaning time, the cleaning effect of the target cleaning part in the oral cavity may be poor. Therefore, the oral cleaning device or terminal device outputs a second prompt so that the user can adjust the oral cleaning device to perform the cleaning operation in time to improve the cleaning effect of the oral cavity.

[0033] In some embodiments, the target cleaning strategy includes at least a target cleaning action corresponding to cleaning the target area. During the process of controlling the oral cleaning device to clean the target area in the user's mouth using the target cleaning strategy, the controller is further configured to:

[0034] Acquire the second attitude information of the oral cleaning device collected by the attitude sensor;

[0035] Based on the second posture information, it is determined whether the cleaning action corresponding to the oral cleaning device cleaning the target area matches the target cleaning action;

[0036] When the cleaning action performed by the oral cleaning device on the target area does not match the target cleaning action, the oral cleaning device and / or the terminal device communicating with the oral cleaning device output a third prompt.

[0037] In this embodiment, during the cleaning process of the oral cleaning device on the target area of ​​the oral cavity, the posture information of the oral cleaning device collected by the posture sensor is obtained. The posture information is used to determine whether the cleaning action corresponding to the current user's operation of the oral cleaning device to clean the target area is standard. If the cleaning action is not standard, it may result in poor cleaning effect or even cause wear and tear on the object being cleaned (such as teeth and gums). Therefore, if the cleaning action is not standard, the oral cleaning device or terminal device will output a corresponding prompt to remind the user to adjust the cleaning action in time.

[0038] In some embodiments, the target cleaning strategy includes at least a target cleaning action corresponding to cleaning the target area. During the process of controlling the oral cleaning device to clean the target area in the user's mouth using the target cleaning strategy, the controller is further configured to:

[0039] The second posture information of the oral cleaning device collected by the posture sensor and the second relative position information between the oral cleaning device and the target part of the user collected by the distance sensor are obtained.

[0040] Based on the second posture information and the second relative position information, it is determined whether the cleaning action corresponding to the oral cleaning device cleaning the target area matches the target cleaning action;

[0041] When the cleaning action performed by the oral cleaning device on the target area does not match the target cleaning action, the oral cleaning device and / or the terminal device communicating with the oral cleaning device output a third prompt.

[0042] In this embodiment, during the cleaning process of the oral cleaning device on the target area of ​​the oral cavity, the posture information of the oral cleaning device collected by the posture sensor and the relative position information collected by the distance sensor are obtained. The posture information and relative position information are used to comprehensively determine whether the cleaning action corresponding to the user's operation of the oral cleaning device to clean the target area is standard. If the cleaning action is not standard, it may result in poor cleaning effect or even cause wear and tear on the object being cleaned (such as teeth and gums). Therefore, if the cleaning action is not standard, the oral cleaning device or terminal device will output a corresponding prompt to remind the user to adjust the cleaning action in time.

[0043] In some embodiments, the oral hygiene device further includes a pressure sensor communicatively connected to the controller, the target cleaning strategy including at least a target cleaning pressure corresponding to cleaning the target area, and the controller further configured to:

[0044] Obtain the pressure sensing information output by the pressure sensor;

[0045] Based on the pressure sensing information, it is determined whether the cleaning pressure corresponding to the oral cleaning device cleaning the target area matches the target cleaning pressure;

[0046] When the cleaning pressure corresponding to the oral cleaning device cleaning the target area does not match the target cleaning pressure, the oral cleaning device and / or the terminal device communicating with the oral cleaning device output a fourth prompt.

[0047] In this embodiment, by setting a pressure sensor in the oral cleaning device, the pressure sensor obtains the cleaning pressure applied by the user during the cleaning process of the oral cleaning device on the target area of ​​the oral cavity. If the cleaning pressure is too high or too low, the oral cleaning device or terminal device will output corresponding prompts so that the user can adjust the cleaning pressure in time, thereby reducing the adverse effects of poor cleaning effect caused by too low cleaning pressure or the adverse effects of wear and tear on the object being cleaned (such as teeth and gums) caused by too high cleaning pressure.

[0048] In some embodiments, the controller is further configured to: acquire cleaning progress information of the oral cleaning device cleaning various oral regions in the user's oral cavity;

[0049] Based on the cleaning progress information, the oral cleaning device is controlled to output a cleaning progress prompt for the user's oral cleaning and / or the target area currently being cleaned in the user's oral cavity; or, based on the cleaning progress information, a terminal device communicatively connected to the oral cleaning device is controlled to output at least one of the following: a cleaning progress prompt for the user's oral cleaning, the target area currently being cleaned in the user's oral cavity, an oral cavity area that has been cleaned, or an oral cavity area that has not been cleaned.

[0050] Optionally, the oral cleaning device is equipped with a display component, and the controller controls the oral cleaning device to output cleaning progress prompts for the user's oral cleaning based on the cleaning progress information, including:

[0051] The oral cleaning device is controlled to display and update the cleaning progress prompts based on the cleaning progress information. The cleaning progress prompts include at least one of the following: cleaning progress percentage, cleaning progress bar, cleaning progress ring, and cleaning progress text information.

[0052] Optionally, the oral cleaning device is equipped with a display component, and the controller controls the oral cleaning device to output the currently cleaned target area in the user's oral cavity according to the cleaning progress information, including:

[0053] The display component of the oral cleaning device is controlled to display a target object model according to the cleaning progress information, and the target area currently being cleaned is highlighted in the target object model. The target object model corresponds to the target object to be cleaned or currently being cleaned in the user's oral cavity. The target object model includes multiple oral cavity areas, and the target area currently being cleaned is updated and displayed according to the cleaning progress information.

[0054] In this embodiment, during the cleaning process of the oral cleaning device on the target area of ​​the oral cavity, the cleaning progress information of the oral cleaning device on the target area of ​​the oral cavity is obtained, and the corresponding cleaning progress prompt and at least one of the current cleaning target area are output through the oral cleaning device and / or the terminal device connected to the oral cleaning device, so that the user can know the current cleaning progress or the current cleaning target area in a timely manner through the cleaning progress prompt.

[0055] Furthermore, the cleaning progress prompts or the current cleaning target area are displayed visually through the display component and can be updated, thereby enhancing the visibility of the cleaning operation and effectively improving the user's oral cleaning experience.

[0056] In some embodiments, after the oral cleaning device has completed cleaning the various oral regions in the user's mouth, the controller is further configured to:

[0057] The oral cleaning device is controlled to stop working;

[0058] Alternatively, control the oral cleaning device to stop working and output a fifth prompt and / or control the terminal device communicating with the oral cleaning device to output a fifth prompt.

[0059] In this embodiment, after the oral cleaning device has completed cleaning of all target areas in the oral cavity, it automatically stops working, which can effectively improve the user's oral cleaning experience.

[0060] In some embodiments, after the oral cleaning device has completed cleaning the various oral regions in the user's mouth, the controller is further configured to:

[0061] Obtain the area cleanliness score corresponding to each oral cavity region in the user's oral cavity;

[0062] The cleaning score of the oral cleaning process is calculated based on the cleaning score of each oral region.

[0063] Optionally, the controller obtains the area cleanliness score corresponding to the target area in the user's oral cavity, including:

[0064] Calculate the deviation between the cleaning action corresponding to the target cleaning action and the target cleaning action when the target area is cleaned using a target cleaning strategy that matches the target area.

[0065] The area cleanliness score corresponding to the target area is determined based on the deviation value.

[0066] In this embodiment, during the cleaning of the target area of ​​the oral cavity by the oral cleaning device, one or more sensors installed on the oral cleaning device detect relevant information during the cleaning process of the target area. For example, the relevant information includes, but is not limited to, at least one of cleaning action, cleaning time, cleaning pressure, and cleaning amplitude. By analyzing the relevant information, the area cleaning score of the target area using the target cleaning strategy is obtained. Finally, the cleaning score of this oral cleaning process can be calculated based on the area cleaning score of each oral cavity area, so that the user can judge whether the current cleaning operation is reasonable based on the cleaning score.

[0067] In some embodiments, after the oral cleaning device has completed cleaning the various oral regions in the user's mouth, the controller is further configured to:

[0068] Obtain the cleaning results for each oral cavity region in the user's mouth;

[0069] Based on the cleaning results corresponding to each oral cavity area, determine whether there is any abnormality in the cleaning status of each oral cavity area;

[0070] The terminal device that controls the oral cleaning device displays an area of ​​the oral cavity with an abnormal cleaning status.

[0071] Optionally, the controller controls a terminal device communicatively connected to the oral cleaning device to display oral areas with abnormal cleaning status, including:

[0072] The terminal device connected to the oral cleaning device displays a target object model and highlights oral regions with abnormal cleaning status in the target object model. The target object model corresponds to the target object to be cleaned or currently being cleaned in the user's oral cavity, and the target object model includes multiple oral regions.

[0073] Optionally, the target area with an abnormal cleaning status can be highlighted in one of the following ways:

[0074] Mark the oral cavity areas with abnormal cleaning status in the target object model;

[0075] In the target object model, a first color is used to display oral cavity areas with abnormal cleaning status, and a second color is used to display oral cavity areas with normal cleaning status. The first color and the second color are not used.

[0076] In this embodiment, during the cleaning process of various oral cavity areas by the oral cleaning device, one or more sensors installed on the device detect relevant information during the cleaning process. This information includes, but is not limited to, at least one of cleaning actions, cleaning time, cleaning pressure, and cleaning amplitude. The cleaning results for each oral cavity area using a corresponding target cleaning strategy are then analyzed. The cleaning results are used to determine if any oral cavity area exhibits abnormal cleaning conditions. Abnormal cleaning conditions include, but are not limited to, at least one of the following: excessive cleaning pressure, insufficient cleaning pressure, excessive cleaning amplitude, insufficient cleaning amplitude, excessively long cleaning time, excessively short cleaning time, or cleaning actions that do not meet standards. When an oral cavity area exhibits abnormal cleaning conditions, it is highlighted so that the user can take appropriate corrective measures, thereby improving the effectiveness of oral cleaning.

[0077] In some embodiments, at least two distance sensors are provided and spaced apart from each other on the oral cleaning device. Optionally, two distance sensors are spaced apart on opposite sides of the oral cleaning device.

[0078] In some embodiments, the oral cleaning device includes a first distance sensor and a second distance sensor, which are respectively disposed on both sides of the housing in the width direction; the controller acquires first relative position information between the oral cleaning device and the target area, including:

[0079] Acquire the first reflected signal received by the signal receiving component of the first distance sensor, and acquire the second reflected signal received by the signal receiving component of the second distance sensor;

[0080] Based at least on the first reflected signal and the second reflected signal, the first relative position information between the oral cleaning device and the target area is obtained.

[0081] In some implementations, the controller is further configured to:

[0082] The oral cavity contour information corresponding to the user's oral cavity is obtained at least based on the second signal; at least a portion of the target region is determined at least based on the first posture information and the oral cavity contour information.

[0083] Optionally, the distance sensor includes at least one of the following: a proximity sensor, a structured light sensor, a lidar, a TOF sensor, a thermocouple sensor, an ultrasonic sensor, and a millimeter-wave sensor; and / or, the attitude sensor includes at least a multi-axis sensor and an angular velocity sensor.

[0084] In this embodiment, by setting at least two distance sensors, the relative position information between the oral cleaning device and the user's target area can be obtained more accurately.

