技术领域technical field
本发明涉及洁牙器清洁技术领域，特别涉及一种洁牙器的洁牙控制方法。The invention relates to the technical field of dental cleaner cleaning, in particular to a tooth cleaning control method of a dental cleaner.
背景技术Background technique
目前，在现今市场上，市售的洁牙器有手动控制。但是在采用手动控制洁牙时，需要依靠手部上下左右均匀运动从而驱动牙刷对牙齿进行清洁，在运动期间，受到口腔位置空间受限，仅能采用较低的速度对牙齿表面进行清洗。故，采用手动清洁效率很低，且对于使用者来说，采用手动清洁，没有检测的情况下，清洁不干净。Currently, on the market today, commercially available scalers have manual controls. However, when using manual control to clean teeth, it is necessary to rely on the uniform movement of the hands up and down, left and right to drive the toothbrush to clean the teeth. During the movement, due to the limited space in the oral cavity, the tooth surface can only be cleaned at a lower speed. Therefore, the efficiency of manual cleaning is very low, and for the user, the cleaning is not clean without detection.
而且，在现有技术中，也具备了口腔喷雾，通过口腔喷雾进行口腔清洁，但是不管是任何的口腔清洁方法，用户只能通过自己照镜子判断，这种方式用户很难判断自己是否清洁干净自己的口腔。Moreover, in the prior art, oral spray is also provided, and the oral cavity is cleaned by the oral spray, but no matter it is any oral cleaning method, the user can only judge by looking in the mirror by himself, and it is difficult for the user to judge whether he is clean or not in this way. own mouth.
因此，如何控制洁牙器进行监督式的，清洁自检测式的清洁方法，需要进行探索。Therefore, it is necessary to explore how to control the dental scaler to perform a supervised, self-cleaning cleaning method.
发明内容Contents of the invention
本发明提供一种洁牙器的洁牙控制方法，用以解决现有技术中牙齿清洁，在进行清洁的时候，清洁不干净的情况。The invention provides a tooth cleaning control method of a tooth cleaning device, which is used to solve the problem that the tooth cleaning is not clean during cleaning in the prior art.
本发明提出了一种洁牙器的洁牙控制方法，所述洁牙器由口腔喷雾装置、清牙喷头、语音报警模块和超声波扫描器构成，其特征在于：The present invention proposes a tooth cleaning control method of a tooth cleaner. The tooth cleaner is composed of an oral spray device, a tooth cleaning nozzle, a voice alarm module and an ultrasonic scanner, and is characterized in that:
所述方法包括如下步骤：The method comprises the steps of:
当洁牙器接收到口腔清洁指令后，进入清洁模式，并执行清洁程序；其中，When the dental cleaner receives the oral cleaning instruction, it enters the cleaning mode and executes the cleaning procedure; wherein,
口腔清洁指令包括：喷雾清洁指令和冲洗清洁指令；Oral cleaning instructions include: spray cleaning instructions and rinse cleaning instructions;
当清洁程序执行完成后，通过清牙喷头上发出清洁检测超声波；When the cleaning program is completed, the cleaning detection ultrasonic wave is sent out through the tooth cleaning nozzle;
通过检测超声波对口腔进行三维建模，判断口腔内是否存在残渣；其中，Carry out three-dimensional modeling of the oral cavity by detecting ultrasonic waves to determine whether there are residues in the oral cavity; among them,
当存在残渣时，重新启动清洁程序，并进行再清洁报警；When there is residue, restart the cleaning program and give a re-cleaning alarm;
当不存在残渣时，通过洁牙器显示清洁完毕。Cleaning is indicated by the scaler when no residue is present.
优选的，所述方法还包括：Preferably, the method also includes:
预先配置口腔喷雾装置和清牙喷头的轮换脚本；Pre-configured rotation scripts for oral spray units and cleaning nozzles;
通过轮换脚本，分别控制口腔喷雾装置和清牙喷头的轮换清洁周期；Through the rotation script, respectively control the rotation cleaning cycle of the oral spray device and the tooth cleaning nozzle;
基于轮换清洁周期，设定口腔喷雾装置和清牙喷头的电机预期运行参数；其中，Based on the alternate cleaning cycle, set the expected operating parameters of the motors of the oral spray device and the tooth cleaning nozzle; where,
电机预期运行参数包括：启停条件、启动间隔、轮换间隔；The expected operating parameters of the motor include: start and stop conditions, start interval, rotation interval;
根据电机运行参数，控制口腔清洁指令进行切换，并控制电机轮换驱动口腔喷雾装置和清牙喷头；其中，According to the operating parameters of the motor, control the oral cleaning command to switch, and control the motor to alternately drive the oral spray device and the teeth cleaning nozzle; among them,
电机轮换驱动时，采集电机实际运行参数，并判断实际运行参与预期运行参数的是否相同，获取判断结果；其中，When the motor is rotated and driven, collect the actual operating parameters of the motor, and judge whether the actual operation and the expected operating parameters are the same, and obtain the judgment result; among them,
当判断结果不同时，通过语音报警模块上报运行故障。When the judgment results are different, report the operation failure through the voice alarm module.
优选的，所述方法还包括：Preferably, the method also includes:
当收到喷雾清洁指令时；When a spray cleaning order is received;
启动口腔喷雾装置，并获取口腔喷雾装置的实时喷雾压力和实时水流量；Start the oral spray device, and obtain the real-time spray pressure and real-time water flow of the oral spray device;
根据实时喷雾压力，采用补偿控制的压力闭环循环控制，调节喷雾喷头的实时流量，直至所述喷雾喷头的当前压力与目标压力之间的误差小于预设误差；According to the real-time spray pressure, the pressure closed-loop cycle control of compensation control is adopted to adjust the real-time flow rate of the spray nozzle until the error between the current pressure of the spray nozzle and the target pressure is less than the preset error;
采用实时自适应的压力流量控制法，继续调节所述喷雾喷头的实时流量；Using a real-time self-adaptive pressure flow control method to continue to adjust the real-time flow of the spray nozzle;
获取口腔喷雾装置的实时顷喷量，采用基于实时顷喷量反馈的顷喷量控制法，直至实时水流量等于实时顷喷量。The real-time spray volume of the oral spray device is obtained, and the spray volume control method based on real-time spray volume feedback is adopted until the real-time water flow is equal to the real-time spray volume.
优选的，所述方法还包括：Preferably, the method also includes:
当收到冲洗清洁指令时；When flush cleaning instructions are received;
关闭口腔喷雾装置，并配置清牙喷头定量输出的冲洗水量；Turn off the oral spray device, and configure the amount of flushing water output by the tooth cleaning nozzle;
根据冲洗水量，调节洁牙器的喷头水压力和喷水时间；According to the amount of flushing water, adjust the nozzle water pressure and water spray time of the dental cleaner;
当喷水时间结束，自动关闭清牙喷头。When the water spray time is over, the tooth cleaning nozzle will be automatically turned off.
