CN112990321A - Tooth brushing area identification method and device based on tree network, toothbrush and medium - Google Patents
Tooth brushing area identification method and device based on tree network, toothbrush and medium Download PDFInfo
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Abstract
The invention provides a tooth brushing area identification method and device based on a tree network, an electric toothbrush and a computer storage medium, and aims to solve the technical problems that in the prior art, a tooth brushing area in a mouth cavity is easily misjudged, and the tooth brushing area identification accuracy is low. The method comprises the following steps: acquiring first tooth brushing posture position information, acquiring second tooth brushing posture position information, determining motion information from the first tooth brushing posture to the second tooth brushing posture, and finally identifying a real tooth brushing area of a user according to the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information.
Description
Technical Field
The invention relates to the technical field of electric toothbrushes, in particular to a tooth brushing region identification method and device based on a tree network, an electric toothbrush and a computer storage medium.
Background
Electric toothbrushes have been accepted by the public because of their high efficiency in cleaning teeth, and more brands and manufacturers have been added to the electric toothbrush industry to promote the iterative update of electric toothbrush technology.
In the existing method for detecting the tooth brushing area, when the working posture of the intelligent electric toothbrush is a starting posture, the initial posture information of the intelligent electric toothbrush, and the angular velocity and the acceleration in the tooth brushing process are obtained through a toothbrush sensor; and directly carrying out attitude calculation on the angular speed to obtain combined attitude angles such as a roll angle, a pitch angle and a course angle, and carrying out region division on the combined attitude angles to identify the tooth brushing region. However, the inventor researches and discovers that since a coordinate system of a sensor in the intelligent electric toothbrush and a coordinate system of an oral cavity of a person are not the same coordinate system, along with the change of head motion during the tooth brushing of the person and the offset characteristic of the sensor, the corresponding relation between a region corresponding to the angle of the toothbrush and the region in the oral cavity is not a fixed corresponding relation, so that the tooth brushing region in the oral cavity is easily judged by mistake due to the motion of the head of the person, and the tooth brushing region identification accuracy is low.
Disclosure of Invention
The invention aims to provide a tooth brushing area identification method and device based on a tree network, an electric toothbrush and a computer storage medium, and aims to solve the technical problems that in the prior art, a tooth brushing area in a mouth cavity is easily misjudged, and the tooth brushing area identification accuracy is low.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, a tooth brushing region identification method based on a tree network is provided, the method comprising:
acquiring first tooth brushing posture position information;
acquiring second tooth brushing posture position information;
determining motion information from a first brushing gesture to a second brushing gesture;
and identifying the real tooth brushing area of the user according to the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information.
Further, acquiring the first brushing posture position information further comprises:
presetting a position threshold value of each region in the oral cavity;
judging the probability of matching the first tooth brushing posture with each region in the oral cavity according to the position information of the first tooth brushing posture and the position threshold value of each region in the oral cavity;
the region with the highest matching probability in the oral cavity is selected as the first tentative actual brushing region.
Further, acquiring second brushing posture position information, further comprising:
and judging a plurality of oral cavity areas possibly matched with the second tooth brushing posture according to the second tooth brushing posture position information and the position threshold values of all the oral cavity areas.
Further, identifying a real brushing area of the user according to the first brushing posture position information, the second brushing posture position information and the motion information, comprising:
and judging a plurality of oral cavity areas possibly matched with the second tooth brushing posture according to the first tentative actual tooth brushing area and the motion information to obtain the real tooth brushing area of the user corresponding to the second tooth brushing posture.
Further, when the first brushing posture is the initial brushing posture, selecting a target brushing area with highest matching probability under the first brushing posture from a plurality of oral cavity areas matched with the first brushing posture position information, and comprising:
receiving auxiliary judgment information of a tooth brushing area input by a user, or acquiring the default auxiliary judgment information of the tooth brushing area of the system;
and according to the auxiliary judgment information of the tooth brushing area, selecting an area with the highest matching probability from a plurality of oral cavity areas matched with the first tooth brushing posture position information.