[0085] In some embodiments, each oral region in the user's oral cavity includes at least a first type region and a second type region, wherein the first type region and the second type region are located in different positions in the user's oral cavity;

[0086] During the process of acquiring the target region in the user's oral cavity, the controller is used to:

[0087] Based on the first posture information, it is determined whether the oral cavity region corresponding to the cleaning component in the user's oral cavity belongs to the first type region or the second type region;

[0088] When the oral cavity area corresponding to the cleaning component belongs to the first type of area, a candidate area to be cleaned or currently being cleaned is determined from the first type of area based on the first posture information, and the target area in the user's oral cavity is determined from the candidate area based on the first relative position information.

[0089] When the oral cavity area corresponding to the cleaning component belongs to the second type of area, the target area in the user's oral cavity is determined from the second type of area based on the first posture information.

[0090] Optionally, each oral cavity area to be cleaned or currently being cleaned in the user's oral cavity includes at least a first type area and a second type area, wherein the first type area and the second type area are located in different positions in the user's oral cavity;

[0091] During the process of acquiring the target region in the user's oral cavity, the controller is used to:

[0092] Based on the first posture information, it is determined whether the oral cavity area corresponding to the cleaning component belongs to the first type of area or the second type of area;

[0093] When the oral cavity area corresponding to the cleaning component is an oral cavity area in the first type of area, the first posture information and the first relative position information are sent to the terminal device that is communicatively connected to the oral cavity cleaning device, so that the terminal device determines the candidate area where the cleaning component is currently located from the first type of area according to the first posture information, and determines the target area in the user's oral cavity from the candidate area according to the first relative position information, and sends it to the oral cavity cleaning device.

[0094] When the oral cavity area corresponding to the cleaning component is an oral cavity area in the second type area, the first posture information and the first relative position information are sent to a terminal device that is communicatively connected to the oral cavity cleaning device, so that the terminal device determines the target area in the user's oral cavity from the second type area according to the first posture information, and sends the target area to the oral cavity cleaning device.

[0095] In the above embodiments, since there are multiple oral regions in the oral cavity, in the process of determining the target region from multiple oral regions, some target regions can be determined by analyzing the posture information of the oral cleaning device collected by the posture sensor, and some target regions can be determined by comprehensively analyzing the posture information collected by the posture sensor and the relative position information between the oral cleaning device and the user's target part collected by the distance sensor. This can effectively increase the positioning accuracy of the target region and avoid positioning errors in some target regions in the oral cavity.

[0096] Furthermore, the analysis of the target area can be performed on the oral cleaning device or on a terminal device that is connected to the oral cleaning device.

[0097] Secondly, this application also provides an oral cleaning method applied to an oral cleaning device, the oral cleaning device comprising: a posture sensor for acquiring posture information of the oral cleaning device; and a distance sensor for acquiring relative position information between the oral cleaning device and a target area of ​​the user, wherein the distance sensor includes a signal transmitting component for transmitting a signal and a signal receiving component for receiving a signal; the method comprising:

[0098] The attitude sensor is controlled to acquire the first attitude information of the oral cleaning device;

[0099] The signal transmitting component is controlled to transmit a first signal, and the signal receiving component is controlled to receive a second signal obtained by reflecting the first signal through the target part of the user;

[0100] At least based on the second signal, first relative position information between the oral cleaning device and the target area is obtained;

[0101] The target region in the user's oral cavity is obtained, wherein the target region is the oral cavity region where the cleaning component is currently located, and at least a portion of the target region is determined based on the first posture information and the first relative position information.

[0102] Secondly, this application also provides a computer-readable storage medium that, when executed by one or more processors, causes the one or more processors to perform the steps of the aforementioned oral cleaning method.

[0103] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0104] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0105] Figure 1 shows a structural block diagram of an oral cleaning device according to an embodiment of the present application;

[0106] Figure 2 is a schematic diagram of the oral cavity regions divided in a user's oral cavity according to an embodiment;

[0107] Figure 3 illustrates a scenario of communication connection between an oral cleaning device and a terminal device according to an embodiment of this application;

[0108] Figure 4 shows a scenario in which an oral cleaning device or terminal device provided according to an embodiment of the present application displays a cleaning progress prompt based on the cleaning progress;

[0109] Figure 5 shows a flowchart of the steps of an oral cleaning method according to an embodiment of this application;

[0110] Figure 6 shows a flowchart of a sub-step in an oral cleaning method according to an embodiment of the present application. Detailed Implementation

[0111] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0112] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0113] Please refer to Figure 1, which describes an oral cleaning device provided according to an embodiment of this application.

[0114] As shown in Figure 1, the oral cavity cleaning device 100 is used to clean a user's oral cavity. The oral cavity cleaning device 100 includes a housing 10, a drive component 20, an attitude sensor 30, a distance sensor 40, and a controller 70. The housing 10 forms an accommodating space, and the drive component 20 is at least partially housed within the accommodating space, and is used to drive a cleaning component connected to the drive component 20 to clean target areas in the user's oral cavity. Optionally, the drive component includes, but is not limited to, a motor or electric motor. For example, the drive component includes at least a sonic motor or a servo motor. The output shaft of the drive component is detachably connected to the cleaning component and is used to drive the cleaning component to clean one or more target areas in the user's oral cavity.

[0115] An attitude sensor 30 is used to acquire attitude information of the oral cleaning device 100, which characterizes the attitude of the oral cleaning device in spatial position. Optionally, the attitude sensor 30 includes at least a multi-axis sensor and an angular velocity sensor for acquiring attitude data such as velocity, acceleration, and angular velocity of the oral cleaning device 100. The multi-axis sensor can be a six-axis sensor, or multiple sensors composed of multiple three-axis sensors, such as a nine-axis sensor or a twelve-axis sensor, or a nine-axis sensor composed of a combination of three-axis and six-axis sensors; no limitation is made here.

[0116] A distance sensor 40 is used to acquire relative position information between the oral hygiene device 100 and the user's target area. Specifically, the distance sensor 40 includes a signal transmitting component 401 for transmitting a signal and a signal receiving component 402 for receiving a signal. The signal transmitting component 401 transmits a first signal to the user's target area, and the signal receiving component 402 receives the first signal reflected by the target area, resulting in a second signal. This allows the relative position information between the oral hygiene device 100 and the user's target area to be analyzed at least based on the second signal. For example, the relative position information can be obtained by analyzing the signal strength of the received second signal, or by analyzing the signal transmission time of the first signal, the signal reception time of the second signal, and the propagation speed of the signal in a medium (such as air).

[0117] Optionally, at least two distance sensors 40 are included and are spaced apart on the housing 10 of the oral cleaning device 100. For example, at least two distance sensors 40 are spaced apart on opposite sides of the housing 10 of the oral cleaning device 100. Further, the oral cleaning device 100 may include a first distance sensor and a second distance sensor, which are respectively disposed on both sides of the housing in the width direction.

[0118] For example, the housing 10 may have a connection portion for connecting to the cleaning component, and at least two distance sensors 40 may be spaced apart at the connection portion. Alternatively, some of the at least two distance sensors 40 may be located at the connection portion, while the other part of the distance sensors 40 may be located on one or both sides of the housing in the width direction. For example, the oral cleaning device 100 may include a first distance sensor, a second distance sensor, and a third distance sensor, with the first and second distance sensors respectively located on both sides of the housing in the width direction, and the third distance sensor located at the connection portion.

[0119] It should be noted that the number of distance sensors 40 provided on the oral cleaning device 100 is not limited in this embodiment of the application. For example, the oral cleaning device 100 may include 3 distance sensors 40, 4 distance sensors 40, 5 distance sensors 40, etc.

[0120] Optionally, the distance sensor 40 includes at least one of the following: a proximity sensor, a structured light sensor, a lidar, a TOF sensor, a thermocouple sensor, an ultrasonic sensor, or a millimeter-wave sensor. That is, the signal emitted by the distance sensor 40 includes, but is not limited to, at least one of optical signals, ultrasonic signals, millimeter-wave signals, and thermal signals.

[0121] Optionally, the oral cleaning device 100 also includes a display component 50, which is used to display information, such as the progress of oral cleaning by the oral cleaning device 100, or the display component 50 can be used to display relevant information prompts during the brushing process.

[0122] It should be understood that the components included in the oral cleaning device 100 shown in Figure 1 are merely schematic and may include more or fewer components, which is not limited in this application. For example, the oral cleaning device 100 may also include a power supply component for supplying power to the oral cleaning device 100, which may include, but is not limited to, a battery, a power interface, a wireless charging coil, etc.

[0123] For example, the oral cleaning device 100 also includes a cleaning component, a timer, a voice module, a switch module, a data transmission component, and a pressure sensor 60. The cleaning component can be a brush head, the voice module can be a buzzer, the data transmission component can include a Bluetooth module and / or a WiFi module, the switch module includes at least one of a push-button switch, a touch switch, and a pressure switch, and the pressure sensor 60 is used to acquire the cleaning pressure during the cleaning process of the oral cleaning device 100 on the target area inside the mouth.

[0124] In some implementations, there may be one or more controllers 70, and the controller 70 may be integrated with the drive component 20, the attitude sensor 30, and the distance sensor 40, or it may be set up independently, as long as the controller 70 can control the drive component 20, the attitude sensor 30, and the distance sensor 40.

[0125] Optionally, the controller 70 includes at least a processor 701, a memory 702, a communication interface (not shown), and an I / O interface (not shown). The processor 701, memory 702, communication interface, and I / O interface communicate via a bus. The processor 701 includes, but is not limited to, a central processing unit (CPU), which can also be other general-purpose processors, digital signal processors (DSPs), etc. The general-purpose processor can be a microcontroller unit (MUC) or any conventional processor.

[0126] The memory 702 contains various computer programs, such as the operating system and application programs, for the processor 701 to execute, as well as the data required to execute these programs. During the cleaning operation, any data requiring local storage can be stored in the memory 702. The I / O interface includes, but is not limited to, USB, and analog signal interfaces consisting of D / A converters and converters. The communication interface can be any known communication protocol. The communication interface communicates with the outside world via a network, and the controller 70 can transmit data with any component connected through this network using a preset communication protocol.

[0127] In some implementations, the controller 70 is used to implement the following method steps, specifically, the processor 701 of the controller 70 calls a computer program stored in the memory 702 to implement the following method steps:

[0128] The attitude sensor 30 acquires the first attitude information of the oral cleaning device 100;

[0129] The signal transmitting component 401 is controlled to transmit a first signal, and the signal receiving component 402 is controlled to receive a second signal obtained by reflecting the first signal through the target part of the user;

[0130] At least based on the second signal, first relative position information between the oral cleaning device 100 and the target area is obtained;

[0131] The target area in the user's oral cavity is obtained so as to control the oral cleaning device 100 to clean the target area using a corresponding cleaning strategy. The target area is the oral cavity area where the cleaning component is currently located, and at least a portion of the target area is determined based on the first posture information and the first relative position information.

[0132] Please refer to Figure 2, which is a schematic diagram of the various oral cavity regions disclosed in one embodiment. It should be noted that the oral cavity regions can also be divided in other ways. Figure 2 only shows one implementation method of division and is not intended to limit the oral cavity regions.