优选的，所述方法还包括：Preferably, the method also includes:
对清洁口腔进行区域划分，获取区域划分的区域标识；其中，Carry out regional division for cleaning the oral cavity, and obtain the regional identification of the regional division; wherein,
所述区域划分包括：牙齿区域、舌头区域，唾液腺区域、脸颊内区域、软硬腭区域和黏膜肌肉区域；The region division includes: tooth region, tongue region, salivary gland region, inner cheek region, soft and hard palate region and mucous membrane region;
通过超声波扫描器，获取不同区域标识的各区域的超射波探测信号；Obtain the ultrasonic wave detection signals of each area identified by different areas through the ultrasonic scanner;
根据超声波探测信号，对不同区域标识的口腔内区域进行区域作坐标转化；According to the ultrasonic detection signal, coordinate transformation is performed on the intraoral area marked by different areas;
根据区域坐标转换，生成用户口腔不同区域的坐标数据。According to the regional coordinate transformation, the coordinate data of different regions of the user's oral cavity are generated.
优选的，所述三维建模包括：Preferably, the three-dimensional modeling includes:
根据患者口腔不同区域的坐标数据，构建模拟口腔，并利用随机采样一致性算法原理构建智能配准融合模型；According to the coordinate data of different areas of the patient's oral cavity, a simulated oral cavity is constructed, and an intelligent registration fusion model is constructed using the principle of random sampling consistency algorithm;
获得用户口腔不同区域的坐标数据转化为多个点云数据集，并将点云数据集作为智能配准融合模型的输入信息，通过智能配准融合模型分析得到输出信息；其中，The coordinate data of different areas of the user's oral cavity are obtained and converted into multiple point cloud data sets, and the point cloud data sets are used as the input information of the intelligent registration fusion model, and the output information is obtained through the analysis of the intelligent registration fusion model; among them,
输出信息表示用户口腔点云坐标信息；The output information represents the coordinate information of the user's oral cavity point cloud;
提取输出信息中的模型参数估计结果，生成用户口腔的点云模型。The model parameter estimation results in the output information are extracted to generate a point cloud model of the user's oral cavity.
优选的，所述判断口腔内是否存在残渣包括：Preferably, said judging whether there is residue in the oral cavity includes:
通过点云模型，获取用户口腔不同区域点云数据对应的点云特征；其中，Through the point cloud model, the point cloud features corresponding to the point cloud data in different regions of the user's oral cavity are obtained; among them,
所述用户口腔不同区域点云数据包括用户口腔中建模数据；The point cloud data of different regions of the user's oral cavity includes modeling data in the user's oral cavity;
基于所述点云特征，确定每一建模数据对应的数据表征；Based on the point cloud features, determine the data representation corresponding to each modeling data;
数据表征包括用户口腔不同区域的至少一个维度的深度异常数据；The data representation includes depth abnormality data of at least one dimension in different regions of the user's oral cavity;
对点云特征进行置信度检测，得到每一深度异常数据对应的置信度数据；Confidence detection is performed on point cloud features to obtain confidence data corresponding to each depth anomaly data;
所述置信度数据用于表征用户口腔对应区域的标准深度值和异常深度值的比值；The confidence data is used to characterize the ratio of the standard depth value and the abnormal depth value of the corresponding area of the user's mouth;
基于每一深度异常数据对应的置信度数据，判断用户口腔中是否存在食物残渣。Based on the confidence data corresponding to each abnormal depth data, it is judged whether there is food residue in the user's oral cavity.
优选的，所述方法还包括：Preferably, the method also includes:
获取用户的历史口腔清洁数据，确定用户对口腔清洁的角度数据和清洁时长数据；Obtain the user's historical oral cleaning data, determine the user's oral cleaning angle data and cleaning duration data;
根据清洁角度数据，计算用户口腔清洁的口腔清洁区域覆盖率；According to the cleaning angle data, calculate the oral cleaning area coverage of the user's oral cleaning;
根据清洁时长数据，计算用户口腔清洁的口腔区域达标率；According to the cleaning time data, calculate the oral area compliance rate of the user's oral cleaning;
根据口腔清洁区域覆盖率和口腔区域达标率，确定用户的口腔清洁惯性数据；Determine the user's oral cleaning inertia data according to the coverage rate of the oral cleaning area and the compliance rate of the oral area;
根据口腔清洁惯性数据，确定用户口腔清洁缺失区域，并通过语音报警模块进行口腔清洁确实区域提醒。According to the inertial data of oral cleaning, determine the missing area of the user's oral cleaning, and remind the correct area of oral cleaning through the voice alarm module.
优选的，所述方法还包括：Preferably, the method also includes:
根据历史口腔清洁数据，构建初始样本集；其中，According to the historical oral cleaning data, construct the initial sample set; among them,
所述初始样本包括用户对不同区域清洁数据；The initial sample includes user cleaning data for different areas;
清洁数据包括正样本数据和负样本数据，正样本数据表示达到清洁标准的口腔清洁数据，负样本数据为未达到清洁标准的口腔清洁数据；The cleaning data includes positive sample data and negative sample data. The positive sample data represents the oral cleaning data that meets the cleaning standard, and the negative sample data refers to the oral cleaning data that does not meet the cleaning standard;
对清洁数据进行特征提取，利用多种特征属性，构造多个特征图，采用图融合的方法，建立特征提取模型；其中，Perform feature extraction on clean data, use multiple feature attributes to construct multiple feature maps, and use the method of graph fusion to establish a feature extraction model; among them,
特征提取模型包括正样本特征提取模型和负样本特征提取模型；The feature extraction model includes a positive sample feature extraction model and a negative sample feature extraction model;
通过负样本特征提取模型和正样本特征提取模型在特征提取模型中简历偏差计算机制；Use the negative sample feature extraction model and the positive sample feature extraction model to resume the deviation calculation mechanism in the feature extraction model;
根据偏差计算机制，以正样本数据为基准数据，以负样本数据为待调节数据，确定负样本数据的清洁偏差项；According to the deviation calculation mechanism, the positive sample data is used as the benchmark data, and the negative sample data is used as the data to be adjusted to determine the cleaning deviation item of the negative sample data;
根据清洁偏差项，确定用户口腔的不良清洁区域，并在进行口腔清洁时，对不良清洁区域进行语音提醒。According to the cleaning deviation item, the poor cleaning area of the user's mouth is determined, and a voice reminder is given to the poor cleaning area during oral cleaning.
优选的，所述方法还包括：Preferably, the method also includes:
实时获取清洁报警信息，并确定报警需求；Obtain cleaning alarm information in real time and determine alarm requirements;
对报警需求进行分析，生成报警语音数据，并将报警语音数据插入预设混合语音队列中；其中，Analyze the alarm requirements, generate alarm voice data, and insert the alarm voice data into the preset mixed voice queue; among them,
报警语音数据由当前洁牙器执行功能，确定报警语音数据的预设混合语音队列的优先率；The alarm voice data is executed by the current scaler to determine the priority rate of the preset mixed voice queue of the alarm voice data;
从预设混合语音队列中确定对应的语音文本，并通过语音报警模块进行语音报警。Determine the corresponding voice text from the preset mixed voice queue, and issue a voice alarm through the voice alarm module.
