CN107167133A - A kind of brushing evaluation method and system - Google Patents
A kind of brushing evaluation method and system Download PDFInfo
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- CN107167133A CN107167133A CN201710371541.9A CN201710371541A CN107167133A CN 107167133 A CN107167133 A CN 107167133A CN 201710371541 A CN201710371541 A CN 201710371541A CN 107167133 A CN107167133 A CN 107167133A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
Abstract
The present invention discloses a kind of brushing evaluation method and system, and this method includes：The 3-axis acceleration signal for the three axis accelerometer output that S1, collection are placed in intelligent toothbrush and three axis angular rate signals of three-axis gyroscope output；S2, using fixed length window split plot design the sampled data of collection is divided into multiple time window datas；S3, the average of 3-axis acceleration data for calculating each time window data, the variance yields of resultant acceleration data, the variance yields of the variance yields for closing angular velocity data and three axis angular rate data；And the quaternary number of the sampled data obtained to calculating carries out attitude algorithm and obtains Relative Euler angle；S4, brush teeth duration, coverage rate of brushing teeth and positive appearance rate of brushing teeth obtained according to step S3 result of calculation；S5, the duration that will brush teeth, coverage rate of brushing teeth are multiplied by be added after respective weight respectively with positive appearance rate of brushing teeth obtains brushing evaluation result；The present invention can carry out the brushing evaluation result that comprehensive analysis draws quantization to duration of brushing teeth, coverage rate of brushing teeth and positive appearance rate of brushing teeth.
Description
Technical field
The present invention relates to oral health technical field.More particularly, to a kind of brushing evaluation method and system.
Background technology
Research shows that the healthy rate of 35-44 Sui human adult periodontal is only 14.5% at home, the oral health consciousness of people
Developed country far is lagged behind, and 85% carious tooth and periodontosis can be avoided by effectively brushing teeth.
At present, the standardization method for brushing teeth that Chinese dentistry can recommend is that level vibration brushing method (is reduced to brushing
Method), brushing method is a kind of effectively to remove the method for brushing teeth of bacterial plaque in gingival sulcus；Brushing is exactly lightly to nuzzle up, and is grasped this
Method for brushing teeth, can help to remove the bacterial plaque of each facing, while the bacterial plaque in neck portion and gingival sulcus can be removed effectively；
Concrete operations main points are：1. brush, is first positioned over the backteeth neck portion of side in oral cavity, bristle and facing by hand-held tooth-brush handle
About it is in 45° angle, bristle points to root of the tooth direction (upwards, lower jaw tooth is downward for maxillary teeth), and slight pressurization makes bristle part enter tooth
In gingival sulcus, it is partially disposed on gum；2. start to brush teeth as one group using 2~3 teeth, the round action trembleed with short distance level exists
Same position is at least brushed 3-5 times, then rotates toothbrush to corona direction, continues lip (cheek) tongue (palate) face of brushing tooth；
3. brushed after first position, the position that toothbrush is moved into next group of 2~3 teeth is reapposed, noted and first position
Overlapping region is maintained, proceeds brushing teeth for next position；When 4. painting labial teeth lingual surface, brush is placed vertically in facing
On, make anterior bristle contact gum edge, from top to bottom brushing.During the lower labial teeth lingual surface of brush, brushing from bottom to top；5. during brush occlusal surface,
Bristle points to occlusal surface, slightly with short distance before and after masterpiece come backwash.
The research of brushing teeth carried out through scientific research institution finds that compatriots have three major issues when brushing teeth, cause tooth not only
Brush is not clean, can more damage tooth and gum；One is that the time brushed teeth is inadequate, leads to not the tooth bacterium on fully erased tooth
Spot；Two be that the region brushed teeth (is easy to be ignored) on the inside of the tooth of such as people not enough completely, causes some teeth not brush；Three
It is (as used cross-brushing method or vertical brush method, rather than brushing method) lack of standardization of brushing action, causes gum and tooth impaired.
Brush teeth research and the bacterial plaque observation carried out through scientific research institution, have developed can effectively brushing teeth study course with brush, by 3
Minute brushing time is quantified, the complexity for being accumulated and being removed according to bacterial plaque, there is provided each facing needs brush many
Few time, under brush is how many, how to brush.Effectively brushed teeth study course with brushing this set, by the clinical verification of scientific and precise, it was demonstrated that
Bacterial plaque elimination efficiency is obviously improved.