[0133] For example, the oral cleaning device 100 divides the oral cavity into regions, and the region division methods include, but are not limited to: 6 oral cavity regions, 8 oral cavity regions, 12 oral cavity regions, 14 oral cavity regions, 16 oral cavity regions, 32 oral cavity regions, etc.

[0134] For example, as shown in Figure 2, the oral cleaning device 100 divides the oral cavity into 16 regions according to the 16 regions commonly used in the target medical industry. The oral cavity of the user is divided into 16 regions. The oral cavity in which the cleaning component is currently located is called the target region. The oral cavity in which the cleaning component is currently located can be the oral cavity that is to be cleaned or is currently being cleaned (also known as the oral cavity that is currently being cleaned).

[0135] For example, the 16 oral regions specifically include the "anterior buccal surface of the maxilla", "anterior lingual surface of the maxilla", "left buccal surface of the maxilla", "left lingual surface of the maxilla", "left occlusal surface of the maxilla", "right buccal surface of the maxilla", "right lingual surface of the maxilla", "right occlusal surface of the maxilla", "anterior buccal surface of the mandible", "anterior lingual surface of the mandible", "left buccal surface of the mandible", "left lingual surface of the mandible", "left occlusal surface of the mandible", "right buccal surface of the mandible", "right lingual surface of the mandible", and "occlusal surface of the mandible".

[0136] In these 16 oral cavity regions, if the pose information of the oral cleaning device 100 acquired by the pose sensor 30 is analyzed, since the acceleration directions of some oral cavity regions collected by the pose sensor 30 are the same, the pose information acquired by the pose sensor 30 on the "left cheek surface of the maxilla" and the "right lingual surface of the maxilla" may be highly similar. Similarly, the pose information acquired on the "left cheek surface of the mandible" and the "right lingual surface of the mandible" may also be highly similar.

[0137] That is, if the positioning analysis is performed solely based on the pose information of the oral cleaning device 100 obtained by the posture sensor 30, misidentification may occur between the "left buccal surface of the maxilla" and the "right lingual surface of the maxilla." For example, in reality, the oral cavity area (i.e., the target area) where the cleaning component of the oral cleaning device 100 is currently located may be the "right lingual surface of the maxilla." Due to recognition accuracy errors, the "left buccal surface of the maxilla" may be identified as the "right lingual surface of the maxilla." Similarly, misidentification may occur between the "left lingual surface of the maxilla" and the "right buccal surface of the maxilla." The "left buccal surface of the mandible" and the "right lingual surface of the mandible" may also occur. This misidentification could lead to errors in the identification of the oral cleaning device 100 with the currently cleaning oral cavity area, or with the oral cavity area to be cleaned. Ultimately, this could result in some oral cavity areas not being cleaned, while others being over-cleaned. Prolonged over-cleaning could cause gum or tooth wear.

[0138] Therefore, relying solely on the pose information of the oral cleaning device 100 obtained by the attitude sensor 30 for positioning analysis is insufficient to accurately locate the oral cavity area where the cleaning component is currently located. That is, among the 16 oral cavity areas, there may be errors in the recognition accuracy when positioning some oral cavity areas as the areas to be cleaned or the areas currently being cleaned, making it impossible to accurately identify those parts of the oral cavity area. In other words, there is a defect in the inaccurate positioning of some target areas.

[0139] Similarly, the oral cleaning device 100 can also divide the user's oral cavity into 14 oral regions, specifically including "maxillary anterior buccal surface", "maxillary anterior lingual surface", "maxillary left buccal surface", "maxillary left lingual surface", "maxillary occlusal surface", "maxillary right buccal surface", "maxillary right lingual surface", "mandibular anterior buccal surface", "mandibular anterior lingual surface", "mandibular left buccal surface", "mandibular left lingual surface", "mandibular occlusal surface", "mandibular right buccal surface", and "mandibular right lingual surface". If the positioning analysis is performed solely based on the pose information of the oral cleaning device 100 obtained by the posture sensor 30, this 14-oral-region division method may also result in misidentification as seen in the 16-oral-region division method.

[0140] Alternatively, the oral cleaning device 100 can divide the user's oral cavity into six oral regions: "upper left teeth," "upper right teeth," "lower left teeth," "lower right teeth," "upper incisors," and "lower incisors." The inner surface of the "upper left teeth" corresponds to the "left lingual surface of the maxilla" in a 14 or 16-region division; the outer surface of the "upper left teeth" corresponds to the "left buccal surface of the maxilla" in a 14 or 16-region division; the inner surface of the "upper right teeth" corresponds to the "right lingual surface of the maxilla" in a 14 or 16-region division; and the outer surface of the "upper right teeth" corresponds to the "right buccal surface of the maxilla" in a 14 or 16-region division.

[0141] Similarly, the inner side of the "lower left teeth" is equivalent to the "left lingual surface of the mandible" in the 14 or 16 region division method, the outer side of the "lower left teeth" is equivalent to the "left buccal surface of the mandible" in the 14 or 16 region division method, the inner side of the "lower right teeth" is equivalent to the "right lingual surface of the mandible" in the 14 or 16 region division method, and the outer side of the "lower right teeth" is equivalent to the "right buccal surface of the mandible" in the 14 or 16 region division method.

[0142] That is, in some cases, if the positioning analysis is performed solely based on the pose information of the oral cleaning device 100 obtained by the posture sensor 30, the 6-oral region division method may also result in misidentification as in the 14- or 16-oral region division method.

[0143] In summary, for ease of understanding, this application describes the oral cavity divided into 16 regions by the oral cleaning device 100 as an example, but it is not limited to the oral cleaning device 100 dividing the oral cavity into only 16 regions.

[0144] In order to accurately identify the target area when the user uses the oral cleaning device 100 for oral cleaning, the oral cleaning device 100 of this application collects the first posture information of the oral cleaning device 100 during the oral cleaning process through the posture sensor 30. The first posture information may include one or more of the following: the magnitude and direction of the moving speed of the oral cleaning device 100, the magnitude and direction of the acceleration of the oral cleaning device 100, and the magnitude and direction of the angular velocity of the oral cleaning device 100.

[0145] Simultaneously, the signal transmitting component 401 of the distance sensor 40 transmits a first signal, and the signal receiving component 402 receives a second signal obtained by reflecting the first signal through the user's target area. At least based on the second signal, the first relative position information between the oral cleaning device 100 and the target area is obtained. Therefore, by comprehensively analyzing the first posture information and the first relative position information, the user can accurately locate the oral cavity area currently being cleaned or to be cleaned corresponding to the oral cleaning device 100, i.e., the target area. The first relative position information can be obtained from the analysis of the second signal, or from a comprehensive analysis of the second and first signals.

[0146] For example, based on the first posture information analysis, it can be determined that the oral cleaning device 100 may currently be cleaning the "left cheek surface of the maxilla" or the "right lingual surface of the maxilla", that is, the target area is the "left cheek surface of the maxilla" or the "right lingual surface of the maxilla".

[0147] Furthermore, since the sensing data collected by the distance sensor 40 for the target area "left cheek surface of the maxilla" and the target area "right lingual surface of the maxilla" are different, the final obtained first relative position information is different. For example, when the oral cleaning device 100 cleans the "left cheek surface of the maxilla" as the target area in the oral cavity, after the signal transmitting component of the distance sensor 40 emits a first signal with a first intensity, the signal receiving component of the distance sensor 40 receives a second signal with a second intensity. This second signal is the first signal reflected back from the user's target area. After analyzing the received second signal, the first relative position information corresponding to the "left cheek surface of the maxilla" is obtained as X. Alternatively, after analyzing the emitted first signal and the received second signal, the first relative position information corresponding to the "left cheek surface of the maxilla" is obtained as X.

[0148] Similarly, when the oral cleaning device 100 cleans the "right lingual surface of the maxilla" as the target area in the oral cavity, after the signal transmitting component of the distance sensor 40 transmits a first signal with a first intensity, the signal receiving component of the distance sensor 40 receives a second signal with a third intensity. This second signal is the first signal reflected back from the user's target area. After analyzing the transmitted first signal and the received second signal, the first relative position information corresponding to the "right lingual surface of the maxilla" is obtained as Y.

[0149] After obtaining the sensing data collected by the distance sensor 40, if the analysis shows that the first relative position information is X or matches X, it indicates that the target area is the "left cheek surface of the maxilla". That is, the oral cleaning device 100 is cleaning the "left cheek surface of the maxilla", or the oral area to be cleaned or currently being cleaned is the "left cheek surface of the maxilla". The first relative position information matching X includes, but is not limited to, the value corresponding to the first relative position information being within the range of X, or the difference between the value corresponding to the first relative position information and X being less than a preset value.

[0150] If the analysis yields the first relative position information as Y or it matches Y, it indicates that the target area is the "right lingual surface of the maxilla," meaning that the oral cleaning device 100 is cleaning the "right lingual surface of the maxilla," or the oral cavity area to be cleaned or currently being cleaned is the "right lingual surface of the maxilla." The matching of the first relative position information with Y includes, but is not limited to, the value corresponding to the first relative position information being within the range of Y, or the difference between the value corresponding to the first relative position information and Y being less than a preset value.

[0151] Therefore, the corresponding target area can be accurately analyzed from the "left cheek surface of the maxilla" and the "right lingual surface of the maxilla" through the first relative position information, so that the controller 70 can control the oral cleaning device 100 to use the appropriate target cleaning strategy to clean the target area, thereby achieving effective and precise cleaning of the user's oral cavity.

[0152] It is understood that the controller 70 can obtain the target area in the user's oral cavity through analysis within the oral cleaning device 100, or through an external device, such as a terminal device that is communicatively connected to the oral cleaning device 100. After the terminal device feeds back the analysis results to the oral cleaning device 100, the oral cleaning device 100 obtains the target area based on the analysis results received from the terminal device.

[0153] In this embodiment, during the process of a user cleaning their mouth using the oral cleaning device 100, the oral cleaning device 100 can accurately locate the target area in the mouth using the posture sensor 30 and the distance sensor 40, avoiding misidentification of the target area. This allows the oral cleaning device 100 to accurately clean each area of ​​the mouth, thereby effectively improving the cleaning effect of the mouth. This avoids the situation where positioning errors occur when only locating some target areas in the mouth using the posture sensor, resulting in inaccurate identification of the target area, which may cause some oral areas to be uncleaned while others are over-cleaned.

[0154] In some embodiments, the controller 70 acquires a target region in the user's oral cavity, including:

[0155] The controller 70 determines, at least based on the first posture information and the first relative position information, the corresponding target area in the user's oral cavity.

[0156] For example, the oral cleaning device 100 stores an application or program for analyzing the first posture information and the first relative position information. After obtaining the first posture information and the first relative position information, the controller 70 can analyze the first posture information and the first relative position information by calling a preset application or program, thereby determining the corresponding target area from the 16 oral regions of the user's oral cavity.

[0157] In this embodiment, the target area in the oral cavity to be cleaned or currently being cleaned can be obtained by the oral cleaning device 100 through analysis of the first posture information and the first relative position information, without the need for external equipment.

[0158] In some embodiments, the controller 70 acquires a target region in the user's oral cavity, including:

[0159] The oral cleaning device 100 sends the first posture information and the first relative position information to a terminal device that is communicatively connected to the oral cleaning device 100.

[0160] The terminal device receives a target region in the user's oral cavity, which is determined by the terminal device based at least on the first posture information and the first relative position information.