本发明有益效果在于：The beneficial effects of the present invention are:
本发明能够对患者的口腔进行全面的清洁，本发明相对于现有技术的中的洁牙器的控制方式，不是单调的只是控制洁牙器进行口腔清洁。从而实现对用户口腔的清洁，同时，还能再清洁的时候进行口腔的检测，判断是不是存在残渣，判断清洁的是否全面，从而基于洁牙器实现口腔的全面清洁。The present invention can comprehensively clean the patient's oral cavity. Compared with the control method of the dental cleaner in the prior art, the present invention is not monotonous, but only controls the dental cleaner to clean the oral cavity. In this way, the cleaning of the user's oral cavity can be realized. At the same time, the detection of the oral cavity can be carried out during cleaning to determine whether there are residues and whether the cleaning is comprehensive, so as to realize the comprehensive cleaning of the oral cavity based on the dental cleaner.
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在所写的说明书以及附图中所特别指出的结构来实现和获得。Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and appended drawings.
下面通过附图和实施例，对本发明的技术方案做进一步的详细描述。The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.
附图说明Description of drawings
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。在附图中：The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the description, and are used together with the embodiments of the present invention to explain the present invention, and do not constitute a limitation to the present invention. In the attached picture:
图1为本发明实施例中一种洁牙器的洁牙控制方法的方法流程图；Fig. 1 is a method flowchart of a tooth cleaning control method of a tooth cleaning device in an embodiment of the present invention;
图2为本发明实施例中洁牙器的外观图；Fig. 2 is the exterior view of the tooth cleaner in the embodiment of the present invention;
图3为本发明实施例中洁牙器的爆炸图。Fig. 3 is an exploded view of the dental cleaner in the embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
在我们通过洁牙器进行洁牙的过程中，经常挥发发现洁牙器可能清洁能力有限，不一定可以实现对口腔内部的完全清洁，本发明的洁牙器和现有市场上的洁牙器在外观上相同，如附图2所示，可以通过喷嘴实现喷雾和喷水两种方式进行洁牙。而本发明的洁牙器的具体构造如附图3所示，超声波扫描器和口腔喷雾装置都集成在喷头的管壁内部，最底部还设置由水箱和中部的马达装置，将水箱的水输送至喷头。In the process of cleaning our teeth through the dental cleaner, we often find that the cleaning ability of the dental cleaner may be limited by volatilization, and it may not be possible to completely clean the inside of the oral cavity. The dental cleaner of the present invention and the dental cleaner on the existing market Identical in appearance, as shown in accompanying drawing 2, two modes of spraying and spraying water can be realized through the nozzle to clean teeth. And the concrete structure of dental cleaner of the present invention is as shown in accompanying drawing 3, and ultrasonic scanner and oral cavity spray device are all integrated in the tube wall inside of shower head, and the motor device of water tank and middle part is also provided with at the bottom, and the water of water tank is conveyed to the nozzle.
本发明提出的洁牙器的洁牙控制方法中，洁牙器由口腔喷雾装置、清牙喷头、语音报警模块和超声波扫描器构成；洁牙器的具体控制方步骤如下：In the tooth cleaning control method of the tooth cleaning device proposed by the present invention, the tooth cleaning device is composed of an oral spray device, a tooth cleaning nozzle, a voice alarm module and an ultrasonic scanner; the specific control steps of the tooth cleaning device are as follows:
当洁牙器接收到口腔清洁指令后，进入清洁模式，并执行清洁程序；其中，When the dental cleaner receives the oral cleaning instruction, it enters the cleaning mode and executes the cleaning procedure; wherein,
口腔清洁指令包括：喷雾清洁指令和冲洗清洁指令；Oral cleaning instructions include: spray cleaning instructions and rinse cleaning instructions;
洁牙器收到的指令是在洁牙器启动之后，通过按键实现的指令或者通过语音输入的语音指令。The instruction received by the dental cleaner is an instruction realized by pressing a button or a voice instruction input by voice after the dental cleaner is started.
当清洁程序执行完成后，通过洁牙器上发出清洁检测超声波；When the cleaning program is completed, the cleaning detection ultrasonic wave is sent out on the dental scaler;
超声波扫描器设置在洁牙器的喷嘴上，用于在洁牙器的喷嘴被用户含入之后，发出超声波，实现超声波检测。The ultrasonic scanner is arranged on the nozzle of the dental cleaner, and is used to emit ultrasonic waves after the nozzle of the dental cleaner is inserted by the user, so as to realize ultrasonic detection.
通过检测超声波对口腔进行三维建模，判断口腔内是否存在残渣；其中，Carry out three-dimensional modeling of the oral cavity by detecting ultrasonic waves to determine whether there are residues in the oral cavity; among them,
当存在残渣时，重新启动清洁程序，并进行再清洁报警，再清洁指令在洁牙器的显示屏上存在显示，而且可以通过语音实现播报；When there is residue, restart the cleaning program, and give a re-cleaning alarm, and the re-cleaning instruction is displayed on the display screen of the dental scaler, and can be broadcast by voice;
当不存在残渣时，通过洁牙器显示清洁完毕，清洁完毕通过显示器显示，也可以通过语音进行播报。When there is no residue, the tooth cleaner will display that the cleaning is complete, and the cleaning completion will be displayed on the display, and it can also be broadcast by voice.
三维建模之后的检测原理是，在三维建模之后，口腔内部会存在超声波信号，对于口内的异物及逆行The detection principle after 3D modeling is that after 3D modeling, there will be ultrasonic signals inside the oral cavity.
上述技术方案的原理在于：如附图1所示，本发明是一种洁牙器的控制方法，本发明的洁牙器如附图2所示，洁牙器的外观和现有技术中洁牙器的外观相似，但是，本发明洁牙器除了口腔喷雾装置、清牙喷头，还在器内部设置了语音报警模块和超声波扫描器，实现本发明的智能控制方式。The principle of the above-mentioned technical solution is: as shown in accompanying drawing 1, the present invention is a kind of control method of dental cleaner, as shown in accompanying drawing 2, the outward appearance of dental cleaner is the same as that of the prior art. The appearance of the tooth cleaner is similar, but the tooth cleaner of the present invention is provided with a voice alarm module and an ultrasonic scanner in addition to the oral spray device and the tooth cleaning nozzle, so as to realize the intelligent control method of the present invention.
在这个过程中，授权洁牙器会接收到一个指令，这个指令为喷雾清洁指令和冲洗清洁指令的任意一种，就会启动洁牙器进行洁牙。洁牙的时候存在喷雾洁牙和水流冲洗洁牙两种方式。During this process, the authorized dental scaler will receive an instruction, which is either a spray cleaning command or a flushing cleaning command, and will start the dental scaler to clean the teeth. When cleaning teeth, there are two ways of cleaning teeth with spray and water.
在口腔进行喷雾或者清洗的过程中，本发明就可以实现清洁检测超声波发出超声波，对清洁的口腔进行检测，生成口腔的三维模型，本发明是基于点云计算的方式，能够判断口腔内部的是不是存在残渣，本发明口腔内部的残渣；在进行残渣的时候，因为三维建模了口腔内部的完整环境，所以患者口腔例如牙齿，口腔牙缝内部存在残渣的时候，牙齿上的点云深度不同，牙缝的点云深度都是不同，通过点云深度，就可以判断是不是存在残渣，例如：牙齿上存在食物残渣的时候，残渣区域的点云深度比较高，而无残渣的区域，点云深度就比较低，从而可以快速的定位可能存在残渣的区域。进而，存在残渣的时候，重新启动洁牙器，从而使得器进行口腔再清洁。In the process of spraying or cleaning the oral cavity, the present invention can realize the cleaning and detection of ultrasonic waves, detect the clean oral cavity, and generate a three-dimensional model of the oral cavity. There is no residue, but the residue inside the oral cavity of the present invention; when carrying out the residue, because the complete environment inside the oral cavity is modeled in three dimensions, when there is residue in the patient's oral cavity such as teeth, the depth of the point cloud on the tooth is different , the depth of the point cloud between the teeth is different. Through the depth of the point cloud, it can be judged whether there is residue. The cloud depth is relatively low, so that the area where debris may exist can be quickly located. Furthermore, when debris is present, the scaler is restarted so that the scaler performs oral re-cleaning.