In one embodiment, when the first brushing gesture is a non-initial brushing gesture, the real brushing area of the first brushing gesture determined from the last time is used as the first tentative actual brushing area corresponding to the first brushing gesture.
Further, motion information from the first brushing attitude to the second brushing attitude is calculated by means of DCM direction cosine matrix, and the motion information includes phase angle of rotation.
In a second aspect, there is provided a tooth brushing region recognition apparatus based on a tree network, the apparatus comprising:
the first acquisition module is used for acquiring first tooth brushing posture position information;
the second acquisition module is used for acquiring second tooth brushing posture position information;
a determination module for determining motion information from a first brushing gesture to a second brushing gesture;
and the identification module is used for identifying the real tooth brushing area of the user according to the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information.
In a third aspect, there is provided an electric toothbrush comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of the brushing zone identification method as described above or implementing the functions of the brushing zone identification means as described above.
In a fourth aspect, a readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the brushing zone identification method as described above, or implements the functionality of the brushing zone identification means as described above.
In the above-mentioned scheme of the method, apparatus, electric toothbrush and computer storage medium for tooth brushing area identification based on tree network, after obtaining the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information, because the head of the user is generally not stationary during tooth brushing, and the oral coordinate system and the posture position information obtaining sensor are different coordinate systems, there may be a plurality of tooth brushing areas determined by the first tooth brushing posture position information and a plurality of second tooth brushing posture position information on the basis of the above-mentioned tooth brushing area division, in order to accurately determine the real tooth brushing area in the current second tooth brushing posture, on the basis of the first tooth brushing posture position information and the second tooth brushing posture position information, because the motion information contains the motion information such as the actual angle change from the first tooth brushing posture to the second tooth brushing posture, the corresponding real tooth brushing area under the current second tooth brushing posture can be accurately judged through the motion information from the first tooth brushing posture to the second tooth brushing posture, the misjudgment condition of the tooth brushing area is not directly judged through the current posture position information as in the prior art, the motion information under the two postures is considered, the misjudgment possibility of the tooth brushing area is reduced, and the tooth brushing area identification accuracy is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a tooth brushing region identification method based on a tree network according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a specific procedure for obtaining a matching oral area in a first brushing gesture;
FIG. 3 is a flow chart of a data filtering process provided by an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a tooth brushing area recognition device based on a tree network according to an embodiment of the present invention;
fig. 5 is a schematic view showing a structure of a power toothbrush according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments can be obtained by those skilled in the art based on the embodiments of the present invention, and are within the scope of the present invention.
First, the present invention provides a method for recognizing a tooth brushing area based on a tree network, which can be applied to various intelligent electric toothbrushes, and more particularly, can be applied to a Micro Control Unit (MCU) of an intelligent electric toothbrush, and the method for recognizing a tooth brushing area is implemented by the MCU of the intelligent electric toothbrush.
The embodiment of the invention provides a tooth brushing area identification method based on a tree network, and as shown in figure 1, the tooth brushing area identification method comprises the following steps:
s10: first brushing posture position information is acquired.
S20: second brushing posture position information is acquired.
For steps S10-S20, when the user uses the electric toothbrush to brush teeth, the brushing posture of the electric toothbrush in the user' S mouth is changed, and in order to distinguish the brushing postures of the two brushing postures, in the present invention, the position information of the user in the first brushing posture is referred to as first brushing posture position information, and the position information in the second brushing posture is referred to as second brushing posture position information.
In a starting working state of the intelligent electric toothbrush, the current tooth brushing posture position information can be determined through angular velocity data and acceleration data detected by a sensor built in the intelligent electric toothbrush in real time. For the micro control unit of the electric toothbrush, the micro control unit is connected with the built-in sensor, so that the micro control unit can acquire data such as the angle and the like acquired by the sensor and transmitted by the sensor in real time. Therefore, the micro control unit of the electric toothbrush can respectively acquire the corresponding first tooth brushing posture position information in the first tooth brushing posture and the corresponding second tooth brushing posture position information in the second tooth brushing posture.
The angular velocity includes a combined attitude angle of an attitude roll angle, a pitch angle and a yaw angle corresponding to the brushing attitude.