At this stage, product of intelligently brushing teeth has become an important application of oral health, some products of in the market, base
In sensing data, the toothbrushing effect of user is fed back in the form of scoring；But these code of points some be only with
Brushing time is related, and some are to only rely on region recognition, and effective method for brushing teeth is not classified as into one assesses guidance, comprehensive
Property and reasonability on it is not enough.
Accordingly, it is desirable to provide a kind of these three dimensions of level of coverage from duration of brushing teeth, the correctness of action and brushing zone
Degree is started with, and the brushing evaluation method and system of quantitatively evaluating are carried out to the quality brushed teeth.
The content of the invention
, can be from duration of brushing teeth, the correctness of action it is an object of the invention to provide a kind of brushing evaluation method and system
These three dimensions are started with the level of coverage of brushing zone, carry out quantitatively evaluating to the quality brushed teeth, and evaluation result is fed back
To user.
To reach above-mentioned purpose, the present invention uses following technical proposals：
A kind of brushing evaluation method, comprises the following steps：
The 3-axis acceleration signal and three-axis gyroscope for the three axis accelerometer output that S1, collection are placed in intelligent toothbrush are defeated
The three axis angular rate signals gone out are as sampled data；
S2, using fixed length window split plot design the sampled data of collection is divided into multiple time window datas；
S3, the average of the 3-axis acceleration data of each time window data of calculating, the variance yields of resultant acceleration data, He Jiao
The variance yields of the variance yields of speed data and three axis angular rate data；And the quaternary number of sampled data is calculated, quaternary number is carried out
Attitude algorithm obtains Relative Euler angle；
S4, the variance yields according to the resultant acceleration data of each time window data and close the variance of angular velocity data and be worth to
Brush teeth duration；Coverage rate of brushing teeth is obtained according to the average of the 3-axis acceleration data of each time window data and Relative Euler angle；
Positive appearance rate of brushing teeth is worth to according to the variance of three axis angular rate data of each time window data；
S5, the duration that will brush teeth, coverage rate of brushing teeth are added after being multiplied by each self-corresponding weight respectively with positive appearance rate of brushing teeth, and are obtained
Brushing evaluation result.
Preferably, step S1 also includes：Sampled data is filtered using moving average filtering algorithm.
Preferably, in step S4, according to the variance yields of the resultant acceleration data of each time window data and conjunction angular speed number
According to variance be worth to duration of brushing teeth and further comprise：
By the variance yields of the variance yields of the resultant acceleration data of each time window data and conjunction angular velocity data and setting
Brushing action empirical value is compared to brushing action judgement, will be determined as the time window of the time window data of brushing action
The summation of mouth length is used as brushing time.
Preferably, in step S4, according to the average of the 3-axis acceleration data of each time window data and Relative Euler angle
The coverage rate that obtains brushing teeth further comprises：
According to the comparison of X-axis and Y-axis acceleration mean absolute value size, tooth regions are divided into occlusal surface region and non-stung
Conjunction face region；
According to the positive and negative of Y-axis acceleration average, occlusal surface tooth regions are divided into upper occlusal surface region and lower occlusal surface area
Domain；With reference to the size at Relative Euler angle, upper occlusal surface region is further divided into upper left occlusal surface subregion, upper right occlusal surface point
Area, lower-left occlusal surface subregion and bottom right occlusal surface subregion are further divided into by lower occlusal surface region；
According to the positive and negative of Y-axis acceleration average and its comparison with non-occlusive face empirical value, by non-occlusive face tooth
Region is divided into non-occlusive face upper tooth region and non-occlusive face lower tooth region；According to the positive and negative of X-axis acceleration average, by non-occlusive face
Upper tooth region is divided into non-occlusive face upper tooth exterior lateral area and non-occlusive face upper tooth inside region, and non-occlusive face lower tooth region is divided into
Non-occlusive face lower tooth exterior lateral area and non-occlusive face lower tooth inside region；
With reference to Relative Euler angle size, by non-occlusive face upper tooth exterior lateral area be further divided into subregion on the outside of upper left, on
Outside subregion and right upper lateral subregion；By non-occlusive face upper tooth inside region be further divided into subregion on the inside of upper left, in upper inner side
Subregion and right upper medial subregion；By non-occlusive face lower tooth exterior lateral area be further divided into subregion on the outside of lower-left, in lower outside subregion
With subregion on the outside of bottom right；By non-occlusive face lower tooth inside region be further divided into subregion on the inside of lower-left, in lower inner side subregion and the right side
Lower inner side subregion；
Average and Relative Euler angle to the 3-axis acceleration data of each time window data carry out above-mentioned compare to determine
Obtain the corresponding subregion of each time window data：
The summation of time window length of the corresponding time window data of each subregion is counted as the coverage rate of each subregion, will
The coverage rate of each subregion is added and obtains coverage rate of brushing teeth.