上述技术方案的有益效果在于：The beneficial effects of the above-mentioned technical scheme are:
本发明能够对患者的口腔进行全面的清洁，本发明相对于现有技术的中的洁牙器的控制方式，不是单调的只是控制洁牙器进行口腔清洁。从而实现对用户口腔的清洁，同时，还能再清洁的时候进行口腔的检测，判断是不是存在残渣，判断清洁的是否全面，从而基于洁牙器实现口腔的全面清洁。The present invention can comprehensively clean the patient's oral cavity. Compared with the control method of the dental cleaner in the prior art, the present invention is not monotonous, but only controls the dental cleaner to clean the oral cavity. In this way, the cleaning of the user's oral cavity can be realized. At the same time, the detection of the oral cavity can be carried out during cleaning to determine whether there are residues and whether the cleaning is comprehensive, so as to realize the comprehensive cleaning of the oral cavity based on the dental cleaner.
优选的，所述方法还包括：Preferably, the method also includes:
预先配置口腔喷雾装置和清牙喷头的轮换脚本；轮换脚本是一种内置的轮换程序，用于在执行喷雾和喷水的时候，控制电机的不同转速。Pre-configured rotation scripts for the oral spray unit and teeth cleaning nozzle; the rotation script is a built-in rotation program used to control the different speeds of the motor when spraying and spraying.
通过轮换脚本，分别控制口腔喷雾装置和清牙喷头的轮换清洁周期；轮换周期是进行喷雾和喷水的不同时间。Through the rotation script, the rotation cleaning cycle of the oral spray device and the teeth cleaning nozzle are respectively controlled; the rotation cycle is a different time for spraying and spraying water.
基于轮换清洁周期，设定口腔喷雾装置和清牙喷头的电机预期运行参数；其中，Based on the alternate cleaning cycle, set the expected operating parameters of the motors of the oral spray device and the tooth cleaning nozzle; where,
电机预期运行参数包括：电机启停参数、喷雾时电机转动参数和水流时电机转动参数；The expected operating parameters of the motor include: motor start and stop parameters, motor rotation parameters during spraying and motor rotation parameters during water flow;
通过设置电机预期运行参数，可以直接通过特定指令控制在喷雾和喷水的时候电机的启动和关闭，以及对应的转动参数的变化。By setting the expected operating parameters of the motor, it is possible to directly control the startup and shutdown of the motor during spraying and water spraying, as well as the change of the corresponding rotation parameters, through specific commands.
根据电机运行参数，控制口腔清洁指令进行切换，并控制电机轮换驱动口腔喷雾装置和清牙喷头；其中，According to the operating parameters of the motor, control the oral cleaning command to switch, and control the motor to alternately drive the oral spray device and the teeth cleaning nozzle; among them,
在电机轮换驱动时，主控MCU采集电机实际运行参数，并判断实际运行参与预期运行参数的是否相同，获取判断结果；其中，When the motor is rotated and driven, the main control MCU collects the actual operating parameters of the motor, and judges whether the actual operation and the expected operating parameters are the same, and obtains the judgment result; among them,
当判断结果不同时，通过语音报警模块上报运行故障。When the judgment results are different, report the operation failure through the voice alarm module.
本发明的主控MCU会采集电机在运行的时候的电压、电流和转速等等，判断实际运行的参数是不是和预期的参数相同的差距，从而判断洁牙器的电机是不是老化，是不是功能退化和功能故障。The main control MCU of the present invention will collect the voltage, current and speed of the motor when it is running, and judge whether the actual running parameters are the same as the expected parameters, so as to judge whether the motor of the dental cleaner is aging or not. Functional degradation and functional failure.
上述技术方案的原理在于：本发明在清洗口腔清洁的时候，会通过喷雾和冲洗的两种方式进行口腔清洁，但是两种方式会进行不间断的轮换，在这个轮换的过程中。我们会进行电机运行的预期参数设置，从而实现更快速进行轮换，喷雾冲洗轮换进行保证清洗的效率，同时可以对电机设备进行检测。The principle of the above-mentioned technical solution is that the present invention cleans the oral cavity by spraying and rinsing in two ways, but the two ways will be rotated uninterruptedly during the rotation process. We will set the expected parameters of the motor operation, so as to achieve faster rotation, spray flushing rotation to ensure the efficiency of cleaning, and at the same time, we can detect the motor equipment.
上述技术方案的有益效果在于：本发明能够实现喷雾清洗的轮换控制，从而提高口腔清洁的效果，还能够通过电机的运行参数，判断电机是不是产生了退化，以及电机是不是故障。The beneficial effect of the above technical solution is that the present invention can realize the rotation control of spray cleaning, thereby improving the effect of oral cleaning, and can also judge whether the motor is degraded and whether the motor is faulty through the operating parameters of the motor.
优选的，所述方法还包括：Preferably, the method also includes:
当收到喷雾清洁指令时；When a spray cleaning order is received;
启动口腔喷雾装置，并获取口腔喷雾装置的实时喷雾压力和实时水流量；Start the oral spray device, and obtain the real-time spray pressure and real-time water flow of the oral spray device;
根据实时喷雾压力，采用补偿控制的压力闭环循环控制，调节口腔喷雾装置喷头的实时流量，直至口腔喷雾装置喷头的实时压力和预期目标压力之间的误差小于预设误差；其中，According to the real-time spray pressure, the pressure closed-loop cycle control of compensation control is adopted to adjust the real-time flow rate of the nozzle of the oral spray device until the error between the real-time pressure of the nozzle of the oral spray device and the expected target pressure is less than the preset error; wherein,
当存在误差时，通过实时自适应的水压流量控制，调节口腔喷雾装置喷头的实时流量；When there is an error, adjust the real-time flow of the nozzle of the oral spray device through real-time adaptive water pressure flow control;
并获取口腔喷雾装置的实时雾化量，通过实时雾化量的反馈调节，直至实时雾化量等于口腔喷雾装置喷头的实时流量。And obtain the real-time atomization amount of the oral spray device, and adjust through the feedback of the real-time atomization amount until the real-time atomization amount is equal to the real-time flow rate of the nozzle of the oral spray device.
上述技术方案的原理在于：本发明在进行喷雾的时候，因为要时刻控制喷雾的量、以及压力，制造更加细致，能够实现喷雾效果的雾状水流，所以，需要压力和水量双重监督。而且，现有技术中，洁牙器的水箱出水的时候，一部分水会留在管道中，这部分水不会回到水箱，如果长时间不用，这部分水就可能存在被细菌污染，为了解决这些问题。The principle of the above-mentioned technical solution is that when the present invention is spraying, because the amount of spraying and the pressure must be controlled at all times to produce a more detailed mist-like water flow that can achieve the spraying effect, so double supervision of pressure and water volume is required. Moreover, in the prior art, when the water tank of the tooth cleaner comes out, a part of the water will stay in the pipeline, and this part of the water will not return to the water tank. If it is not used for a long time, this part of the water may be polluted by bacteria. these questions.