S30: determining motion information for the first brushing gesture to the second brushing gesture.
In step S30, after the first brushing posture position information and the second brushing posture position information are acquired, the motion information from the first brushing posture to the second brushing posture, including the phase angle of rotation, can be obtained by analyzing and calculating the first brushing posture position information and the second brushing posture position information.
S30: and identifying the real tooth brushing area of the user according to the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information.
In the present invention, a plurality of preset oral cavity regions are predefined in the human oral cavity, and the preset oral cavity regions may be regions and orientations precise to each tooth, or may be general divisions of the oral cavity regions, and for convenience of description, directions may be defined in the oral cavity as follows, for example, the oral cavity is divided into: left lower occlusion, left lower medial, left lower lateral, middle lower medial, middle lower occlusion, right lower lateral, right lower occlusion, right lower medial, right upper lateral, right upper medial, right upper lateral, middle upper medial, middle upper occlusion, left upper lateral, left upper occlusion, left upper medial region.
The above definition of the brushing area in the oral cavity is only an exemplary one and does not limit the present invention. In practical application, the tooth brushing area can be redefined according to requirements or application scenes, for a simple example, the lower left occlusion, the lower left inner side and the lower left outer side are used as a lower left area, the upper left occlusion, the upper left inner side and the upper left outer side are used as an upper left tooth brushing area, and the right tooth brushing area and the middle tooth brushing area are processed in a similar manner; for example, the divided small brushing areas may be subdivided, such as the brushing area of the left-lower bite, or the divided areas and orientations of each tooth as mentioned above, and the present invention is not limited thereto.
After the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information are obtained, relevant recognition can be carried out to obtain the current real tooth brushing area. Because the head of the user is generally not static in the process of brushing teeth, the oral cavity conditions of the human body are different, and the oral cavity coordinate system and the attitude position information acquisition sensor are different coordinate systems, on the basis of the division of the brushing teeth areas, a plurality of oral cavity areas under the first brushing teeth attitude determined by the first brushing teeth attitude position information can exist, and similarly, a plurality of oral cavity areas under the second brushing teeth attitude determined by the second brushing teeth attitude position information can also exist, in the method for identifying the brushing teeth areas, in order to accurately judge the real brushing teeth area under the current second brushing teeth attitude, on the basis of the first brushing teeth attitude position information and the second brushing teeth attitude position information, because the motion information comprises the motion information such as the actual angle change from the first brushing teeth attitude to the second attitude, the real brushing teeth area corresponding to the current second brushing teeth attitude can be accurately judged through the motion information, the invention takes the motion information under two postures into consideration, reduces the misjudgment of the tooth brushing area and improves the identification accuracy of the tooth brushing area. In practical application, by the tooth brushing area identification method provided by the invention, the electric toothbrush can accurately indicate the tooth brushing area for a user in the tooth brushing process, tooth brushing is carried out according to the indication, the user experience is improved, and a better application scene is provided.
It should be noted that after obtaining the first brushing posture position information, a possible area under the first brushing posture can be preliminarily determined, that is, in an embodiment, as shown in fig. 2, the obtaining of the first brushing posture position information according to the present invention further includes the following steps:
s11: the position threshold of each region in the oral cavity is preset.
S12: and judging the probability of matching the first tooth brushing posture with each region in the oral cavity according to the first tooth brushing posture position information and the position threshold value of each region in the oral cavity.
S13: the region with the highest matching probability in the oral cavity is selected as the first tentative actual brushing region.
In step S11, as mentioned above, before the present invention is implemented, a plurality of predetermined regions in the oral cavity are defined, and in order to determine the oral cavity region in a certain brushing posture, in this embodiment, a reference coordinate system may be established in advance with the human oral cavity of the user, wherein the reference coordinate system is used for measuring the predetermined region in the oral cavity that needs to be defined and is different from the coordinate system of the electric toothbrush sensor. And correspondingly establishing a position threshold value for each oral cavity area defined in the oral cavity, namely, for each oral cavity area in the oral cavity, the position relation is clearly divided by the position threshold value.