Preferably, to be worth to positive appearance rate of brushing teeth according to the variance of three axis angular rate data of each time window data further
Including：
To being determined as brushing action and corresponding tooth regions are that the time window data for answering brushing tooth regions is carried out
It is following to judge：If the variance yields of the Z axis angular velocity data of the time window data reaches the brushing empirical value of setting and divided
Not great Yu X, the variance yields of Y-axis angular velocity data when, judge the time window data that the time window data acts as brushing；
Statistics respectively answers the summation of the time window length of the corresponding time window data of brushing tooth regions as should respectively stroke
The positive appearance rate of brush tooth regions, the positive appearance rate for respectively answering brushing tooth regions is added and obtains positive appearance rate of brushing teeth.
Preferably, it is described to answer brushing tooth regions to include：Subregion on the outside of lower-left, in lower outside subregion, subregion on the outside of bottom right,
Subregion on the inside of bottom right, subregion on the inside of lower-left, subregion on the outside of upper left, in upper outside subregion, right upper lateral subregion, subregion on the inside of upper left
With right upper medial subregion.
Preferably, in step S5, it is multiplied by respectively with positive appearance rate of brushing teeth in the duration that will brush teeth, coverage rate of brushing teeth each self-corresponding
It is added after weight, obtains also including before brushing evaluation result：
Whether judgement brushes teeth duration more than 180 seconds, if the duration that will then brush teeth is set to 180 seconds.
Preferably, this method also includes：
S6, brushed teeth by voice or image feedback duration, coverage rate of brushing teeth, brush teeth positive appearance rate and brushing evaluation result.
A kind of brushing evaluation system for performing above-mentioned brushing evaluation method, including perform step S1 intelligent toothbrush and with institute
State the execution step S2-S5 of intelligent toothbrush wireless connection intelligent terminal.
Preferably, the intelligent terminal is also brushed teeth duration, coverage rate of brushing teeth, positive appearance rate of brushing teeth by voice or image feedback
With brushing evaluation result.
Beneficial effects of the present invention are as follows：
Technical scheme of the present invention can be from three sides of level of coverage of duration of brushing teeth, the correctness of action and brushing zone
Face carries out comprehensive analysis, so that quantitatively evaluating is carried out to the quality brushed teeth, and by evaluation result immediate feedback to user.
Brief description of the drawings
The embodiment to the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 shows the flow chart of brushing evaluation method.
Fig. 2 shows to calculate brushing time flow chart.
Fig. 3 shows the axial schematic diagram of three axis accelerometer.
Fig. 4 shows to recognize the flow chart of different dental subregion.
Fig. 5 shows adult tooth facet, subregion schematic diagram.
Fig. 6 shows to recognize the flow chart of brushing.
Embodiment
In order to illustrate more clearly of the present invention, the present invention is done further with reference to preferred embodiments and drawings
It is bright.Similar part is indicated with identical reference in accompanying drawing.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As shown in figure 1, a kind of brushing evaluation method disclosed by the invention comprises the following steps：
A kind of brushing evaluation method, comprises the following steps：
Three axles of the three axis accelerometer output that S1, collection are placed in intelligent toothbrush (Related product for including intelligent toothbrush)
Acceleration signal and three axis angular rate signals of three-axis gyroscope output use moving average filtering algorithm pair as sampled data
Sampled data is filtered；
S2, using fixed length window split plot design the sampled data of collection is divided into multiple time window datas；
S3, the average of the 3-axis acceleration data of each time window data of calculating, the variance yields of resultant acceleration data, He Jiao
The variance yields of the variance yields of speed data and three axis angular rate data；And the quaternary number of sampled data is calculated, quaternary number is carried out
Attitude algorithm obtains Relative Euler angle；
S4, the variance yields according to the resultant acceleration data of each time window data and close the variance of angular velocity data and be worth to
Brush teeth duration；Coverage rate of brushing teeth is obtained according to the average of the 3-axis acceleration data of each time window data and Relative Euler angle；
Positive appearance rate of brushing teeth is worth to according to the variance of three axis angular rate data of each time window data；
Whether S5, judgement brush teeth duration more than 180 seconds, if the duration that will then brush teeth is set to 180 seconds, when will brush teeth afterwards
Long, coverage rate of brushing teeth is added after being multiplied by each self-corresponding weight respectively with positive appearance rate of brushing teeth, and obtains brushing evaluation result；
S6, brushed teeth by voice or image feedback duration, coverage rate of brushing teeth, brush teeth positive appearance rate and brushing evaluation result.