本发明采用了补偿控制的压力闭环循环控制，就是基于压力闭环，在实施的压力下，洁牙器水箱向口腔喷雾装置的喷头实时水量，要和水箱的出水量相同，此时为了保证流量的准确控制，要保证口腔喷雾装置喷头的实时压力和预期设置的压力相同，或者接近。The present invention adopts the pressure closed-loop cycle control of compensation control, which is based on the pressure closed-loop. Under the pressure implemented, the real-time water volume of the tooth cleaner water tank to the nozzle of the oral spray device should be the same as the water output of the water tank. At this time, in order to ensure the flow rate For accurate control, it is necessary to ensure that the real-time pressure of the nozzle of the oral spray device is the same as or close to the expected set pressure.
但是，压力控制的时候是可能存在误差的，为了减小误差，腰包证雾化装置的雾化量的水量等同于水箱的向口腔喷雾装置喷头的实时水流量。腔喷雾装置喷头的实时流量是水箱供给的实时流量。However, there may be errors during pressure control. In order to reduce the error, the amount of water atomized by the pocket card atomizer is equal to the real-time water flow of the water tank to the nozzle of the oral spray device. The real-time flow rate of the nozzle of the chamber spray device is the real-time flow rate supplied by the water tank.
上述技术方案的有益效果在于：本发明能够保证洁牙器水箱的出水量和口腔喷雾装置的雾化量是相同的，保证出水的准确性，也能防止，水箱到口腔喷雾装置的雾化喷嘴这之间的水管不会产生细菌。The beneficial effect of the above technical solution is that the present invention can ensure that the water output of the water tank of the tooth cleaner is the same as the atomization amount of the oral spray device, ensure the accuracy of the water output, and prevent the atomization nozzle from the water tank to the oral spray device The water pipes in between will not produce bacteria.
优选的，所述方法还包括：Preferably, the method also includes:
当收到冲洗清洁指令时；When flush cleaning instructions are received;
关闭口腔喷雾装置，并配置清牙喷头定量输出的冲洗水量；Turn off the oral spray device, and configure the amount of flushing water output by the tooth cleaning nozzle;
根据冲洗水量，调节洁牙器的喷头水压力和喷水时间；According to the amount of flushing water, adjust the nozzle water pressure and water spray time of the dental cleaner;
当喷水时间结束，自动关闭清牙喷头。When the water spray time is over, the tooth cleaning nozzle will be automatically turned off.
上述技术方案的原理在于：本发明在接收到的冲洗指令的时候，因为冲洗要求的水流较大，水流比较急，也会调节喷水的时间和喷水压力，防止洁牙器内没有水。压力的调节也可以更加节约用水。The principle of the above-mentioned technical solution is: when the present invention receives the flushing instruction, because the water flow required for flushing is relatively large and rapid, the water spray time and water spray pressure will also be adjusted to prevent no water in the dental cleaner. The regulation of pressure can also save water more.
优选的，所述方法还包括：Preferably, the method also includes:
对清洁口腔进行区域划分，获取区域划分的区域标识；其中，Carry out regional division for cleaning the oral cavity, and obtain the regional identification of the regional division; wherein,
所述区域划分包括：牙齿区域、舌头区域，唾液腺区域、脸颊内区域、软硬腭区域和黏膜肌肉区域；The region division includes: tooth region, tongue region, salivary gland region, inner cheek region, soft and hard palate region and mucous membrane region;
通过超声波扫描器，获取不同区域标识的各区域的超射波探测信号；Obtain the ultrasonic wave detection signals of each area identified by different areas through the ultrasonic scanner;
根据超声波探测信号，对不同区域标识的口腔内区域进行区域作坐标转化；According to the ultrasonic detection signal, coordinate transformation is performed on the intraoral area marked by different areas;
根据区域坐标转换，生成用户口腔不同区域的坐标数据。According to the regional coordinate transformation, the coordinate data of different regions of the user's oral cavity are generated.
上述技术方案的原理在于：本发明会对患者的口腔区域进行划分，划分为：“牙齿区域、舌头区域，唾液腺区域、脸颊内区域、软硬腭区域和黏膜肌肉区域”多个区域，划分为多个区域之后每个区域有对应的坐标区域，超声波扫描的时候，也能够更加快速的进行口腔不同部位的清洁检测。The principle of the above-mentioned technical solution is that the present invention will divide the patient's oral cavity area into multiple areas: "teeth area, tongue area, salivary gland area, inner cheek area, soft and hard palate area, and mucous membrane muscle area", which are divided into multiple areas. Each area after the first area has a corresponding coordinate area. During ultrasonic scanning, the cleaning detection of different parts of the oral cavity can be performed more quickly.
上述技术方案的有益效果在于：The beneficial effects of the above-mentioned technical scheme are:
通过坐标数据，在进行口腔清洁状况判断的时候，可以对具备残渣的位置进行快速的语音播报，从而提醒用户需要清洁的用户口腔区域。Through the coordinate data, when judging the oral cleaning status, a quick voice broadcast can be made to the position of the residue, thereby reminding the user of the oral area that needs to be cleaned.
优选的，所述三维建模包括：Preferably, the three-dimensional modeling includes:
根据患者口腔不同区域的坐标数据，构建模拟口腔，并利用随机采样一致性算法原理构建智能配准融合模型；According to the coordinate data of different areas of the patient's oral cavity, a simulated oral cavity is constructed, and an intelligent registration fusion model is constructed using the principle of random sampling consistency algorithm;
获得用户口腔不同区域的坐标数据转化为多个点云数据集，并将点云数据集作为智能配准融合模型的输入信息，通过智能配准融合模型分析得到输出信息；其中，The coordinate data of different areas of the user's oral cavity are obtained and converted into multiple point cloud data sets, and the point cloud data sets are used as the input information of the intelligent registration fusion model, and the output information is obtained through the analysis of the intelligent registration fusion model; among them,
输出信息表示用户口腔点云坐标信息；The output information represents the coordinate information of the user's oral cavity point cloud;
提取输出信息中的模型参数估计结果，生成用户口腔的点云模型。The model parameter estimation results in the output information are extracted to generate a point cloud model of the user's oral cavity.
上述技术方案的原理在于：本发明会进行口腔内的三维转化，通过三维模拟口腔进行口腔内的清洁检测，在这个过程中，本发明采用随机采样一致性算法结合点云算法，实现智能配准的智能检测方式，实现患者口腔的快速清洁检测。The principle of the above technical solution is: the present invention will carry out the three-dimensional transformation in the oral cavity, and carry out the cleaning detection in the oral cavity through the three-dimensional simulated oral cavity. In this process, the present invention adopts the random sampling consistency algorithm combined with the point cloud algorithm to realize intelligent registration The intelligent detection method realizes the rapid cleaning detection of the patient's oral cavity.