In some embodiments, the reference coordinate system may be established in the human mouth of the user in a Direction Cosine Matrix (DCM), which is not limited in particular. It should be noted that the DCM matrix, also commonly referred to as a rotation matrix, may define a rotation of one body coordinate system with respect to another global coordinate system, in this case, the reference coordinate system established in the oral cavity may be a global coordinate system, and the sensor coordinate system may be a body coordinate system, for example, the electric toothbrush sensor may obtain a certain brushing posture position information in real time, that is, know a coordinate in the sensor coordinate system under a certain brushing posture, and then, the DCM matrix may be used to determine a coordinate in the reference coordinate system of the brushing posture, that is, know a position information in the reference coordinate system of the certain brushing posture, that is, know which preset region in the oral cavity under a certain brushing posture, and vice versa.
In order to quickly know the corresponding relation between the sensor coordinate system and the oral cavity reference coordinate system, the invention establishes the reference coordinate system in advance by the human oral cavity of the user in a DCM mode, and constructs a plurality of preset regions on the reference coordinate system. Wherein, a plurality of preset areas can be constructed as shown in the previous examples, and the description is not repeated here. After the plurality of preset areas are divided, a brushing posture position information threshold value description is established for each defined oral area in the oral cavity in a DCM matrix mode, and the threshold value description is used for dividing the position of each preset brushing area. It should be noted that, the DCM matrix is only used as an example, in practical applications, the defined oral cavity position threshold may be expressed in various ways, and the brushing posture position information may be expressed in various ways, which is not limited herein, and is not illustrated.
In steps S12-S13, after setting the position threshold values of the respective regions in the oral cavity, the probability that the first tooth brushing posture matches the respective regions in the oral cavity can be determined based on the first tooth brushing posture position information and the position threshold values of the respective regions in the oral cavity. It can be understood that, due to differences among human individuals, threshold descriptions of oral regions overlap, that is, different oral regions are described by the same threshold, so that, in the process of determining an actual brushing region in the first brushing posture according to the first brushing posture position information, there may exist a plurality of solutions, that is, the first brushing posture position information may correspond to a plurality of oral regions with different matching probabilities.
As mentioned above, the first brushing posture refers to a posture during brushing teeth, wherein the first brushing posture can be divided into two situations, one is an initial brushing posture, which can be understood as a corresponding posture when the user turns on the electric toothbrush to start brushing teeth, and the other is a non-initial brushing posture, and the first brushing posture and the second brushing posture are any two brushing postures except the initial brushing posture.
When the first tooth brushing posture is the initial tooth brushing posture, selecting a region with the highest matching probability from a plurality of oral cavity regions matched with the position information of the first tooth brushing posture, and referring to the following steps: receiving auxiliary judgment information of a tooth brushing area input by a user, or acquiring the default auxiliary judgment information of the tooth brushing area of the system; and according to the auxiliary judgment information of the tooth brushing area, selecting an area with the highest matching probability from a plurality of oral cavity areas matched with the first tooth brushing posture position information as a first tentative actual tooth brushing area.
For example, in the initial brushing posture, the solution is selected by using a smooth brushing area (i.e., a non-dominant hand area, for example, if the user is used to brush teeth with the right hand, the left side is a non-dominant hand area, and the user can input the dominant hand as brushing area auxiliary judgment information to the electric toothbrush) as the preferred solution, which is the case when the user inputs brushing area auxiliary judgment information; in addition, the default auxiliary judgment information of the brushing area is also considered preferentially, for example, the default auxiliary judgment information of the brushing area indicates that the outer tooth surface is a preferred solution, when no outer tooth surface exists, the inner tooth surface is preferably selected as a final solution, and if only the occlusal surface is selected, the solution is randomly selected according to the currently selected area, so that the oral cavity area with the highest matching probability is selected from a plurality of oral cavity areas matched with the first brushing posture position information.