Wherein,
In step S4,
Brush is worth to according to the variance yields of the resultant acceleration data of each time window data and the variance for closing angular velocity data
Tooth duration further comprises：
By the variance yields of the variance yields of the resultant acceleration data of each time window data and conjunction angular velocity data and setting
Brushing action empirical value is compared to brushing action judgement, will be determined as the time window of the time window data of brushing action
The summation of mouth length is used as brushing time.
Entered according to the average of the 3-axis acceleration data of each time window data and Relative Euler the angle coverage rate that obtains brushing teeth
One step includes：
According to the comparison of X-axis and Y-axis acceleration mean absolute value size, tooth regions are divided into occlusal surface region and non-stung
Conjunction face region；
According to the positive and negative of Y-axis acceleration average, occlusal surface tooth regions are divided into upper occlusal surface region and lower occlusal surface area
Domain；With reference to the size at Relative Euler angle, upper occlusal surface region is further divided into upper left occlusal surface subregion, upper right occlusal surface point
Area, lower-left occlusal surface subregion and bottom right occlusal surface subregion are further divided into by lower occlusal surface region；
According to the positive and negative of Y-axis acceleration average and its comparison with non-occlusive face empirical value, by non-occlusive face tooth
Region is divided into non-occlusive face upper tooth region and non-occlusive face lower tooth region；According to the positive and negative of X-axis acceleration average, by non-occlusive face
Upper tooth region is divided into non-occlusive face upper tooth exterior lateral area and non-occlusive face upper tooth inside region, and non-occlusive face lower tooth region is divided into
Non-occlusive face lower tooth exterior lateral area and non-occlusive face lower tooth inside region；
With reference to Relative Euler angle size, by non-occlusive face upper tooth exterior lateral area be further divided into subregion on the outside of upper left, on
Outside subregion and right upper lateral subregion；By non-occlusive face upper tooth inside region be further divided into subregion on the inside of upper left, in upper inner side
Subregion and right upper medial subregion；By non-occlusive face lower tooth exterior lateral area be further divided into subregion on the outside of lower-left, in lower outside subregion
With subregion on the outside of bottom right；By non-occlusive face lower tooth inside region be further divided into subregion on the inside of lower-left, in lower inner side subregion and the right side
Lower inner side subregion；
Average and Relative Euler angle to the 3-axis acceleration data of each time window data carry out above-mentioned compare to determine
Obtain the corresponding subregion of each time window data：
The summation of time window length of the corresponding time window data of each subregion is counted as the coverage rate of each subregion, will
The coverage rate of each subregion is added and obtains coverage rate of brushing teeth.
Positive appearance rate of brushing teeth is worth to according to the variance of three axis angular rate data of each time window data to further comprise：
To being determined as brushing action and corresponding tooth regions are that the time window data for answering brushing tooth regions is carried out
It is following to judge：If the variance yields of the Z axis angular velocity data of the time window data reaches the brushing empirical value of setting and divided
Not great Yu X, the variance yields of Y-axis angular velocity data when, judge the time window data that the time window data acts as brushing；
Statistics respectively answers the summation of the time window length of the corresponding time window data of brushing tooth regions as should respectively stroke
The positive appearance rate of brush tooth regions, the positive appearance rate for respectively answering brushing tooth regions is added and obtains positive appearance rate of brushing teeth.
Brushing tooth regions are answered to include：Subregion on the outside of lower-left, in lower outside subregion, subregion on the outside of bottom right, on the inside of bottom right point
Area, subregion on the inside of lower-left, subregion on the outside of upper left, in upper outside subregion, right upper lateral subregion, subregion and right upper medial on the inside of upper left
Subregion.