在这个过程中，智能配准融合模型是一种口腔内部的坐标点配准模型，每一个配准的坐标点都是一个点云坐标，进而可以将用户口腔的不同区域划分为对应的点云数据集。In this process, the intelligent registration fusion model is a coordinate point registration model inside the oral cavity. Each registered coordinate point is a point cloud coordinate, and then different regions of the user's oral cavity can be divided into corresponding point clouds. data set.
进而通过点云数据集，确定用户口腔的模型参数，从而生成用户口腔的点云模型，通过点云模型的方式对用户口腔进行清洁检测。Furthermore, the model parameters of the user's oral cavity are determined through the point cloud data set, thereby generating a point cloud model of the user's oral cavity, and the cleaning detection of the user's oral cavity is performed through the point cloud model.
上述技术方案的有益效果在于：The beneficial effects of the above-mentioned technical scheme are:
本发明可以生成点云模型，通过点云模型对用户口腔进行清洁的时候，可以基于点云深度判断用户口腔中是否存在残渣，点云深度越大的地方，就表明是存在残渣。The present invention can generate a point cloud model, and when the user's oral cavity is cleaned through the point cloud model, it can be judged whether there is residue in the user's oral cavity based on the depth of the point cloud, and the greater the depth of the point cloud, the presence of residue.
优选的，所述判断口腔内是否存在残渣包括：Preferably, said judging whether there is residue in the oral cavity includes:
通过点云模型，获取用户口腔不同区域点云数据对应的点云特征；其中，Through the point cloud model, the point cloud features corresponding to the point cloud data in different regions of the user's oral cavity are obtained; among them,
所述用户口腔不同区域点云数据包括用户口腔中建模数据；The point cloud data of different regions of the user's oral cavity includes modeling data in the user's oral cavity;
点云特征就是用户口腔内部不同区域不同位置的点云轮廓特征和轮廓点云深度特征，点云深度特征在每一次进行口腔清洁的时候，都会进行存储记录，所以在进行口腔清洁的时候，可以实现对用户口腔的建模。The point cloud feature is the point cloud contour feature and contour point cloud depth feature of different positions in different areas of the user's oral cavity. The point cloud depth feature will be stored and recorded every time the oral cavity is cleaned, so when cleaning the oral cavity, you can Realize the modeling of the user's mouth.
基于所述点云特征，确定每一建模数据对应的数据表征；Based on the point cloud features, determine the data representation corresponding to each modeling data;
数据表征包括用户口腔不同区域的至少一个维度的深度异常数据；The data representation includes depth abnormality data of at least one dimension in different regions of the user's oral cavity;
至少一个维度，维度表示的是方位维度，深度异常数据，就是表示点云深度值的异常。At least one dimension, the dimension represents the azimuth dimension, and the depth anomaly data is the anomaly representing the depth value of the point cloud.
对点云特征进行置信度检测，得到每一深度异常数据对应的置信度数据；Confidence detection is performed on point cloud features to obtain confidence data corresponding to each depth anomaly data;
所述置信度数据用于表征用户口腔对应区域的标准深度值和异常深度值的比值；The confidence data is used to characterize the ratio of the standard depth value and the abnormal depth value of the corresponding area of the user's mouth;
通过置信度的检测，可以判断出用户口腔的深度差异，从而确定用户口腔的是不是存在食物残渣，深度差异越大，表示越可能存在残渣。Through the detection of the confidence level, the depth difference of the user's mouth can be judged, so as to determine whether there is food residue in the user's mouth. The greater the depth difference, the more likely there is residue.
基于每一维度的深度异常数据对应的置信度数据，判断用户口腔中是否存在食物残渣。Based on the confidence data corresponding to the abnormal depth data of each dimension, it is judged whether there is food residue in the user's mouth.
在这个过程中，每一个维度的深度异常数据都需要进行置信度判定，当多个维度的同事存在深度异常数据，就表示存在食物残渣。只有在不同区域的所有维度都没有深度异常数据，才表示口腔清洁干净。In this process, the depth abnormal data of each dimension needs to be judged by confidence. When colleagues in multiple dimensions have deep abnormal data, it means that there are food residues. Only when there is no depth abnormal data in all dimensions of different regions, it means that the mouth is clean.
上述技术方案的原理在于：本发明在进行口腔残渣检测的时候，会对口腔不同区域的点云特征进行建模的方式进行检测，建模之后，同一个区域残渣和本区域的实时状态存在点云深度的差值，通过点云深度，可以判断患者是不是口腔是不是存在残渣，深度值高的地方就是残渣，而深度值低的地方就没有残渣。The principle of the above technical solution is: when the present invention detects the oral residue, it will detect the point cloud features of different regions of the oral cavity. The difference of cloud depth, through the point cloud depth, can judge whether there is residue in the patient's oral cavity, where the depth value is high, there is residue, and where the depth value is low, there is no residue.
在具体判断用户口腔内部是不是存在残渣的时候，还可以采用如下的判定过程：When specifically judging whether there are residues in the user's oral cavity, the following judgment process can also be used:
首先，在点云建模的时候，口腔内部被划分为牙齿区域、舌头区域，唾液腺区域、脸颊内区域、软硬腭区域和黏膜肌肉区域等等，因此，点云特征包括如下点云特征集合：First, during point cloud modeling, the interior of the oral cavity is divided into tooth area, tongue area, salivary gland area, cheek area, soft and hard palate area, and mucosal muscle area, etc. Therefore, point cloud features include the following point cloud feature sets:
牙齿区域的点云集合A＝a1，a2，a3……aiThe set of point clouds in the tooth area A=a1 , a2 , a3 ......ai
舌头区域的点云集合B＝b1，b2，b3……bjPoint cloud set B of the tongue area = b1 , b2 , b3 ...... bj
唾液腺区域的点云集合C＝c1，c2，c3……clPoint cloud set C of salivary gland region C=c1 , c2 , c3 ...cl
脸颊内区域的点云集合D＝d1，d2，d3……dgPoint cloud set D=d1 , d2 , d3 . . . dg in the cheek area
软硬腭区域的点云集合E＝e1，e2，e3……ewThe set of point clouds E=e1 , e2 , e3 ... ew in the soft and hard palate area
黏膜肌肉区域的点云集合F＝f1，f2，f3……fvPoint cloud set F=f1 , f2 , f3 ...... fv of mucous membrane area
其中，i，j，l,g,w,v都是正整数；i∈n，j∈m，l∈L,g∈G,w∈W,v∈V；n表示牙齿区域的点云坐标数量；m表示舌头区域的点云坐标数量；L表示唾液腺区域的点云坐标数量；G表示脸颊内区域的点云坐标数量；W表示软硬腭区域的点云坐标数量；V表示黏膜肌肉区域的点云坐标数量；Among them, i, j, l, g, w, v are all positive integers; i∈n, j∈m, l∈L, g∈G, w∈W, v∈V; n represents the number of point cloud coordinates in the tooth area ; m represents the number of point cloud coordinates in the tongue region; L represents the number of point cloud coordinates in the salivary gland region; G represents the number of point cloud coordinates in the cheek region; W represents the number of point cloud coordinates in the soft and hard palate region; V represents the points in the mucous membrane region Number of cloud coordinates;
通过点云特征集合，生成口腔模型不同区域的区域模型：Through the collection of point cloud features, generate regional models of different regions of the oral cavity model:
KA表示口腔模型中牙齿区域的牙齿模型；KB表示口腔模型中牙齿区域的舌头模型；KC表示口腔模型中牙齿区域的唾液腺模型；KD表示口腔模型中牙齿区域的脸颊内区域模型；KE表示口腔模型中牙齿区域的软硬颚模型；KF表示口腔模型中牙齿区域的黏膜肌肉区域模型；γ表示前一点云坐标和后一点云坐标的方位角；KA represents the tooth model of the tooth region in the oral cavity model; KB represents the tongue model of the tooth region in the oral cavity model; KC represents the salivary gland model of the tooth region in the oral cavity model; KD represents the cheek area model of the tooth region in the oral cavity model; KE represents the oral cavity model The soft and hard palate model of the middle tooth area; KF indicates the mucous membrane muscle area model of the tooth area in the oral cavity model; γ indicates the azimuth angle of the previous point cloud coordinates and the rear point cloud coordinates;
上述区域模型中，本发明是通过ew*γw确定每个点云坐标的方向点，从而通过每个区域无数的方向指引，形成整个区域的轮廓模型，进而通过θ对应的每个点云坐标对应的点云深度，形成整个区域的深度模型。In the above-mentioned regional model, the present invention determines the direction point of each point cloud coordinates by ew * γw , thereby forming the contour model of the entire region through countless direction guidance in each region, and then passing each point cloud corresponding to θ The depth of the point cloud corresponding to the coordinates forms the depth model of the entire area.