Taking an example of an actual scene for assisting in judging a target tooth brushing area by user input, assuming that an oral area matched with the first tooth brushing posture comprises a left lower outer side, a left upper outer side and a middle upper outer side according to the position information of the first tooth brushing posture and position thresholds of all areas in the oral cavity, judging that the matching probabilities are respectively 50%, 30% and 20% according to user input (inputting right-hand tooth brushing and other input criteria), so as to judge that the probability that the first tooth brushing posture is positioned at the left lower outer side is the highest, judging that the oral area with the highest matching probability with the first tooth brushing posture in the oral cavity is the left lower outer side area at the moment, and taking the left lower outer side area as a first tentative actual tooth brushing area.
Therefore, in the scheme, the preliminary correction can be performed in an auxiliary judgment mode to obtain a more accurate oral cavity region with the highest matching probability in the first tooth brushing posture, so that the judgment of the real tooth brushing regions in other non-initial tooth brushing postures is facilitated, and the possibility of misjudgment is reduced.
Similarly, the acquiring the second tooth brushing posture and position information further comprises: and judging a plurality of oral cavity areas possibly matched with the second tooth brushing posture according to the second tooth brushing posture position information and the position threshold values of all the oral cavity areas. It can be understood that after the first tooth brushing posture is changed to the second tooth brushing posture, the second tooth brushing posture position information can be obtained, and then according to the second tooth brushing posture position information and the position threshold values of all the regions in the oral cavity, a plurality of possibly matched oral cavity regions in the second tooth brushing posture can also be judged. The process of judging the plurality of oral areas which can be matched under the second tooth brushing posture according to the second tooth brushing posture position information is similar to the process of judging the plurality of oral areas which can be matched under the first tooth brushing posture according to the first tooth brushing posture position information. After the second tooth brushing posture position information is obtained, the second tooth brushing posture position information can be represented by a direction cosine matrix, because the head of a user possibly moves and the individual difference of the oral cavity of the human body exists in the tooth brushing process, the threshold values of all the oral cavity regions overlap, when the oral cavity region in which the second tooth brushing posture position information is located is solved, a plurality of solutions can exist, namely the second tooth brushing posture position information can be matched with a plurality of oral cavity regions. For example, from the second brushing pose location information, assume that the potentially matching mouth regions of the pose solution may be: a left lower lateral zone, a middle upper lateral zone and a right lower medial zone.
After the first tentative actual brushing area is obtained, it has been preliminarily determined that the first tentative actual brushing area is the most likely brushing area corresponding to the first brushing attitude, and subsequently, according to the first tentative actual brushing area and the motion information, a plurality of oral areas where the second brushing attitude may be matched are determined, so as to obtain the actual brushing area of the user corresponding to the second brushing attitude.
For example, continuing with the above example, after determining that the first tentative actual brushing area is the lower left outer area, other brushing areas with similar lower left outer area are selected, and assuming that other oral areas include the upper left outer area and the lower left occlusal area, three judgment network areas can be initialized, which are the lower left outer area, the upper left outer area and the lower left occlusal area. It should be noted that the above-mentioned judgment network area is only an exemplary description, and actually, for a certain first tentative actual brushing area, other judgment network area initialization manners may be provided, which is not limited specifically. For example, continuing with the example where the first tentative actual brushing zone is the lower left outer zone, three judgment network zones, which are the lower left outer zone, the upper left outer zone, and the upper left bite zone, may be initialized.
When the toothbrush moves to the next position and the second tooth brushing posture, the real tooth brushing area of the current second tooth brushing area can be judged through the posture continuity through the first temporary actual tooth brushing area and the motion information. Since the determined judgment network region is the most probable oral cavity region determined in the first tooth brushing posture, the change condition of the region from any one oral cavity region in the judgment network region to the oral cavity region possibly matched with the second tooth brushing posture can be sequentially judged, so that the oral cavity region matched with the motion information is selected from the oral cavity regions possibly matched with the second tooth brushing posture according to the actual motion information to serve as the real tooth brushing region in the second tooth brushing posture.
Specifically, in some embodiments, with the first tentative actual brushing zone and the motion information, the real brushing zone of the current second brushing zone can be judged by the gesture continuity, specifically: determining a steering phase angle of a corresponding direction from the first brushing attitude to the first brushing attitude; respectively determining the phase angle range of each oral cavity area in the judgment network area to the corresponding direction of the oral cavity area possibly matched with the second tooth brushing posture; and comparing the steering phase angle with the phase angle range, and determining the oral cavity area which is in line with the steering phase angle in the corresponding direction from the oral cavity area possibly matched with the second tooth brushing posture as a real tooth brushing area.