[0161] Please refer to Figure 3. For example, the oral cleaning device 100 is communicatively connected to the terminal device 200. The communication connection can be a wired connection via a data cable or a wireless communication connection via Bluetooth, WiFi, LAN, etc. There are no restrictions on this.

[0162] Optionally, the terminal device may include, but is not limited to: computers, smartphones, tablets, laptops, smart voice interaction devices, smart home appliances, in-vehicle terminals, and smart wearable devices.

[0163] Optionally, the terminal device can also be a server, which can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server.

[0164] For ease of understanding, this embodiment of the application uses a smartphone as an example for illustration, but it is not limited to the fact that the terminal device 200 can only be a smartphone.

[0165] For example, the terminal device 200 stores an application or program for analyzing the first posture information and the first relative position information. After the oral cleaning device 100 obtains the first posture information and the first relative position information, the controller 70 controls the oral cleaning device 100 to send the first posture information and the first relative position information to the terminal device 200. The terminal device 200 can analyze the first posture information and the first relative position information by calling a preset application or program, thereby determining the target area from the 16 oral regions of the user's oral cavity, and sending the target area to the oral cleaning device 100, so that the oral cleaning device 100 can clean the target area or perform other corresponding operations.

[0166] In this embodiment, the target area in the oral cavity to be cleaned or currently being cleaned can be obtained by the terminal device 200, which is communicatively connected to the oral cleaning device 100, through analysis of the first posture information and the first relative position information, without increasing the data analysis burden of the oral cleaning device 100.

[0167] In some embodiments, each oral region in the user's oral cavity includes at least a first type region and a second type region, wherein the first type region and the second type region are located in different positions in the user's oral cavity;

[0168] During the process of acquiring the target region in the user's oral cavity, the controller is used to:

[0169] Based on the first posture information, it is determined whether the oral cavity region corresponding to the cleaning component in the user's oral cavity belongs to the first type region or the second type region;

[0170] When the oral cavity area corresponding to the cleaning component belongs to the first type of area, a candidate area to be cleaned or currently being cleaned is determined from the first type of area based on the first posture information, and the target area in the user's oral cavity is determined from the candidate area based on the first relative position information.

[0171] When the oral cavity area corresponding to the cleaning component belongs to the second type of area, the target area in the user's oral cavity is determined from the second type of area based on the first posture information.

[0172] For example, during the oral cleaning process operated by the user to perform oral cleaning, four oral regions out of the 16 oral regions, namely the "maxillary anterior buccal surface", "maxillary anterior lingual surface", "mandibular anterior buccal surface" and "mandibular anterior lingual surface", can be distinguished relatively accurately by the posture information of the oral cleaning device 100 collected by the posture sensor 30. Therefore, the above four oral regions are collectively referred to as the second type of region.

[0173] The oral cleaning device 100 uses posture information collected by posture sensor 30 to distinguish 12 parts of the 16 oral cavity regions, including the "left buccal surface of the maxilla," "left lingual surface of the maxilla," "left occlusal surface of the maxilla," "right buccal surface of the maxilla," "right lingual surface of the maxilla," "right occlusal surface of the maxilla," "left buccal surface of the mandible," "left lingual surface of the mandible," "left occlusal surface of the mandible," "right buccal surface of the mandible," "right lingual surface of the mandible," and "right occlusal surface of the mandible." Misidentification may occur between the "left buccal surface of the maxilla" and the "right lingual surface of the maxilla." Similarly, misidentification may occur between the "left buccal surface of the maxilla" and the "right lingual surface of the mandible." Additional sensors are needed for auxiliary identification, such as distance sensor 40 for further judgment. Therefore, these 12 oral regions are collectively referred to as the first type of region.

[0174] During the process of the user operating the oral cleaning device 100 to clean the oral cavity, the controller 70 first determines whether the oral cavity area corresponding to the cleaning component belongs to the first type area or the second type area based on the posture information obtained by the posture sensor 30.

[0175] The oral cleaning device 100 stores an application or program for analyzing first posture information and first relative position information. When the oral cavity area corresponding to the cleaning component is an oral cavity area in a first type of area, the controller 70 calls the corresponding application or program to first determine the candidate area where the cleaning component is currently located from the first type of area based on the first posture information, and then determines the target area from the candidate area based on the first relative position information. For example, based on the analysis of the first posture information, the oral cleaning device 100 may currently be cleaning the "left buccal surface of the maxilla" or the "right lingual surface of the maxilla", that is, the oral cleaning device 100 is currently cleaning the "left buccal surface of the maxilla" or the "right lingual surface of the maxilla" in the user's oral cavity.

[0176] Furthermore, since the sensing data collected by the distance sensor 40 for the candidate areas "left cheek surface of the maxilla" and "right lingual surface of the maxilla" are different, the final obtained first relative position information is different. Therefore, the first relative position information collected by the distance sensor can more accurately obtain the corresponding target area from the candidate areas "left cheek surface of the maxilla" or "right lingual surface of the maxilla".

[0177] When the oral cavity area corresponding to the cleaning component is an oral cavity area in the second type of area, the controller 70 calls the corresponding application or program to directly determine the target area in the user's oral cavity from the second type of area based on the first posture information, without the need for further judgment by the distance sensor 40.

[0178] In some embodiments, each oral region in the user's oral cavity includes at least a first type region and a second type region, wherein the first type region and the second type region are located in different positions in the user's oral cavity.

[0179] During the process of acquiring the target region in the user's oral cavity, the controller uses 70 to:

[0180] Based on the first posture information, it is determined whether the oral cavity region corresponding to the cleaning component in the user's oral cavity belongs to the first type region or the second type region;

[0181] When the oral cavity area corresponding to the cleaning component belongs to the first type of area, the first posture information and the first relative position information are sent to the terminal device 200 which is communicatively connected to the oral cavity cleaning device 100, so that the terminal device 200 determines the candidate area where the cleaning component is currently located from the first type of area according to the first posture information, and determines the target area in the user's oral cavity from the candidate area according to the first relative position information, and then sends the determined target area to the oral cavity cleaning device 100;

[0182] When the oral cavity area corresponding to the cleaning component belongs to the second type of area, the first posture information and the first relative position information are sent to the terminal device 200 which is communicatively connected to the oral cavity cleaning device 100, so that the terminal device 200 determines the target area in the user's oral cavity from the second type of area according to the first posture information, and sends the target area to the oral cavity cleaning device 100.

[0183] For example, unlike the previous embodiments, the terminal device 200, which is communicatively connected to the oral cleaning device 100, stores an application or program for analyzing the first posture information and the first relative position information. After the oral cleaning device 100 obtains the first posture information and the first relative position information, the controller 70 controls the oral cleaning device 100 to send the first posture information and the first relative position information to the terminal device 200. The terminal device 200 can analyze the first posture information and the first relative position information by calling a preset application or program, thereby determining the target area from the 16 oral regions of the user's oral cavity and sending the target area to the oral cleaning device 100.

[0184] In some embodiments, the oral cleaning device 100 may include at least two distance sensors. For example, the oral cleaning device 100 may include a first distance sensor and a second distance sensor, which are respectively disposed on both sides of the housing in the width direction. Exemplarily, the oral cleaning device 100 includes a cleaning component and a handle. The handle can be used for gripping, and the housing may be the outer shell of the handle. The first distance sensor and the second distance sensor are respectively disposed on both sides of the housing of the handle in the width direction.

[0185] The controller 70 can acquire a first reflected signal received by the signal receiving component of the first distance sensor, and acquire a second reflected signal received by the signal receiving component of the second distance sensor; and acquire first relative position information between the oral cleaning device and the target area based at least on the first reflected signal and the second reflected signal.

[0186] When a user holds the handle of the oral cleaning device 100 to clean their mouth, especially when the user holds the handle of the oral cleaning device 100 and the oral cleaning device 100 is used to clean the mouth laterally (such as when using an electric toothbrush to brush teeth laterally), for the same oral cavity area, the intensity of the second signal received by the two distance sensors respectively set on both sides of the housing in the width direction is different. Therefore, the controller 70 can analyze the target area where the cleaning component of the oral cleaning device 100 is currently located based on the first reflected signal received by the signal receiving component of the first distance sensor and the second reflected signal received by the signal receiving component of the second distance sensor.

[0187] Furthermore, the controller can analyze and obtain the first relative position information between the oral cleaning device and the target area based on the first reflected signal received by the signal receiving component of the first distance sensor and the second reflected signal received by the signal receiving component of the second distance sensor. The first reflected signal is the signal obtained by reflecting the first signal emitted by the signal transmitting component of the first distance sensor after passing through the user's target area, and the second reflected signal is the signal obtained by reflecting the first signal emitted by the signal transmitting component of the second distance sensor after passing through the user's target area.

[0188] For example, when the target area is the "left cheek surface of the maxilla," the signal intensities of the first reflected signal received by the signal receiving component of the first distance sensor and the second reflected signal received by the signal receiving component of the second distance sensor are different from those when the target area is the "left cheek surface of the mandible." Therefore, by analyzing the first reflected signal received by the signal receiving component of the first distance sensor and the second reflected signal received by the signal receiving component of the second distance sensor, the controller 70 can accurately analyze whether the oral cavity area where the cleaning component is currently located is in the upper left, lower left, upper right, or lower right direction relative to the oral cleaning device 100, thereby accurately determining the first relative position information and combining it with the first posture information to determine the target area.

[0189] In the above embodiments, by using the first distance sensor and the second distance sensor disposed on both sides of the housing in the width direction, the target area can be determined more accurately, thereby improving the accuracy of target area identification and positioning.

[0190] In some implementations, the controller 70 is also used for:

[0191] The oral cavity contour information corresponding to the user's oral cavity is obtained at least based on the second signal; at least a portion of the target region is determined at least based on the first posture information and the oral cavity contour information.

[0192] The controller 70 can analyze the oral cavity contour information based on the second signal received by the signal receiving component of the distance sensor. This oral cavity contour information can be used to describe the contour shape of the oral cavity area where the cleaning component is currently located, and / or the contour shapes of other oral cavity areas surrounding the oral cavity area where the cleaning component is currently located. When the oral cavity area (i.e., the target area) where the cleaning component of the oral cleaning device 100 is currently located is different, the oral cavity contour information obtained from analyzing the second signal received by the signal receiving component of the distance sensor will differ. Therefore, the target area can be determined by analyzing the oral cavity contour information and the first posture information.

[0193] For example, based on the analysis of the first posture information, it can be determined that the oral cleaning device 100 may currently be cleaning the "left buccal surface of the maxilla" or the "right lingual surface of the maxilla". Since the oral contour information corresponding to the target area "left buccal surface of the maxilla" and the target area "right lingual surface of the maxilla" are different, if the oral cleaning device 100 identifies that the current oral contour information matches the oral contour information corresponding to the "left buccal surface of the maxilla" during the cleaning process, it can be determined that the oral cleaning device 100 is cleaning the "left buccal surface of the maxilla", or the oral region to be cleaned or currently being cleaned is the "left buccal surface of the maxilla". If the oral contour information is identified that the current oral contour information matches the oral contour information corresponding to the "right lingual surface of the maxilla", it can be determined that the oral cleaning device 100 is cleaning the "right lingual surface of the maxilla", or the oral region to be cleaned or currently being cleaned is the "right lingual surface of the maxilla".