基于口腔模型不同区域的区域模型，设定判定函数，判定是否存在残渣：Based on the regional models of different regions of the oral cavity model, set the judgment function to judge whether there is residue:
其中，P(x)表示残渣判定模型；x表示KA、KB、KC、KD、KE或KF中任意一个预期清洁度模型；Tr表示牙齿区域/舌头区域/唾液腺区域/脸颊内区域/软硬腭区域/黏膜肌肉区域的点云集合的第r个点云特征，即点云坐标，T表示牙齿区域/舌头区域/唾液腺区域/脸颊内区域/软硬腭区域/黏膜肌肉区域中任意一个区域，r也是对应区域内的任意坐标点，r∈R，R代指口腔任意区域的点云特征的总数量；ε表示常数；μ表示预先设置的核函数参数；xr表示存在第r个坐标特征之下的牙齿区域/舌头区域/唾液腺区域/脸颊内区域/软硬腭区域/黏膜肌肉区域的实际模型。‖xr-x‖表示范数距离；当P(x)≥1，表示存在残渣，当P(x)＜1，表示不存在残渣。Among them, P(x) represents the residue judgment model; x represents any expected cleanliness model in KA, KB, KC, KD, KE or KF; Tr represents tooth area/tongue area/saliva gland area/cheek area/soft and hard palate The rth point cloud feature of the point cloud collection of the area/mucosal muscle area, that is, the point cloud coordinates, T represents any area in the tooth area/tongue area/saliva gland area/cheek area/soft and hard palate area/mucosal muscle area, r It is also any coordinate point in the corresponding area, r∈R, R refers to the total number of point cloud features in any area of the oral cavity; ε represents a constant;μ represents the preset kernel function parameters; Actual models of the lower tooth area/tongue area/saliva gland area/inner cheek area/soft and hard palate area/mucosal muscle area. ‖xr -x‖ represents the norm distance; when P(x)≥1, it means that there is residue, and when P(x)<1, it means that there is no residue.
在进行残渣判定的过程中，本发明通过建立指数函数，基于支持向量的方式进行判定，通过‖xr-x‖表示范数距离，确定没有残渣和有残渣之间的距离，进而通过-μ‖xr-x‖2+ε可以确定其距离的大小，最后通过幂函数的形式通过在坐标图中显示出来在幂函数的上下限，如果在上限，就表示，这个区域的点云特征中的点云深度高于预期点云深度，就表示存在残渣，反之，就不存在残渣。In the process of determining residues, the present invention establishes an exponential function and judges based on a support vector, expresses the norm distance by ‖xr -x‖, determines the distance between no residue and residue, and then passes -μ ‖xr -x‖2 +ε can determine the size of the distance, and finally through the form of power function, it is displayed in the coordinate diagram on the upper and lower limits of the power function. If it is at the upper limit, it means that in the point cloud features of this area If the depth of the point cloud is higher than the expected point cloud depth, it means that there is a residue, otherwise, there is no residue.
优选的，所述方法还包括：Preferably, the method also includes:
获取用户的历史口腔清洁数据，确定用户对口腔清洁的角度数据和清洁时长数据；Obtain the user's historical oral cleaning data, determine the user's oral cleaning angle data and cleaning duration data;
根据清洁角度数据，计算用户口腔清洁的口腔清洁区域覆盖率；According to the cleaning angle data, calculate the oral cleaning area coverage of the user's oral cleaning;
根据清洁时长数据，计算用户口腔清洁的口腔区域达标率；According to the cleaning time data, calculate the oral area compliance rate of the user's oral cleaning;
根据口腔清洁区域覆盖率和口腔区域达标率，确定用户的口腔清洁惯性数据；Determine the user's oral cleaning inertia data according to the coverage rate of the oral cleaning area and the compliance rate of the oral area;
根据口腔清洁惯性数据，确定用户口腔清洁缺失区域，并通过语音报警模块进行口腔清洁确实区域提醒。According to the inertial data of oral cleaning, determine the missing area of the user's oral cleaning, and remind the correct area of oral cleaning through the voice alarm module.
上述技术方案的原理在于：本发明的洁牙器会记录用户之前的口腔清洁数据，确定用户对自己口腔不同区域的清洁角度和清洁时长，例如：患者可能会通过控制洁牙器的角度，对上颚进行多清洁，或者对槽牙进行多清洁，进而可以通过对用户在进行口腔清洁的过程中，通过记录洁牙器的角度，在三维建模的点云口腔模型中，确定用户对那些地方清洁的比较频繁，进而计算用户口腔清洁的口腔清洁区域覆盖率和计算用户口腔清洁的口腔区域达标率，确定用户的口腔清洁习惯，基于清洁习惯，判断用户对口腔的那些方位清洁不全面，即用户口腔清洁缺失区域，进而进行对应区域的清洁提醒。The principle of the above technical solution is that the dental cleaner of the present invention will record the user’s previous oral cleaning data, and determine the user’s cleaning angle and cleaning time for different areas of his oral cavity. For example, the patient may control the angle of the dental cleaner. The upper jaw is cleaned more, or the molars are cleaned more, and then by recording the angle of the dental cleaner during the oral cleaning process of the user, in the point cloud oral model of the three-dimensional modeling, it is possible to determine which places the user prefers. The cleaning is more frequent, and then calculate the oral cleaning area coverage rate of the user's oral cleaning and the oral area compliance rate of the user's oral cleaning, determine the user's oral cleaning habits, and based on the cleaning habits, judge that the user's oral cleaning is not comprehensive, that is The user cleans the missing area in the oral cavity, and then performs cleaning reminders for the corresponding area.