Above-mentioned brushing evaluation method can be divided into four steps from another point of view：Brush teeth duration and being multiplied by of calculating is brushed teeth duration power
Weight α show that duration total score of brushing teeth, calculating are brushed teeth and coverage rate and is multiplied by coverage rate weight beta of brushing teeth and show that coverage rate of brushing teeth must
Point, calculate to brush teeth and positive appearance rate and be multiplied by the positive appearance rate weight γ that brushes teeth and draw brush teeth positive appearance rate total score, wherein alpha+beta+γ=100,
Duration total score, coverage rate of the brushing teeth total score of finally brushing teeth are added with positive appearance rate total score of brushing teeth and obtain total score of brushing teeth.
Wherein,
Show that duration total score of brushing teeth further is wrapped as shown in Fig. 2 calculating to brush teeth duration and be multiplied by duration weight α of brushing teeth
Include：
The 3-axis acceleration signal for the three axis accelerometer output that collection is placed in intelligent toothbrush and three-axis gyroscope output
Three axis angular rate signals as sampled data, sampled data includes the 3-axis acceleration signal a of ith sample pointx(i)、ay
(i)、az(i) with three axis angular rate signal ωx(i)、ωy(i)、ωz(i), axial information is as shown in Figure 3；Moved afterwards using n ranks
Dynamic average filter algorithm is filtered to sampled data, eliminates influence of noise；With n=5, output signal ax(i) it is mobile flat exemplified by
Equal Filtering Formula is:
The sampled data of collection is divided into multiple time window datas, each time window using fixed length window split plot design
(for example, time window 1 second, sample frequency is 10Hz to sampled data of the packet containing N number of sampled point, then each time window number
According to the sampled data for including 10 sampled points)；
Calculate the variance yields of the resultant acceleration data of each time window data and close the variance yields of angular velocity data, time window
The resultant acceleration data of mouthful data areThe conjunction angular velocity data of time window data is：The variance yields of the resultant acceleration data of time window data is
The wherein average of the resultant acceleration data of time window dataThe conjunction angular velocity data of time window data
Variance yields isWherein time window data conjunction angular velocity data average
By the variance yields of the variance yields of the resultant acceleration data of each time window data and conjunction angular velocity data and setting
Brushing action empirical value is compared to brushing action judgement, excludes static and random rolling action, will be determined as brushing action
The summation of time window length of time window data be used as duration of brushing teeth.
After the duration that obtains brushing teeth, whether judgement duration of brushing teeth is more than 180 seconds (3 minutes), if the duration that will then brush teeth is set
For 180 seconds, if covering with 180 seconds when brushing teeth, duration of brushing teeth was scored at duration weight α of brushing teeth；If duration of brushing teeth was less than 180 seconds, example
A seconds (A are such as brushed<180) duration of, then brushing teeth must be divided into (A/180) × α.
Show that coverage rate total score of brushing teeth enters one as shown in figure 4, calculating to brush teeth coverage rate and be multiplied by coverage rate weight beta of brushing teeth
Step includes：
The 3-axis acceleration signal for the three axis accelerometer output that collection is placed in intelligent toothbrush and three-axis gyroscope output
Three axis angular rate signals as sampled data, sampled data includes the 3-axis acceleration signal a of ith sample pointx(i)、ay
(i)、az(i) with three axis angular rate signal ωx(i)、ωy(i)、ωz(i), axial information is as shown in Figure 3；Moved afterwards using n ranks
Dynamic average filter algorithm is filtered to sampled data, eliminates influence of noise；With n=5, output signal ax(i) it is mobile flat exemplified by
Equal Filtering Formula is:
The sampled data of collection is divided into multiple time window datas, each time window using fixed length window split plot design
(for example, time window 1 second, sample frequency is 10Hz to sampled data of the packet containing N number of sampled point, then each time window number
According to the sampled data for including 10 sampled points)；
The average of the 3-axis acceleration data of each time window data is calculated, X-axis acceleration average is
Y-axis acceleration average isZ axis acceleration average is
The quaternary number of sampled data is calculated, carrying out attitude algorithm to quaternary number obtains Relative Euler angle；
According to the comparison of X-axis and Y-axis acceleration mean absolute value size, tooth regions are divided into occlusal surface and region is non-stings
Conjunction face region；
According to the positive and negative of Y-axis acceleration average, occlusal surface tooth regions are divided into upper occlusal surface region and lower occlusal surface area
Domain；With reference to the size at Relative Euler angle, upper occlusal surface region is further divided into upper left occlusal surface subregion, upper right occlusal surface point
Area, lower-left occlusal surface subregion and bottom right occlusal surface subregion are further divided into by lower occlusal surface region；