[0194] Optionally, the oral cleaning device 100 may pre-store an algorithm or artificial intelligence model for analyzing oral contour information. During the cleaning process, the oral cleaning device 100 analyzes the second signal received by the signal receiving component of the distance sensor through the algorithm or artificial intelligence model to obtain oral contour information.

[0195] In the above embodiments, by analyzing the second signal received by the signal receiving component of the distance sensor, the oral cavity contour information is determined, and the target area where the cleaning component is currently located is determined based on the first posture information and the oral cavity contour information. This can more accurately determine the target area and improve the accuracy of target area identification and positioning.

[0196] In some implementations, after acquiring the target region in the user's oral cavity, the controller 70 is further configured to:

[0197] The system acquires a target cleaning strategy that matches the target area and controls the oral cleaning device 100 to clean the target area in the user's mouth using the target cleaning strategy.

[0198] For example, in order to improve the cleaning effect of the target area, a target cleaning strategy adapted to the target area is adopted for cleaning different target areas.

[0199] Optionally, the method of obtaining the target cleaning strategy matching the target area includes: after obtaining the target area, the controller 70 determines the target cleaning strategy corresponding to cleaning the target area based on the association between oral regions and target cleaning strategies stored in the oral cleaning device 100.

[0200] Optionally, the method of obtaining the target cleaning strategy matching the target area includes: after obtaining the target area, the controller 70 sends the target area to the terminal device 200 which is communicatively connected to the oral cleaning device 100, so that the terminal device 200 determines the target cleaning strategy corresponding to cleaning the target area based on the association between the stored oral area and the target cleaning strategy, and sends the target cleaning strategy to the oral cleaning device 100.

[0201] Optionally, the method of obtaining the target cleaning strategy matching the target area includes: after obtaining the target area, the terminal device 200 determines the target cleaning strategy corresponding to cleaning the target area according to the stored correlation between oral regions and target cleaning strategies, and sends the target cleaning strategy to the oral cleaning device 100.

[0202] After obtaining the corresponding target cleaning strategy, the controller 70 controls the oral cleaning device 100 to clean the target area using the target cleaning strategy. For example, if the target area is the "left cheek surface of the maxilla" and the target cleaning strategy is cleaning strategy 1, and the target area is the "right lingual surface of the maxilla" and the target cleaning strategy is cleaning strategy 2, then if the target area where the cleaning component of the oral cleaning device 100 is currently located is identified as the "left cheek surface of the maxilla", the controller 70 controls the oral cleaning device 100 to clean the target area using cleaning strategy 1.

[0203] Similarly, if the target area of ​​the cleaning component of the oral cleaning device 100 is identified as the "right lingual surface of the maxilla", the controller 70 controls the oral cleaning device 100 to use cleaning strategy 2 to clean the target area.

[0204] It is understood that the target cleaning strategy includes, but is not limited to, at least one of the following: cleaning mode, cleaning action, cleaning time, cleaning amplitude, cleaning oscillation angle, and cleaning pressure corresponding to the oral cleaning device 100 used for cleaning the oral cavity area. Among them, different cleaning modes correspond to at least one of the following: cleaning time, cleaning amplitude, cleaning oscillation angle, cleaning frequency, and cleaning pressure.

[0205] In some embodiments, the target cleaning strategy includes at least a target cleaning time corresponding to the target area. During the process of controlling the oral cleaning device 100 to clean the target area in the user's mouth using the target cleaning strategy, the controller is further configured to:

[0206] Calculate the cleaning time corresponding to the oral cleaning device 100 performing the cleaning operation in the current target area using the target cleaning strategy;

[0207] When the cleaning time is greater than or equal to the target cleaning time, the oral cleaning device 100 and / or the terminal device communicatively connected to the oral cleaning device 100 outputs a first prompt, wherein the first prompt is used to prompt the user to switch the target area for cleaning or to prompt the user that the current cleaning time of the target area is too long.

[0208] For example, the oral cleaning device 100 is equipped with a timer. The timer calculates the cleaning time t1 corresponding to the cleaning operation performed by the oral cleaning device 100 in the current target area using the target cleaning strategy. When the cleaning time t1 is greater than or equal to the target cleaning time T, it indicates that the oral cleaning device 100 can basically achieve the expected cleaning effect on the target area using the target cleaning strategy, and the oral area can be changed for cleaning. Alternatively, if the cleaning time of the current target area is too long, it may cause damage to the target area to be cleaned or the currently cleaned target area (e.g., causing wear and tear on the target objects such as teeth and gums in the oral area). In this case, the oral cleaning device 100 is controlled to output a first prompt and / or send an instruction to the terminal device 200 that is communicatively connected to the oral cleaning device 100, so that the terminal device 200 outputs a first prompt. Optionally, the first prompt includes, but is not limited to, at least one of voice prompt, vibration prompt, graphic display, and text display. For example, the first prompt is the oral cleaning device 100 vibrating and emitting a first prompt sound.

[0209] For example, the first prompt is used to prompt the user to switch target areas for cleaning or to prompt the user that the current target area has been cleaning for too long.

[0210] In some embodiments, the target cleaning strategy includes at least a target cleaning time corresponding to the target area. During the process of controlling the oral cleaning device 100 to clean the target area in the user's mouth using the target cleaning strategy, the controller is further configured to:

[0211] When the cleaning time is less than the target cleaning time, and the oral cleaning device 100 cleans another oral region in the user's mouth that is different from the target region, the oral cleaning device 100 and / or the terminal device 200 that is communicatively connected to the oral cleaning device 100 outputs a second prompt.

[0212] For example, when the cleaning time t1 is less than the target cleaning time T, and the oral cleaning device 100 switches to cleaning a different oral region than the target region, the cleaning effect of the target region may be poor. In this case, the terminal device 200 controlling the oral cleaning device 100 and / or communicating with the oral cleaning device 100 will output a corresponding second prompt. The second prompt includes, but is not limited to, at least one of voice prompts, vibration prompts, graphic displays, and text displays. For example, the second prompt is that the oral cleaning device 100 vibrates and emits a second prompt sound.

[0213] For example, the second prompt can be used to prompt the user to return to the target area for cleaning, or to prompt the user that the cleaning time for the target area is too short.

[0214] In some embodiments, the target cleaning strategy includes at least a target cleaning action corresponding to cleaning the target area. During the process of controlling the oral cleaning device 100 to clean the target area in the user's oral cavity using the target cleaning strategy, the controller is further configured to:

[0215] Acquire the second attitude information of the oral cleaning device 100 collected by the attitude sensor;

[0216] Based on the second posture information, it is determined whether the cleaning action corresponding to the oral cleaning device 100 cleaning the target area matches the target cleaning action;

[0217] When the cleaning action performed by the oral cleaning device 100 on the target area does not match the target cleaning action, the oral cleaning device 100 and / or the terminal device communicating with the oral cleaning device 100 output a third prompt.

[0218] For example, the oral cleaning device 100 stores action information of standard cleaning actions corresponding to the target area. During the process of the oral cleaning device 100 cleaning the target area in the user's mouth using the target cleaning strategy, the oral cleaning device 100 can collect the current second posture information of the oral cleaning device 100 through the posture sensor 30. Based on the second posture information, the cleaning action corresponding to the current cleaning action of the oral cleaning device 100 to clean the target area can be analyzed, and it can be determined whether the cleaning action corresponding to the current cleaning action of the oral cleaning device 100 to clean the target area matches the target cleaning action. For example, whether at least one of the cleaning action amplitude and the cleaning action frequency is within the preset action range, and then it can be analyzed whether the current cleaning action meets the standard.

[0219] When the cleaning action performed by the oral cleaning device 100 on the target area does not match the target cleaning action, the cleaning effect of the target area may be poor, or even cause wear and tear on the target area (such as teeth and gums). Therefore, in the event of non-standard cleaning action, the oral cleaning device 100 or the terminal device 200 will output a corresponding prompt to remind the user to adjust the cleaning action in time.

[0220] In some embodiments, the target cleaning strategy includes at least a target cleaning action corresponding to cleaning the target area. During the process of controlling the oral cleaning device 100 to clean the target area in the user's oral cavity using the target cleaning strategy, the controller is further configured to:

[0221] The second attitude information of the oral cleaning device 100 collected by the attitude sensor and the second relative position information between the oral cleaning device 100 and the user's target area collected by the distance sensor are obtained.

[0222] Based on the second posture information and the second relative position information, it is determined whether the cleaning action corresponding to the oral cleaning device 100 cleaning the target area matches the target cleaning action;

[0223] When the cleaning action performed by the oral cleaning device 100 on the target area does not match the target cleaning action, the oral cleaning device 100 and / or the terminal device communicating with the oral cleaning device 100 output a third prompt.

[0224] Unlike the aforementioned implementation, in this implementation, during the cleaning of the target area of ​​the oral cavity by the oral cleaning device, the posture information of the oral cleaning device 100 collected by the posture sensor 30 and the relative position information collected by the distance sensor 40 are obtained. The posture information and relative position information are used to comprehensively determine whether the cleaning action corresponding to the user's operation of the oral cleaning device to clean the target area is standard. If the cleaning action is not standard, it may result in poor cleaning effect or even cause wear and tear on the object being cleaned (such as teeth and gums). Therefore, in the case of non-standard cleaning action, the oral cleaning device or terminal device outputs a corresponding prompt to remind the user to adjust the cleaning action in time.

[0225] For example, a third prompt can be used to alert the user that the cleaning action is not standard, or to prompt the user to perform the cleaning operation according to the target cleaning action.

[0226] In some embodiments, the oral cleaning device 100 further includes a pressure sensor communicatively connected to the controller, and the target cleaning strategy includes at least a target cleaning pressure corresponding to cleaning the target area. During the process of controlling the oral cleaning device 100 to clean the target area in the user's mouth using the target cleaning strategy, the controller 70 is further configured to:

[0227] Obtain the pressure sensing information output by the pressure sensor;

[0228] Based on the pressure sensing information, it is determined whether the cleaning pressure corresponding to the oral cleaning device 100 cleaning the target area matches the target cleaning pressure;

[0229] When the cleaning pressure corresponding to the oral cleaning device 100 cleaning the target area does not match the target cleaning pressure, the oral cleaning device 100 and / or the terminal device communicating with the oral cleaning device 100 output a fourth prompt.

[0230] In this embodiment, by setting a pressure sensor 60 in the oral cleaning device 100, during the process of the oral cleaning device 100 cleaning the target area of ​​the oral cavity, the pressure sensor 60 obtains the cleaning pressure of the user operating the oral cleaning device 100 to clean the target area of ​​the oral cavity. If the cleaning pressure is too high or too low, the oral cleaning device 100 or the terminal device 200 outputs a corresponding prompt so that the user can adjust the cleaning pressure in time, reduce the adverse effects of poor cleaning effect caused by too low cleaning pressure or reduce the adverse effects of wear on the object being cleaned (such as teeth and gums) caused by too high cleaning pressure.

[0231] In some embodiments, the controller 70 is further configured to: acquire cleaning progress information of the oral cleaning device 100 cleaning various oral regions in the user's oral cavity; and control the oral cleaning device 100 to output cleaning progress prompts for the user's oral cavity cleaning and / or the target area currently being cleaned in the user's oral cavity based on the cleaning progress information.