It can be understood that since the first brushing posture position information and the second brushing posture position information can be represented in DCM, the motion information from the first brushing posture to the second brushing posture, which includes the phase angle of rotation, can be calculated by the DCM matrix, and the specific calculation process is not described herein. Wherein the phase angle of rotation includes a plurality of directional steering phase angles, such as a horizontal directional steering phase angle.
In the present invention, for convenience of explanation, a horizontal steering phase angle will be described as an example. For the convenience of subsequent operation, the turning phase angle in the horizontal direction in the current first tooth brushing posture can be reset to 0, and after the second tooth brushing posture is assumed, the turning phase angle in the horizontal direction is alpha >20 degrees, because the judgment network regions are respectively a left lower outer region (A), a left upper outer region (B) and a left lower occlusion region (C), and the oral cavity regions which can be matched in the second tooth brushing posture are respectively a left lower outer region, a middle upper outer region and a right lower inner region. Then, the first tentative actual brushing area corresponding to the first brushing posture is determined as the lower left outer area, since the horizontal steering phase angle from the lower left outer area to the lower left outer area is 0, the horizontal steering phase angle from the lower left outer area to the upper middle outer area is 10 to 20 degrees, and the horizontal steering phase angle from the lower left outer area to the lower right inner area is 30 to 40 degrees, at this time, only the lower left outer area- > the lower right inner area, and the upper left outer area- > the lower right inner area correspond to the change of the horizontal steering phase angle from the first brushing posture to the second brushing posture, it is determined that the initial third network lower left occlusion area (C) in the network area is discarded, but the lower left outer area (A) is retained, and the upper left outer area (B) is determined that the network area continues to determine the change of the steering phase angle of the other direction dimension, obviously, in the second tooth brushing area, only the lower right inner side area meets the requirement, so that the corresponding real tooth brushing area in the second tooth brushing posture is accurately determined to be the lower right inner side area.
It is worth emphasizing again that when switching to the next zone in the process of judging according to the posture continuity, the zone judgment of the track path of the next zone is carried out again, and the current most possible brushing zone is determined in real time. The actual determination process may have more determination situations than the above description, which is not illustrated here, but the probability of the trajectory path is determined in real time through the motion information, so as to take the path with the maximum probability to correct the possible area misjudgment phenomenon, and obtain the final real brushing area.
It should be noted that the brushing posture position information in each brushing posture includes angle information of multiple dimensions, this embodiment is only an example of a determination process of a steering phase angle in a horizontal direction, and in practical applications, the continuous determination process thereof may perform determination according to all motion information, such as comprehensive determination of steering angles in other directions, which is not illustrated herein.
It should be noted that, because the electric toothbrush has vibration interference when vibrating, in order to eliminate interference data, so as to reduce errors and improve the subsequent judgment accuracy, in the present invention, the brushing posture and position information directly detected by the sensor needs to be filtered, so as to eliminate errors and improve the data accuracy. Specifically, when the first tooth brushing posture position information and the second tooth brushing posture position are obtained, the position information of the tooth brushing posture directly obtained by the electric toothbrush built-in sensor is subjected to filtering processing, and specifically, the filtering processing mode is not limited in the present invention.