According to the positive and negative of Y-axis acceleration average and its comparison with non-occlusive face empirical value, by non-occlusive face tooth
Region (totally 12 subregions) is divided into non-occlusive face upper tooth region and non-occlusive face lower tooth region；According to X-axis acceleration average just
It is negative, non-occlusive face upper tooth region is divided into non-occlusive face upper tooth exterior lateral area and non-occlusive face upper tooth inside region, by non-occlusive
Face lower tooth region is divided into non-occlusive face lower tooth exterior lateral area and non-occlusive face lower tooth inside region；
With reference to Relative Euler angle size, by non-occlusive face upper tooth exterior lateral area be further divided into subregion on the outside of upper left, on
Outside subregion and right upper lateral subregion；By non-occlusive face upper tooth inside region be further divided into subregion on the inside of upper left, in upper inner side
Subregion and right upper medial subregion；By non-occlusive face lower tooth exterior lateral area be further divided into subregion on the outside of lower-left, in lower outside subregion
With subregion on the outside of bottom right；By non-occlusive face lower tooth inside region be further divided into subregion on the inside of lower-left, in lower inner side subregion and the right side
Lower inner side subregion；
Average and Relative Euler angle to the 3-axis acceleration data of each time window data carry out above-mentioned compare to determine
Obtain the corresponding subregion of each time window data：
The summation of time window length of the corresponding time window data of each subregion is counted as the coverage rate of each subregion, will
The coverage rate of each subregion is added and obtains coverage rate of brushing teeth.
As shown in Fig. 5 and table one, identification region is 16 subregions, and each subregion has its corresponding brushing time, each
Subregion coverage rate accounting is (1/16) * 100%=6.25%.If a certain subregion corresponding time is ti`Second, then the subregion is often brushed
Coverage rate shared by one second is (6.25/ti`) × 100%；According to above-mentioned rule, total coverage rate after terminating of brushing teeth can be calculatedCoverage rate of then brushing teeth must be divided into B × β.
Table one：Adult tooth position facet, subregion explanation
Show that positive appearance rate total score of brushing teeth is entered as shown in fig. 6, calculating to brush teeth positive appearance rate and be multiplied by the positive appearance rate weight γ that brushes teeth
One step includes：
The 3-axis acceleration signal for the three axis accelerometer output that collection is placed in intelligent toothbrush and three-axis gyroscope output
Three axis angular rate signals as sampled data, sampled data includes the 3-axis acceleration signal a of ith sample pointx(i)、ay
(i)、az(i) with three axis angular rate signal ωx(i)、ωy(i)、ωz(i), axial information is as shown in Figure 3；Moved afterwards using n ranks
Dynamic average filter algorithm is filtered to sampled data, eliminates influence of noise；With n=5, output signal ax(i) it is mobile flat exemplified by
Equal Filtering Formula is:
The sampled data of collection is divided into multiple time window datas, each time window using fixed length window split plot design
(for example, time window 1 second, sample frequency is 10Hz to sampled data of the packet containing N number of sampled point, then each time window number
According to the sampled data for including 10 sampled points)；
Calculate the variance yields of the resultant acceleration data of each time window data, close the variance yields and three shaft angles of angular velocity data
The variance yields of speed data, the resultant acceleration data of time window data areTime window
The conjunction angular velocity data of mouthful data is：The resultant acceleration data of time window data
Variance yields beThe wherein average of the resultant acceleration data of time window data
The variance yields of the conjunction angular velocity data of time window data isThe wherein conjunction of time window data
The average of angular velocity dataThe variance yields of X-axis angular velocity data isWhereinThe variance yields of Y-axis angular velocity data isWherein
The variance yields of Z axis angular velocity data isWherein
By the variance yields of the variance yields of the resultant acceleration data of each time window data and conjunction angular velocity data and setting
Brushing action empirical value is compared to brushing action judgement, excludes static and random rolling action；
To being determined as brushing action and corresponding tooth regions are that the time window data for answering brushing tooth regions is carried out such as
It is lower to judge：Brushing action Z axis angular velocity data is changed significantly, if so Z axis angular velocity data of the time window data
Variance yields reach the brushing empirical value and the respectively greater than variance yields of X-axis angular velocity data and Y-axis angular speed number of setting
According to variance yields when, judge the time window data that the time window data acts as brushing；
Statistics respectively answers the summation of the time window length of the corresponding time window data of brushing tooth regions as should respectively stroke
The positive appearance rate of brush tooth regions, the positive appearance rate for respectively answering brushing tooth regions is added and obtains positive appearance rate of brushing teeth.