[0232] Alternatively, the controller 70 is further configured to: acquire cleaning progress information of the oral cleaning device 100 cleaning various oral regions in the user's oral cavity; and control a terminal device communicatively connected to the oral cleaning device 100 to output at least one of the following based on the cleaning progress information: the cleaning progress prompt of the user's oral cavity cleaning, the target area currently being cleaned in the user's oral cavity, the oral cavity area that has been cleaned, or the oral cavity area that has not been cleaned.

[0233] Optionally, the oral cleaning device 100 is provided with a display component 50, and the controller 70 controls the oral cleaning device 100 to output cleaning progress prompts for the user's oral cleaning based on the cleaning progress information, including:

[0234] The oral cleaning device 100 controls the display component 50 to display and update the cleaning progress prompts of the user's oral cleaning based on the cleaning progress information. The cleaning progress prompts include at least one of the following: cleaning progress percentage, cleaning progress bar, cleaning progress ring, and cleaning progress text information.

[0235] Optionally, the cleaning progress prompt may be updated in a manner that includes, but is not limited to, real-time updates based on the collected data, periodic updates, or updates after at least one target area has been completed; no such limitation is made here.

[0236] Optionally, the oral cleaning device 100 is provided with a display component 50, and the controller 70 controls the oral cleaning device 100 to output the target area currently being cleaned in the user's oral cavity according to the cleaning progress information, including:

[0237] According to the cleaning progress information, the display component 50 of the oral cleaning device 100 is controlled to display the target object model, and the target area currently being cleaned is highlighted in the target object model. The target object model corresponds to the target object to be cleaned or currently being cleaned in the user's oral cavity. The target object model includes multiple target areas, and the target area currently being cleaned can be updated and displayed according to the cleaning progress information.

[0238] Optionally, the target object can be a tooth, and the target object model is a tooth model.

[0239] Optionally, the current cleaning of the target area may be updated in a manner including, but not limited to, real-time updates based on the collected data, periodic updates, or updates after cleaning at least one target area is completed. No limitation is made here.

[0240] For example, the cleaning progress of the oral cavity cleaning device 100 on various oral cavity areas can be analyzed by using sensing data from at least one sensor (including, but not limited to, at least one of attitude sensor 30, distance sensor 40, timer, and pressure sensor 60) installed in the oral cavity cleaning device 100, thereby obtaining corresponding cleaning progress information. For instance, if cleaning target area A requires time T, the timing data from the timer can be used to analyze whether the corresponding target area A has been cleaned. Alternatively, if the cleaning pressure corresponding to cleaning target area A is F, the sensing data output by the pressure sensor 60 can be used to analyze whether the corresponding target area has been cleaned. Or, if cleaning target area A corresponds to cleaning action B, the sensing data from the attitude sensor 30 can be used to analyze whether the corresponding target area has been cleaned.

[0241] After obtaining the current oral cavity cleaning progress information by analyzing the sensor data, the oral cavity cleaning device 100 or the terminal device 200 connected to the oral cavity cleaning device 100 can be controlled to output the cleaning progress prompt of the user's oral cavity cleaning, the target area currently being cleaned in the user's oral cavity, the target area that has been cleaned, or the target area that has not been cleaned.

[0242] As shown in Figure 4, for example, if 12 of the 16 areas in the oral cavity have been cleaned, the control display component 50 and / or the terminal device 200 will display the corresponding cleaning progress as 75%, or display that 12 oral cavity areas have been cleaned, or display the 12 oral cavity areas that have been cleaned, or display the 4 oral cavity areas that have not yet been cleaned.

[0243] Meanwhile, the information displayed by the display component 50 or the terminal device 200 can be updated according to the cleaning progress corresponding to the oral cleaning performed by the oral cleaning device 100. For example, the display component 50 and / or the terminal device 200 may display that the corresponding cleaning progress is 93%, or that 15 oral areas have been cleaned.

[0244] In this embodiment, during the process of the oral cleaning device 100 cleaning the oral cavity, the cleaning progress information of the oral cleaning device 100 cleaning each oral cavity area is obtained, and the oral cleaning device 100 and / or the terminal device 200 connected to the oral cleaning device 100 output at least one of the corresponding cleaning progress prompts and the current cleaning target area, so that the user can know the current cleaning progress or the current cleaning target area in a timely manner through the cleaning progress prompts.

[0245] In some embodiments, after the oral cleaning device 100 has finished cleaning the various oral regions in the user's mouth, the controller is further configured to: control the oral cleaning device 100 to stop working; or, control the oral cleaning device 100 to stop working and output a fifth prompt and / or control the terminal device communicatively connected to the oral cleaning device 100 to output a fifth prompt.

[0246] In this embodiment, after the oral cleaning device 100 has completed cleaning of all oral cavity areas, it automatically stops operating. Alternatively, controlling the oral cleaning device 100 to output a fifth prompt and / or controlling the terminal device communicatively connected to the oral cleaning device 100 to output a fifth prompt can effectively improve the user's oral cleaning experience.

[0247] For example, the fifth prompt can be used to prompt the user to complete the cleaning of all oral regions in the mouth.

[0248] In some embodiments, after the oral cleaning device 100 has completed cleaning the various oral regions in the user's mouth, the controller 70 is further configured to:

[0249] Obtain the area cleanliness score corresponding to each oral cavity region in the user's oral cavity;

[0250] The cleaning score of the oral cleaning process is calculated based on the cleaning score of each oral region.

[0251] Optionally, the controller 70 obtains the area cleanliness score corresponding to the target area in the user's oral cavity, including:

[0252] During the process of controlling the oral cleaning device to clean the target area using the target cleaning strategy, the deviation value between the cleaning action corresponding to the target area and the target cleaning action is calculated.

[0253] The area cleanliness score corresponding to the target area is determined based on the deviation value.

[0254] Optionally, the controller 70 obtains the area cleanliness score corresponding to the target area in the user's oral cavity, including:

[0255] During the process of controlling the oral cleaning device to clean using the target cleaning strategy matched with the target area, the deviation between the cleaning pressure corresponding to the target area and the target cleaning pressure during the cleaning process is calculated;

[0256] The area cleanliness score corresponding to the target area is determined based on the deviation value.

[0257] Optionally, the controller 70 obtains the area cleanliness score corresponding to the target area in the user's oral cavity, including:

[0258] During the process of controlling the oral cleaning device to clean the target area using the target cleaning strategy that matches the target area, a first deviation value between the cleaning time corresponding to the target area during the cleaning process and the target cleaning time is calculated;

[0259] Calculate the second deviation value between the cleaning action corresponding to the target area and the target cleaning action during the cleaning process;

[0260] The area cleanliness score corresponding to the target area is determined based on the first deviation value and the second deviation value.

[0261] For example, the oral cleaning device 100 stores the correlation between sensing data and deviation values ​​collected by corresponding sensing components (e.g., sensing components include, but are not limited to, at least one of attitude sensor 30, distance sensor 40, timer, and pressure sensor 60), or a sensing data analysis program or application. During the cleaning process of the oral cleaning device 100 on target areas in the oral cavity, by acquiring sensing data collected by at least one sensing component, the deviation value corresponding to that sensing data can be obtained. Therefore, based on the deviation value and a preset score calculation function, the corresponding area cleaning score for each oral cavity region can be obtained. Thus, based on the cleaning score corresponding to each oral cavity region, the cleaning score of the oral cleaning process performed by the user-controlled oral cleaning device 100 on the oral cavity can be obtained using the preset calculation function.

[0262] It is understandable that the specific reference sensor data for the cleaning score and the cleaning area score can be set as needed, and those skilled in the art can make adaptive adjustments as required.

[0263] In some embodiments, after the oral cleaning device 100 has completed cleaning the various oral regions in the user's mouth, the controller 70 is further configured to:

[0264] Obtain the cleaning results for each oral cavity region in the user's mouth;

[0265] Based on the cleaning results of each oral cavity area, determine whether there are any abnormalities in the cleaning status of each oral cavity area;

[0266] The terminal device 200, which is in communication with the oral cleaning device 100, displays an oral area with an abnormal cleaning status.

[0267] Optionally, the cleaning result corresponding to the target area includes, but is not limited to, at least one of the following during the cleaning process: insufficient cleaning time for the target area, excessive cleaning time for the target area, non-standard cleaning actions for the target area, excessive cleaning pressure for the target area, and excessive cleaning pressure for the target area.

[0268] Optionally, the controller controls a terminal device communicatively connected to the oral cleaning device 100 to display oral areas with abnormal cleaning status, including:

[0269] The terminal device, which is connected to the oral cleaning device 100, displays a target object model and highlights oral areas with abnormal cleaning status in the target object model. The target object model corresponds to the target objects to be cleaned or currently being cleaned in the user's oral cavity, and the target object model includes multiple oral areas.

[0270] Optionally, areas of the oral cavity with abnormal cleaning can be highlighted in one of the following ways:

[0271] Mark the oral cavity areas with abnormal cleaning status in the target object model;

[0272] In the target object model, a first color is used to display oral cavity areas with abnormal cleaning status, and a second color is used to display oral cavity areas with normal cleaning status. The first color and the second color are not used.

[0273] For example, the oral cleaning device 100 stores a sensor data analysis program or application, or stores the correlation between sensor data collected by corresponding sensing components (e.g., sensing components include, but are not limited to, at least one of attitude sensor 30, distance sensor 40, timer, and pressure sensor 60) and cleaning results. During the cleaning process of various oral regions in the oral cavity, the oral cleaning device 100 acquires sensor data collected by at least one sensing component and analyzes this data to obtain the cleaning result for the corresponding oral region. This cleaning result is used to characterize whether there are any abnormalities during the cleaning process of the oral cleaning device 100. For example, the cleaning result for a target region includes, but is not limited to, at least one of the following: insufficient cleaning time for the target region, excessive cleaning time for the target region, non-standard cleaning action for the target region, excessive cleaning pressure for the target region, and excessive cleaning pressure for the target region. When it is determined that there is an abnormal cleaning status in the target region based on the cleaning result for that target region, the terminal device 200, which is communicatively connected to the oral cleaning device 100, displays the abnormal cleaning status of the target region.

[0274] For example, after the oral cleaning device 100 has completed cleaning 16 oral regions, if it finds that the cleaning time for the "maxillary anterior buccal surface" and "maxillary anterior lingual surface" is insufficient, the display component 50 of the oral cleaning device 100 is controlled, or the target object model (such as a tooth model) in the user's oral cavity is displayed through the terminal device 200 that is communicatively connected to the oral cleaning device 100. The target object model includes multiple oral regions, and the oral regions with abnormal cleaning status are highlighted by means of text annotation, color differentiation, etc., so that the user can intuitively know the oral regions with abnormal cleaning status and perform corresponding remedial measures.

[0275] Please refer to Figure 5, which is a flowchart of the steps of an oral cleaning method provided in this application.

[0276] The oral cleaning method is applied to the aforementioned oral cleaning device 100 and is executed by the controller 70 of the oral cleaning device 100. Specifically, when the controller 70 calls the program or code stored in the memory 702 and it is called by the processor 701, the processor 701 executes the steps corresponding to the oral cleaning method.

[0277] As shown in Figure 5, the oral cleaning method includes at least steps S101 to S104.