In some embodiments of the present invention, a specific filtering processing manner is proposed, please refer to fig. 3, where fig. 3 is a schematic diagram of a process of acquiring brushing posture position information according to the present invention, after acquiring brushing posture position information, acquiring angular velocity data (gyroscope triaxial data) and acceleration data by a gyroscope, performing drift detection on the acceleration data to obtain a drift detection result, generating a PI control complementary coefficient according to the drift detection result, performing corresponding drift correction on the angular velocity data and the acceleration data, normalizing the drift-corrected acceleration data and the angular velocity data, and expressing the resulting drift-corrected acceleration data and the angular velocity data as final posture position information by a DCM matrix, where the normalized data can be used in a next round of drift detection to form a closed-loop feedback correction loop, and thus, in embodiments of the present invention, through PI control, drift detection and drift correction, interference data of the acquired tooth brushing posture position information can be removed, an effective data base is provided for accurate follow-up judgment, normalization processing is carried out on the data, and the operation process is simplified.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one embodiment, a tooth brushing region recognition device based on a tree network is provided, and the tooth brushing region recognition device corresponds to the tooth brushing region recognition method in the above embodiments one to one. As shown in fig. 4, the brushing area recognition device includes a first obtaining module 401, a second obtaining module 402, a determining module 403 and a recognition module 404, and each of the functional modules is described in detail as follows:
a first obtaining module 401, configured to obtain first tooth brushing posture position information;
a second obtaining module 402, configured to obtain second brushing posture position information;
a determination module 403 for determining motion information of the first brushing gesture to the second brushing gesture;
a recognition module 404, configured to recognize a real brushing area of the user according to the first brushing posture position information, the second brushing posture position information and the motion information.
In one embodiment, the first obtaining module is configured to:
presetting a position threshold value of each region in the oral cavity;
judging the probability of matching the first tooth brushing posture with each region in the oral cavity according to the first tooth brushing posture position information and the position threshold value of each region in the oral cavity;
and selecting the oral cavity area with the highest matching probability in the oral cavity as a first tentative actual brushing area.
In one embodiment, the second obtaining module is configured to:
and judging a plurality of oral cavity areas possibly matched with the second tooth brushing posture according to the second tooth brushing posture position information and the position threshold values of all the areas in the oral cavity.
In an embodiment, the identification module is specifically configured to:
and judging a plurality of oral cavity areas possibly matched with the second tooth brushing gesture according to the first tentative actual tooth brushing area and the motion information to obtain the real tooth brushing area of the user corresponding to the second tooth brushing gesture.
In an embodiment, the first obtaining module is configured to: when the first tooth brushing gesture is an initial tooth brushing gesture, receiving tooth brushing area auxiliary judgment information input by the user, or acquiring default tooth brushing area auxiliary judgment information of the system; and selecting the area with the highest matching probability from a plurality of oral cavity areas matched with the first tooth brushing posture position information according to the tooth brushing area auxiliary judgment information.
In an embodiment, the first obtaining module is configured to: and when the first tooth brushing posture is not the initial tooth brushing posture, the real tooth brushing area of the first tooth brushing posture judged from the last time is used as a first tentative actual tooth brushing area corresponding to the first tooth brushing posture.
In one embodiment, the determining module is to: and calculating the motion information of the first tooth brushing posture to the second tooth brushing posture in a DCM direction cosine matrix mode, wherein the motion information comprises the phase angle of rotation.
In the tooth brushing area recognition device based on the tree network, in order to accurately judge the real tooth brushing area under the current second tooth brushing posture, on the basis of the position information of the first tooth brushing posture and the position information of the second tooth brushing posture, because the motion information comprises the motion information such as the actual angle change from the first tooth brushing posture to the second tooth brushing posture, the corresponding real tooth brushing area under the current second tooth brushing posture can be accurately judged through the motion information, and the invention considers the motion information under the two postures, reduces the misjudgment of the tooth brushing area and improves the tooth brushing area recognition accuracy rate instead of the prior art that the tooth brushing area is directly judged through the current posture position information because the coordinate system of a sensor in an intelligent electric toothbrush and the oral coordinate system of a person are not the same coordinate system. In practical application, by the tooth brushing area recognition device provided by the invention, the electric toothbrush can accurately indicate the tooth brushing area of a user in the tooth brushing process, teeth are brushed according to the indication, the user experience is improved, and a better application scene and user experience are achieved.
For the specific definition of the brushing area recognition device, reference may be made to the above definition of the brushing area recognition method, which is not described herein again. The modules in the tooth brushing area recognition device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor or a micro-control unit of the electric toothbrush, and can also be stored in a memory of the electric toothbrush in a software form, so that the processor can call and execute the corresponding operation of the modules.