上述技术方案的有益效果在于：The beneficial effects of the above-mentioned technical scheme are:
本发明的洁牙器可以基于用户对口腔的清洁数据，判断用户对口腔的那些区域清洁的不全面，从而提醒用户对口腔清洁不全面的区域进行再清洁。The dental cleaner of the present invention can judge the incomplete cleaning of those areas of the oral cavity by the user based on the cleaning data of the user's oral cavity, thereby reminding the user to re-clean the incomplete areas of the oral cavity.
优选的，所述方法还包括：Preferably, the method also includes:
根据历史口腔清洁数据，构建初始样本集；其中，According to the historical oral cleaning data, construct the initial sample set; among them,
所述初始样本包括用户对不同区域清洁数据；The initial sample includes user cleaning data for different areas;
清洁数据包括正样本数据和负样本数据，正样本数据表示达到清洁标准的口腔清洁数据，负样本数据为未达到清洁标准的口腔清洁数据；The cleaning data includes positive sample data and negative sample data. The positive sample data represents the oral cleaning data that meets the cleaning standard, and the negative sample data refers to the oral cleaning data that does not meet the cleaning standard;
对清洁数据进行特征提取，利用多种特征属性，构造多个特征图，采用图融合的方法，建立特征提取模型；其中，Perform feature extraction on clean data, use multiple feature attributes to construct multiple feature maps, and use the method of graph fusion to establish a feature extraction model; among them,
特征提取模型包括正样本特征提取模型和负样本特征提取模型；The feature extraction model includes a positive sample feature extraction model and a negative sample feature extraction model;
通过负样本特征提取模型和正样本特征提取模型在特征提取模型中建立偏差计算机制；Establish a deviation calculation mechanism in the feature extraction model through the negative sample feature extraction model and the positive sample feature extraction model;
根据偏差计算机制，以正样本数据为基准数据，以负样本数据为待调节数据，确定负样本数据的清洁偏差项；According to the deviation calculation mechanism, the positive sample data is used as the benchmark data, and the negative sample data is used as the data to be adjusted to determine the cleaning deviation item of the negative sample data;
根据清洁偏差项，确定用户口腔的不良清洁区域，并在进行口腔清洁时，对不良清洁区域进行语音提醒。According to the cleaning deviation item, the poor cleaning area of the user's mouth is determined, and a voice reminder is given to the poor cleaning area during oral cleaning.
上述技术方案的原理在于：本发明的洁牙器也是可以进行联网的，所以在对口腔清洁的不良区域进行提醒的时候，基于大数据技术，大数据技术是通过历史口腔清洁数据，生成数据样本，通过达到标准的清洁数据和没有达到标准的清洁数据，可以进行特征提取，提取的特征是用户对口腔不同区域清洁的频繁程度的特征，以及洁牙器在进行口腔清洁的角度的控制特征。特征图上存在用户对口腔不同区域进行清洁的频繁程度的特征图，偏差机制，就是口腔清洁频繁程度的清洁偏差，从而可以判断用户对口腔的那些区域清洁不频繁，进而对清洁不频繁的区域进行语音提醒。The principle of the above technical solution is that the dental cleaner of the present invention can also be connected to the Internet, so when reminding the bad areas of oral cleaning, based on big data technology, big data technology generates data samples through historical oral cleaning data , Through the cleaning data that meets the standard and the cleaning data that does not meet the standard, feature extraction can be performed. The extracted features are the features of the frequency of cleaning different areas of the oral cavity by the user, and the control features of the angle of the dental scaler for oral cleaning. On the feature map, there is a feature map of how frequently the user cleans different areas of the oral cavity. The deviation mechanism is the cleaning deviation of the frequency of oral cleaning, so that it can be judged that the user does not clean those areas of the oral cavity frequently, and then cleans the infrequent areas. Make a voice reminder.
上述技术方案的有益效果在于：The beneficial effects of the above-mentioned technical scheme are:
本发明可以基于大数据机制，通过大数据建立口腔清洁的模型，判断用户口腔中那些区域清洁时不完整的，从而对用户进行提醒。The present invention can establish an oral cleaning model based on the big data mechanism, and judge which areas in the user's oral cavity are incompletely cleaned, thereby reminding the user.
优选的，所述方法还包括：Preferably, the method also includes:
实时获取清洁报警信息，并确定报警需求；Obtain cleaning alarm information in real time and determine alarm requirements;
即，根据实时口腔清洁的时候，是不是存在食物残渣的信息，确定需不需要进行报警的需求，进而生成报警的语音数据。例如对口腔上颚清洁的语音数据或者对口腔槽牙进行清洁的语音数据等等。That is, according to the information of whether there is food residue during real-time oral cleaning, it is determined whether there is a need for an alarm, and then the voice data for the alarm is generated. For example, voice data for cleaning the upper jaw of the oral cavity or voice data for cleaning the molar teeth of the oral cavity, and the like.
对报警需求进行分析，生成报警语音数据，并将报警语音数据插入预设混合语音队列中；其中，Analyze the alarm requirements, generate alarm voice data, and insert the alarm voice data into the preset mixed voice queue; among them,
报警语音数据由当前洁牙器执行功能，确定报警语音数据的预设混合语音队列的优先率；The alarm voice data is executed by the current scaler to determine the priority rate of the preset mixed voice queue of the alarm voice data;
优先率表示的是在执行喷雾清洁和喷水等两种不同的清洁功能时，根据会预先对喷雾清洁和喷水清洁进行优先设定，也会基于用户对口腔清洁的频繁程度，对用户口腔的不同区域进行清洁的优先程度设定。The priority rate means that when performing two different cleaning functions such as spray cleaning and water spray, according to the priority setting of spray cleaning and water spray cleaning in advance, it will also be based on the user's oral cleaning frequency. Priority setting for cleaning in different areas.
从预设混合语音队列中确定对应的语音文本，并通过语音报警模块进行语音报警。Determine the corresponding voice text from the preset mixed voice queue, and issue a voice alarm through the voice alarm module.
上述技术方案的原理在于：本发明可以通过语音报警功能，如果在同时有口腔位置清洁不足和口腔有残渣的双重指令时，先通过具有残渣的清洁语音及逆行报警，在进行清洁不足的报警，所以通过语音队列，可以让口腔清洁的速度更快，更加合理。The principle of the above-mentioned technical solution is: the present invention can use the voice alarm function. If there are dual instructions of insufficient cleaning of the oral cavity and residues in the oral cavity, the cleaning voice and retrograde alarm with residues will be used first, and then the alarm for insufficient cleaning will be performed. Therefore, through the voice queue, oral cleaning can be made faster and more reasonable.
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention also intends to include these modifications and variations.
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| CN112754707A (en)* | 2021-01-15 | 2021-05-07 | 云南白药集团健康产品有限公司 | Water spray air volume ratio control device for tooth flushing device based on tartar and color spots |
| CN118436448A (en)* | 2024-07-05 | 2024-08-06 | 德州市红拳医疗器械有限公司 | Coin-feed self-service oral cavity disinfection and cleaning device and method |
| CN118476892A (en)* | 2024-07-15 | 2024-08-13 | 北京柔智缘科技有限公司 | Tooth cleaning control method, device and storage medium |
| CN119728840A (en)* | 2025-02-27 | 2025-03-28 | 深圳市方利来科技有限公司 | Remote monitoring control system and method for dental scaler based on mobile phone Internet of things |
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