[0278] Step S101: Control the attitude sensor to acquire the first attitude information of the oral cleaning device;

[0279] Step S102: Control the signal transmitting component to transmit a first signal, and control the signal receiving component to receive a second signal obtained by reflecting the first signal through the user's target area;

[0280] Step S103: Obtain at least the first relative position information between the oral cleaning device and the target area based on the second signal;

[0281] Step S104: Obtain the target area in the user's oral cavity, wherein the target area is the oral cavity area where the cleaning component is currently located, and at least a portion of the target area is determined based on the first posture information and the first relative position information.

[0282] In some embodiments, after acquiring the target region in the user's oral cavity, the method further includes:

[0283] Obtain a target cleaning strategy that matches the target area, and control the oral cleaning device to clean the target area in the user's mouth using the target cleaning strategy.

[0284] In some implementations, acquiring the target region in the user's oral cavity includes:

[0285] The target region in the user's oral cavity is determined at least based on the first posture information and the first relative position information.

[0286] In some implementations, acquiring the target region in the user's oral cavity includes:

[0287] The oral cleaning device is controlled to send the first posture information and the first relative position information to a terminal device that is communicatively connected to the oral cleaning device.

[0288] The terminal device receives the target region in the user's oral cavity, the target region being determined by the terminal device based at least on the first posture information and the first relative position information.

[0289] In some embodiments, the target cleaning strategy includes at least a target cleaning time corresponding to the target area, and the method further includes: during the process of controlling the oral cleaning device to clean the target area in the user's oral cavity using the target cleaning strategy, calculating the cleaning time corresponding to the oral cleaning device performing the cleaning operation in the current target area using the target cleaning strategy;

[0290] When the cleaning time is greater than or equal to the target cleaning time, the oral cleaning device and / or the terminal device connected to the oral cleaning device outputs a first prompt, wherein the first prompt is used to prompt the user to switch the target area for cleaning or to prompt the user that the current cleaning time of the target area is too long.

[0291] In some embodiments, the method further includes:

[0292] When the cleaning time is less than the target cleaning time, and the oral cleaning device cleans another oral region in the user's mouth that is different from the target region, the oral cleaning device and / or the terminal device that is communicatively connected to the oral cleaning device outputs a second prompt.

[0293] In some embodiments, the target cleaning strategy includes at least the target cleaning action corresponding to cleaning the target area, and the method further includes:

[0294] During the process of controlling the oral cleaning device to clean the target area in the user's mouth using the target cleaning strategy, the second posture information of the oral cleaning device collected by the posture sensor is acquired.

[0295] Based on the second posture information, it is determined whether the cleaning action corresponding to the oral cleaning device cleaning the target area matches the target cleaning action;

[0296] When the cleaning action performed by the oral cleaning device on the target area does not match the target cleaning action, the oral cleaning device and / or the terminal device communicating with the oral cleaning device output a third prompt.

[0297] In some embodiments, the target cleaning strategy includes at least the target cleaning action corresponding to cleaning the target area, and the method further includes: during the process of controlling the oral cleaning device to clean the target area in the user's oral cavity using the target cleaning strategy, acquiring the second posture information of the oral cleaning device collected by the posture sensor and the second relative position information between the oral cleaning device and the target part of the user collected by the distance sensor;

[0298] Based on the second posture information and the second relative position information, it is determined whether the cleaning action corresponding to the oral cleaning device cleaning the target area matches the target cleaning action;

[0299] When the cleaning action performed by the oral cleaning device on the target area does not match the target cleaning action, the oral cleaning device and / or the terminal device communicating with the oral cleaning device output a third prompt.

[0300] In some embodiments, the oral cleaning device further includes a pressure sensor communicatively connected to the controller, the target cleaning strategy includes at least a target cleaning pressure corresponding to cleaning the target area, and the method further includes:

[0301] During the process of controlling the oral cleaning device to clean the target area in the user's mouth using the target cleaning strategy, pressure sensing information output by the pressure sensor is acquired;

[0302] Based on the pressure sensing information, it is determined whether the cleaning pressure corresponding to the oral cleaning device cleaning the target area matches the target cleaning pressure;

[0303] When the cleaning pressure corresponding to the oral cleaning device cleaning the target area does not match the target cleaning pressure, the oral cleaning device and / or the terminal device communicating with the oral cleaning device output a fourth prompt.

[0304] In some embodiments, the method further includes:

[0305] The oral cleaning device acquires cleaning progress information of each oral region in the user's oral cavity; and controls the oral cleaning device to output cleaning progress prompts for the user's oral cavity cleaning and / or the target area currently being cleaned in the user's oral cavity based on the cleaning progress information.

[0306] In some embodiments, the method further includes:

[0307] The system acquires cleaning progress information of the oral cleaning device cleaning various oral regions in the user's oral cavity; and controls a terminal device connected to the oral cleaning device to output a cleaning progress prompt for the user's oral cavity, the target area currently being cleaned in the user's oral cavity, the oral cavity area that has been cleaned, or the oral cavity area that has not been cleaned, based on the cleaning progress information.

[0308] In some embodiments, the oral cleaning device is provided with a display component, and the step of controlling the oral cleaning device to output cleaning progress prompts for the user's oral cleaning based on the cleaning progress information includes:

[0309] The oral cleaning device is controlled to display and update the cleaning progress prompts based on the cleaning progress information. The cleaning progress prompts include at least one of the following: cleaning progress percentage, cleaning progress bar, and cleaning progress text information.

[0310] In some embodiments, the oral cleaning device is provided with a display component, and the step of controlling the oral cleaning device to output the currently cleaned target area in the user's oral cavity based on the cleaning progress information includes:

[0311] The display component of the oral cleaning device is controlled to display a target object model according to the cleaning progress information, and the target area currently being cleaned is highlighted in the target object model. The target object model corresponds to the target object to be cleaned or currently being cleaned in the user's oral cavity. The target object model includes multiple target areas, and the target area currently being cleaned can be updated and displayed according to the cleaning progress information.

[0312] In some embodiments, after the oral cleaning device has cleaned various oral regions in the user's mouth, the method further includes:

[0313] The oral cleaning device is controlled to stop working;

[0314] Alternatively, control the oral cleaning device to stop working and output a fifth prompt and / or control the terminal device communicating with the oral cleaning device to output a fifth prompt.

[0315] In some embodiments, after the oral cleaning device has cleaned various oral regions within the user's mouth, the method further includes:

[0316] Obtain the area cleanliness score corresponding to each oral cavity region in the user's oral cavity;

[0317] The cleaning score of the oral cleaning process is calculated based on the cleaning score of each oral cavity region.

[0318] In some implementations, obtaining the area cleanliness score corresponding to the target area includes:

[0319] Calculate the deviation between the cleaning action and the target cleaning action during the cleaning process of the target area using the target cleaning strategy that matches the target area;

[0320] The area cleanliness score corresponding to the target area is determined based on the deviation value.

[0321] In some embodiments, after the oral cleaning device has cleaned various oral regions in the user's mouth, the method further includes:

[0322] Obtain the cleaning results for each oral cavity region in the user's mouth;

[0323] Based on the cleaning results corresponding to each oral cavity area, determine whether there is any abnormality in the cleaning status of each oral cavity area;

[0324] The terminal device that controls the oral cleaning device displays an area of ​​the oral cavity with an abnormal cleaning status.

[0325] In some embodiments, the control terminal device, which is communicatively connected to the oral cleaning device, displays oral areas with abnormal cleaning conditions, including:

[0326] The terminal device connected to the oral cleaning device displays a target object model and highlights oral regions with abnormal cleaning status in the target object model. The target object model corresponds to the target object to be cleaned or currently being cleaned in the user's oral cavity, and the target object model includes multiple oral regions.

[0327] In some implementations, highlighting oral areas with abnormal cleanliness includes one of the following methods:

[0328] Mark the oral cavity areas with abnormal cleaning status in the target object model;

[0329] In the target object model, a first color is used to display oral cavity areas with abnormal cleaning status, and a second color is used to display oral cavity areas with normal cleaning status. The first color and the second color are not used.

[0330] In some embodiments, the oral cleaning device includes a first distance sensor and a second distance sensor, which are respectively disposed on both sides of the housing in the width direction; acquiring first relative position information between the oral cleaning device and the target area includes:

[0331] Acquire the first reflected signal received by the signal receiving component of the first distance sensor, and acquire the second reflected signal received by the signal receiving component of the second distance sensor;

[0332] Based at least on the first reflected signal and the second reflected signal, the first relative position information between the oral cleaning device and the target area is obtained.

[0333] In some embodiments, the above method further includes: acquiring oral cavity contour information corresponding to the user's oral cavity based at least on the second signal; and determining at least a portion of the target region based at least on the first posture information and the oral cavity contour information.

[0334] As shown in Figure 6, in some embodiments, each oral region in the user's oral cavity includes at least a first type region and a second type region, wherein the first type region and the second type region are located in different positions in the user's oral cavity; Step S104: Obtain the target region in the user's oral cavity, including:

[0335] Step S1041: Based on the first posture information, determine whether the oral cavity region corresponding to the cleaning component in the user's oral cavity belongs to the first type region or the second type region;

[0336] Step S1042: When the oral cavity area corresponding to the cleaning component belongs to the first type of area, determine the candidate area to be cleaned or currently being cleaned from the first type of area according to the first posture information, and determine the target area in the user's oral cavity from the candidate area according to the first relative position information;

[0337] Step S1043: When the oral cavity area corresponding to the cleaning component belongs to the second type of area, the target area in the user's oral cavity is determined from the second type of area based on the first posture information.

[0338] In some implementations, step S104: acquiring the target region in the user's oral cavity includes:

[0339] Based on the first posture information, it is determined whether the oral cavity area corresponding to the cleaning component in the user's oral cavity belongs to the first type of area or the second type of area;

[0340] When the oral cavity area corresponding to the cleaning component belongs to the first type of area, the first posture information and the first relative position information are sent to the terminal device that is communicatively connected to the oral cleaning device, so that the terminal device determines the candidate area where the cleaning component is currently located from the first type of area according to the first posture information, and determines the target area in the user's oral cavity from the candidate area according to the first relative position information, and sends the target area to the oral cleaning device.

[0341] When the oral cavity area corresponding to the cleaning component belongs to the second type of area, the first posture information and the first relative position information are sent to the terminal device that is communicatively connected to the oral cleaning device, so that the terminal device determines the target area in the user's oral cavity from the second type of area according to the first posture information, and sends the target area to the oral cleaning device.

[0342] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific execution process of the method described above can be referred to the corresponding working process of the controller of the oral cleaning device described above, and will not be repeated here.

[0343] This application also provides a storage medium for computer-readable storage, which stores one or more programs that can be executed by one or more processors to implement the steps of the oral cleaning method provided in any embodiment of this application specification.

[0344] The storage medium can be an internal storage unit of the oral cleaning device described in the foregoing embodiments, such as a hard drive or memory of the oral cleaning device. Alternatively, the storage medium can be an external storage device of the oral cleaning device, such as a plug-in hard drive, a smart media card (SMC), a secure digital card (SD), or a flash card.

[0345] It will be understood by those skilled in the art that all or some of the steps, systems, or apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware embodiments, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data).