As shown in Table 2, brushing tooth regions are answered to have 10, each subregion brushes teeth positive appearance rate accounting for (1/10) *
100%=10%；If its corresponding brushing time is tjSecond, then the region often the brush positive appearance rate accounting of one second be (10/tj)*
100%；According to above-mentioned rule, total positive appearance rate after terminating of brushing teeth can be calculatedThen brush teeth positive appearance rate
C × γ must be divided into.
Table two is brushed teeth coverage rate and positive appearance rate accounting explanation
| Subregion | Subregion duration (s) | Coverage rate accounting (%) per second | Brushing | Positive appearance rate accounting (%) per second |
| Subregion on the outside of lower-left | 12 | 0.52 | It is | 0.83 |
| In lower outside subregion | 9 | 0.69 | It is | 1.11 |
| Subregion on the outside of bottom right | 12 | 0.52 | It is | 0.83 |
| Subregion on the inside of bottom right | 18 | 0.35 | It is | 0.56 |
| In lower inner side subregion | 9 | 0.69 | It is no | —— |
| Subregion on the inside of lower-left | 18 | 0.35 | It is | 0.56 |
| Subregion on the outside of upper left | 12 | 0.52 | It is | 0.83 |
| In upper outside subregion | 9 | 0.69 | It is | 1.11 |
| Right upper lateral subregion | 12 | 0.52 | It is | 0.83 |
| Right upper medial subregion | 18 | 0.35 | It is | 0.56 |
| In upper inner side subregion | 9 | 0.69 | It is no | —— |
| Subregion on the inside of upper left | 18 | 0.35 | It is | 0.56 |
| Upper left occlusal surface subregion | 6 | 1.04 | It is no | —— |
| Lower-left occlusal surface subregion | 6 | 1.04 | It is no | —— |
| Bottom right occlusal surface subregion | 6 | 1.04 | It is no | —— |
| Upper right occlusal surface subregion | 6 | 1.04 | It is no | —— |
Final brushes teeth and must be divided into:Brushing_score=(A/180) * α+B × β+C × γ.
The concrete numerical value of each threshold value in the present invention depend on different manufacturers different model sensor (sensor include three
Axis accelerometer and three-axis gyroscope), the codomain and precision of the sensor of each model are different, and result in can not provide one
The individual threshold value for being generally applicable all the sensors.Threshold value determination method can be as follows：Select good sensor and corresponding supporting hard
After part, by dentist professional person, repeatedly statistics is drawn in an experiment.
The invention also discloses a kind of brushing evaluation system for performing above-mentioned brushing evaluation method, including perform step S1's
Intelligent toothbrush and the intelligent terminal with the execution step S2-S6 of intelligent toothbrush wireless connection, wireless connection can be bluetooth or WIFI
Direct-connected etc., intelligent terminal can be smart mobile phone or tablet personal computer etc..
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention, for those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms, all embodiments can not be exhaustive here, it is every to belong to this hair
Row of the obvious changes or variations that bright technical scheme is extended out still in protection scope of the present invention.
Claims (10)
1. a kind of brushing evaluation method, it is characterised in that this method comprises the following steps：
What the 3-axis acceleration signal and three-axis gyroscope for the three axis accelerometer output that S1, collection are placed in intelligent toothbrush were exported
Three axis angular rate signals are used as sampled data；
S2, using fixed length window split plot design the sampled data of collection is divided into multiple time window datas；
S3, the average of the 3-axis acceleration data of each time window data of calculating, the variance yields of resultant acceleration data, conjunction angular speed
The variance yields of the variance yields of data and three axis angular rate data；And the quaternary number of sampled data is calculated, posture is carried out to quaternary number
Resolving obtains Relative Euler angle；
S4, the variance yields according to the resultant acceleration data of each time window data and close the variance of angular velocity data and be worth to and brush teeth
Duration；Coverage rate of brushing teeth is obtained according to the average of the 3-axis acceleration data of each time window data and Relative Euler angle；According to
The variance of three axis angular rate data of each time window data is worth to positive appearance rate of brushing teeth；
S5, the duration that will brush teeth, coverage rate of brushing teeth are added after being multiplied by each self-corresponding weight respectively with positive appearance rate of brushing teeth, and are brushed teeth
Evaluation result.
2. brushing evaluation method according to claim 1, it is characterised in that step S1 also includes：Filtered using rolling average
Ripple algorithm is filtered to sampled data.