In one embodiment, a power toothbrush is provided, the internal structure of which may be as shown in FIG. 5. The electric toothbrush includes a processor or micro-control unit connected by a system bus, a memory, and a computer program stored on the memory and executable on the processor. Wherein the processor of the electric toothbrush is configured to provide computing and control capabilities. The electric toothbrush memory includes a non-volatile storage medium, an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the electric toothbrush is used for connecting with the sensor. The computer program is executed by a processor to implement a method of tooth brushing area identification.
In one embodiment, there is provided an electric toothbrush comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of:
acquiring first tooth brushing posture position information;
acquiring second tooth brushing posture position information;
determining motion information for the first brushing gesture to the second brushing gesture;
and identifying the real tooth brushing area of the user according to the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring first tooth brushing posture position information;
acquiring second tooth brushing posture position information;
determining motion information for the first brushing gesture to the second brushing gesture;
and identifying the real tooth brushing area of the user according to the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A tooth brushing region identification method based on a tree network is characterized by comprising the following steps:
acquiring first tooth brushing posture position information;
acquiring second tooth brushing posture position information;
determining motion information for the first brushing gesture to the second brushing gesture;
and identifying the real tooth brushing area of the user according to the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information.
2. The tooth brushing zone recognition method according to claim 1, wherein said obtaining first tooth brushing attitude location information further comprises:
presetting a position threshold value of each region in the oral cavity;
judging the probability of matching the first tooth brushing posture with each region in the oral cavity according to the first tooth brushing posture position information and the position threshold value of each region in the oral cavity;
and selecting the oral cavity area with the highest matching probability in the oral cavity as a first tentative actual brushing area.
3. The tooth brushing zone recognition method according to claim 2, wherein said acquiring second tooth brushing posture position information further comprises:
and judging a plurality of oral cavity areas possibly matched with the second tooth brushing posture according to the second tooth brushing posture position information and the position threshold values of all the areas in the oral cavity.
4. The tooth brushing zone recognition method according to claim 3, wherein the recognizing the real tooth brushing zone of the user based on the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information comprises:
and judging a plurality of oral cavity areas possibly matched with the second tooth brushing gesture according to the first tentative actual tooth brushing area and the motion information to obtain the real tooth brushing area of the user corresponding to the second tooth brushing gesture.
5. The tooth brushing zone recognition method according to claim 2, wherein when the first tooth brushing attitude is an initial tooth brushing attitude, selecting a zone having a highest matching probability in the first tooth brushing attitude from among the plurality of oral zones matched with the first tooth brushing attitude position information, comprises:
receiving auxiliary tooth brushing area judgment information input by the user, or acquiring default auxiliary tooth brushing area judgment information of the system;
and selecting the area with the highest matching probability from a plurality of oral cavity areas matched with the first tooth brushing posture position information according to the tooth brushing area auxiliary judgment information.
6. The tooth brushing region recognition method according to claim 2, wherein when the first tooth brushing posture is a non-initial tooth brushing posture, the real tooth brushing region of the first tooth brushing posture judged from the last time is taken as a first tentative actual tooth brushing region corresponding to the first tooth brushing posture.
7. The tooth brushing zone identification method according to any one of claims 1-6 wherein the motion information of said first tooth brushing attitude to said second tooth brushing attitude is calculated by means of a DCM direction cosine matrix, said motion information including the phase angle of rotation.
8. A tooth brushing area recognition device based on a tree network, the device comprising:
the first acquisition module is used for acquiring first tooth brushing posture position information;
the second acquisition module is used for acquiring second tooth brushing posture position information;
a determination module to determine motion information of the first brushing gesture to the second brushing gesture;
and the identification module is used for identifying the real tooth brushing area of the user according to the first tooth brushing posture position information, the second tooth brushing posture position information and the motion information.
9. An electric toothbrush comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the tooth brushing zone identification method according to any one of claims 1-7 or implements the function of the tooth brushing zone identification device according to claim 8.
10. A readable storage medium, which stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the brushing zone identifying method according to any one of claims 1 to 7, or implements the functions of the brushing zone identifying device according to claim 8.
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