[0346] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An oral cleaning device, wherein, include: A housing that forms an accommodating space; A driving component, at least partially housed in the receiving space, and at least used to drive the cleaning component to clean a target area in the user's mouth; An attitude sensor is used to acquire attitude information of the oral cleaning device; A distance sensor is used to acquire relative position information between the oral cleaning device and the user's target area, and the distance sensor includes a signal transmitting component for transmitting signals and a signal receiving component for receiving signals; The controller is communicatively connected to the drive component, the attitude sensor, and the distance sensor, and is used for at least: The attitude sensor is controlled to acquire the first attitude information of the oral cleaning device; The signal transmitting component is controlled to transmit a first signal, and the signal receiving component is controlled to receive a second signal obtained by reflecting the first signal through the target part of the user; At least based on the second signal, first relative position information between the oral cleaning device and the target area is obtained; The target region in the user's oral cavity is obtained, wherein the target region is the oral cavity region where the cleaning component is currently located, and at least a portion of the target region is determined based on the first posture information and the first relative position information.

2. The oral cleaning device of claim 1, wherein, The controller acquires the target region in the user's oral cavity, including: The target region in the user's oral cavity is determined based at least on the first posture information and the first relative position information.

3. The oral cleaning device of claim 1, wherein, The controller acquires the target region in the user's oral cavity, including: The oral cleaning device is controlled to send the first posture information and the first relative position information to a terminal device that is communicatively connected to the oral cleaning device. The terminal device receives the target region in the user's oral cavity, the target region being determined by the terminal device based at least on the first posture information and the first relative position information.

4. The oral cleaning device of claim 1, wherein, After acquiring the target region in the user's oral cavity, the controller is further configured to: Obtain a target cleaning strategy that matches the target area, and control the oral cleaning device to clean the target area in the user's mouth using the target cleaning strategy.

5. The oral cleaning device of claim 4, wherein, The target cleaning strategy includes at least a target cleaning time corresponding to the target area. During the process of controlling the oral cleaning device to clean the target area in the user's oral cavity using the target cleaning strategy, the controller is further configured to: Calculate the cleaning time corresponding to the oral cleaning device performing the cleaning operation in the current target area using the target cleaning strategy; When the cleaning time is greater than or equal to the target cleaning time, the oral cleaning device and / or the terminal device connected to the oral cleaning device outputs a first prompt, wherein the first prompt is used to prompt the user to switch the target area for cleaning or to prompt the user that the current cleaning time of the target area is too long.

6. The oral cleaning device of claim 5, wherein, The controller is also used for: When the cleaning time is less than the target cleaning time, and the oral cleaning device cleans another oral region in the user's mouth that is different from the target region, the oral cleaning device and / or the terminal device that is communicatively connected to the oral cleaning device outputs a second prompt.

7. The oral cleaning device of claim 4, wherein, The target cleaning strategy includes at least the target cleaning action corresponding to cleaning the target area. During the process of controlling the oral cleaning device to clean the target area in the user's oral cavity using the target cleaning strategy, the controller is further configured to: Acquire the second attitude information of the oral cleaning device collected by the attitude sensor; Based on the second posture information, it is determined whether the cleaning action corresponding to the oral cleaning device cleaning the target area matches the target cleaning action; When the cleaning action performed by the oral cleaning device on the target area does not match the target cleaning action, the oral cleaning device and / or the terminal device communicating with the oral cleaning device output a third prompt.

8. The oral cleaning device of claim 4, wherein, The target cleaning strategy includes at least the target cleaning action corresponding to cleaning the target area. During the process of controlling the oral cleaning device to clean the target area in the user's oral cavity using the target cleaning strategy, the controller is further configured to: The second posture information of the oral cleaning device collected by the posture sensor and the second relative position information between the oral cleaning device and the target part of the user collected by the distance sensor are obtained. Based on the second posture information and the second relative position information, it is determined whether the cleaning action corresponding to the oral cleaning device cleaning the target area matches the target cleaning action; When the cleaning action performed by the oral cleaning device on the target area does not match the target cleaning action, the oral cleaning device and / or the terminal device communicating with the oral cleaning device output a third prompt.

9. The oral cleaning device of claim 4, wherein, The oral hygiene device further includes a pressure sensor communicatively connected to the controller. The target cleaning strategy includes at least a target cleaning pressure corresponding to cleaning the target area. During the process of controlling the oral hygiene device to clean the target area in the user's mouth using the target cleaning strategy, the controller is further configured to: Obtain the pressure sensing information output by the pressure sensor; Based on the pressure sensing information, it is determined whether the cleaning pressure corresponding to the oral cleaning device cleaning the target area matches the target cleaning pressure; When the cleaning pressure corresponding to the oral cleaning device cleaning the target area does not match the target cleaning pressure, the oral cleaning device and / or the terminal device communicating with the oral cleaning device output a fourth prompt.

10. The oral cleaning device of claim 1, wherein, The controller is also used for: The cleaning progress information of the oral cleaning device cleaning each oral region in the user's oral cavity is obtained; Based on the cleaning progress information, the oral cleaning device is controlled to output cleaning progress prompts for the user's oral cleaning and / or the target area currently being cleaned in the user's oral cavity; Alternatively, based on the cleaning progress information, the terminal device connected to the oral cleaning device can be controlled to output at least one of the following: the cleaning progress prompt of the user's oral cleaning, the target area currently being cleaned in the user's oral cavity, the oral cavity area that has been cleaned, or the oral cavity area that has not been cleaned.

11. The oral cleaning device of claim 10, wherein, The oral cleaning device is equipped with a display component. The controller controls the oral cleaning device to output cleaning progress prompts for the user's oral cleaning based on the cleaning progress information, including: The oral cleaning device is controlled to display and update the cleaning progress prompts based on the cleaning progress information. The cleaning progress prompts include at least one of the following: cleaning progress percentage, cleaning progress bar, cleaning progress ring, and cleaning progress text information.

12. The oral cleaning device of claim 10, wherein, The oral cleaning device is equipped with a display component. The controller, based on the cleaning progress information, controls the oral cleaning device to output the currently cleaned target area in the user's mouth, including: The display component of the oral cleaning device is controlled to display a target object model according to the cleaning progress information, and the target area currently being cleaned is highlighted in the target object model. The target object model corresponds to the target object to be cleaned or currently being cleaned in the user's oral cavity. The target object model includes multiple oral cavity areas, and the target area currently being cleaned is updated and displayed according to the cleaning progress information.

13. The oral cleaning device of claim 1, wherein, After the oral cleaning device has cleaned each area of ​​the user's mouth, the controller is further configured to: The oral cleaning device is controlled to stop working; Alternatively, control the oral cleaning device to stop working and output a fifth prompt and / or control the terminal device communicating with the oral cleaning device to output a fifth prompt.

14. The oral cleaning device of claim 1, wherein, After the oral cleaning device has cleaned each area of ​​the user's mouth, the controller is further configured to: Obtain the area cleanliness score corresponding to each oral cavity region in the user's oral cavity; The cleaning score of the oral cleaning process is calculated based on the cleaning score of each oral region.

15. The oral cleaning device of claim 14, wherein, The controller obtains the corresponding area cleanliness score of the target area in the user's oral cavity, including: Calculate the deviation between the cleaning action corresponding to the target cleaning action and the target cleaning action when the target area is cleaned using a target cleaning strategy that matches the target area. The area cleanliness score corresponding to the target area is determined based on the deviation value.

16. The oral cleaning device of claim 1, wherein, After the oral cleaning device has cleaned each area of ​​the user's mouth, the controller is further configured to: Obtain the cleaning results for each oral cavity region in the user's mouth; Based on the cleaning results corresponding to each oral cavity area, determine whether there is any abnormality in the cleaning status of each oral cavity area; The terminal device that controls the oral cleaning device displays an area of ​​the oral cavity with an abnormal cleaning status.

17. The oral cleaning device of claim 16, wherein, The controller controls a terminal device communicatively connected to the oral cleaning device to display oral areas with abnormal cleaning status, including: The terminal device connected to the oral cleaning device displays a target object model and highlights oral regions with abnormal cleaning status in the target object model. The target object model corresponds to the target object to be cleaned or currently being cleaned in the user's oral cavity, and the target object model includes multiple oral regions.

18. The oral cleaning device of claim 17, wherein, One of the following methods can be used to highlight areas of the oral cavity that are not properly cleaned: Mark the oral cavity areas with abnormal cleaning status in the target object model; In the target object model, a first color is used to display oral cavity areas with abnormal cleaning status, and a second color is used to display oral cavity areas with normal cleaning status. The first color and the second color are not used.

19. The oral cleaning device of any one of claims 1-18, wherein, The distance sensors include at least two and are spaced apart on the oral cleaning device.

20. The oral cleaning device of claim 19, wherein, The oral cleaning device includes a first distance sensor and a second distance sensor, which are respectively disposed on both sides of the housing in the width direction; The controller acquires first relative position information between the oral cleaning device and the target area, including: Acquire the first reflected signal received by the signal receiving component of the first distance sensor, and acquire the second reflected signal received by the signal receiving component of the second distance sensor; Based at least on the first reflected signal and the second reflected signal, the first relative position information between the oral cleaning device and the target area is obtained.

21. The oral cleaning device of claim 1, wherein, The controller is also used for: The oral cavity contour information corresponding to the user's oral cavity is obtained at least based on the second signal; at least a portion of the target region is determined at least based on the first posture information and the oral cavity contour information.

22. The oral cleaning device of any one of claims 1-18, wherein, The distance sensor includes at least one of the following: proximity sensor, structured light sensor, lidar, TOF sensor, thermocouple sensor, ultrasonic sensor, and millimeter-wave sensor; And / or, the attitude sensor includes at least a multi-axis sensor and an angular velocity sensor.

23. An oral cleaning device according to any of claims 5-18, wherein, The oral cavity regions in the user's oral cavity include at least a first type region and a second type region, and the first type region and the second type region are located in different positions in the user's oral cavity; During the process of acquiring the target region in the user's oral cavity, the controller is used to: Based on the first posture information, it is determined whether the oral cavity region corresponding to the cleaning component in the user's oral cavity belongs to the first type region or the second type region; When the oral cavity area corresponding to the cleaning component belongs to the first type of area, a candidate area to be cleaned or currently being cleaned is determined from the first type of area based on the first posture information, and the target area in the user's oral cavity is determined from the candidate area based on the first relative position information. When the oral cavity area corresponding to the cleaning component belongs to the second type of area, the target area in the user's oral cavity is determined from the second type of area based on the first posture information.

24. A method of oral cleaning wherein, An oral hygiene device is applied to an oral hygiene device, the oral hygiene device comprising: a posture sensor for acquiring posture information of the oral hygiene device; and a distance sensor for acquiring relative position information between the oral hygiene device and a target area of ​​the user, wherein the distance sensor includes a signal transmitting component for transmitting signals and a signal receiving component for receiving signals; the method includes: The attitude sensor is controlled to acquire the first attitude information of the oral cleaning device; The signal transmitting component is controlled to transmit a first signal, and the signal receiving component is controlled to receive a second signal obtained by reflecting the first signal through the target part of the user; At least based on the second signal, first relative position information between the oral cleaning device and the target area is obtained; The target region in the user's oral cavity is obtained, wherein the target region is the oral cavity region where the cleaning component is currently located, and at least a portion of the target region is determined based on the first posture information and the first relative position information.

25. A computer readable storage medium, wherein, When the program or code stored in the computer-readable storage medium is executed by one or more processors, the one or more processors perform the steps of the oral cleaning method as described in claim 24.

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