3. brushing evaluation method according to claim 1, it is characterised in that in step S4, according to each time window data
Resultant acceleration data variance yields and close the variance of angular velocity data and be worth to duration of brushing teeth and further comprise：
By brushing teeth for the variance yields and setting of the variance yields of the resultant acceleration data of each time window data and conjunction angular velocity data
Action empirical value is compared to brushing action judgement, will be determined as that the time window of the time window data of brushing action is long
The summation of degree is used as brushing time.
4. brushing evaluation method according to claim 3, it is characterised in that in step S4, according to each time window data
3-axis acceleration data average and the Relative Euler angle coverage rate that obtains brushing teeth further comprise：
According to the comparison of X-axis and Y-axis acceleration mean absolute value size, tooth regions are divided into occlusal surface region and non-occlusive face
Region；
According to the positive and negative of Y-axis acceleration average, occlusal surface tooth regions are divided into upper occlusal surface region and lower occlusal surface region；Knot
The size at Relative Euler angle is closed, upper occlusal surface region is further divided into upper left occlusal surface subregion, upper right occlusal surface subregion, by under
Occlusal surface region is further divided into lower-left occlusal surface subregion and bottom right occlusal surface subregion；
According to the positive and negative of Y-axis acceleration average and its comparison with non-occlusive face empirical value, by non-occlusive face tooth regions
It is divided into non-occlusive face upper tooth region and non-occlusive face lower tooth region；According to the positive and negative of X-axis acceleration average, by non-occlusive face upper tooth
Region is divided into non-occlusive face upper tooth exterior lateral area and non-occlusive face upper tooth inside region, and non-occlusive face lower tooth region is divided into non-sting
Conjunction face lower tooth exterior lateral area and non-occlusive face lower tooth inside region；
With reference to Relative Euler angle size, by non-occlusive face upper tooth exterior lateral area be further divided into subregion on the outside of upper left, in upper outside
Subregion and right upper lateral subregion；By non-occlusive face upper tooth inside region be further divided into subregion on the inside of upper left, in upper inner side subregion
With right upper medial subregion；By non-occlusive face lower tooth exterior lateral area be further divided into subregion on the outside of lower-left, in lower outside subregion and the right side
Lower outside subregion；By non-occlusive face lower tooth inside region be further divided into subregion on the inside of lower-left, in lower inner side subregion and bottom right
Side subregion；
Average and Relative Euler angle to the 3-axis acceleration data of each time window data carry out above-mentioned compare to determine and obtained
The corresponding subregion of each time window data：
Count the corresponding time window data of each subregion time window length summation as each subregion coverage rate, by each point
The coverage rate in area is added and obtains coverage rate of brushing teeth.
5. brushing evaluation method according to claim 4, it is characterised in that in step S4, according to each time window data
The variances of three axis angular rate data be worth to positive appearance rate of brushing teeth and further comprise：
To be determined as brushing action and corresponding tooth regions be answer brushing tooth regions time window data carry out it is as follows
Judge：If the variance yields of the Z axis angular velocity data of the time window data reaches the brushing empirical value of setting and big respectively
When X, the variance yields of Y-axis angular velocity data, the time window data that the time window data acts as brushing is judged；
Statistics respectively answers the summation of the time window length of the corresponding time window data of brushing tooth regions as respectively answering brushing tooth
The positive appearance rate in tooth region, the positive appearance rate for respectively answering brushing tooth regions is added and obtains positive appearance rate of brushing teeth.
6. brushing evaluation method according to claim 5, it is characterised in that described to answer brushing tooth regions to include：Lower-left
Outside subregion, in lower outside subregion, subregion on the outside of bottom right, subregion on the inside of bottom right, subregion on the inside of lower-left, subregion on the outside of upper left, in
Upper outside subregion, right upper lateral subregion, upper left inner side subregion and right upper medial subregion.
7. brushing evaluation method according to claim 1, it is characterised in that in step S5, in the duration that will brush teeth, brushes teeth and covers
Lid rate is added after being multiplied by each self-corresponding weight respectively with positive appearance rate of brushing teeth, and obtains also including before brushing evaluation result：
Whether judgement brushes teeth duration more than 180 seconds, if the duration that will then brush teeth is set to 180 seconds.
8. brushing evaluation method according to claim 1, it is characterised in that this method also includes：
S6, brushed teeth by voice or image feedback duration, coverage rate of brushing teeth, brush teeth positive appearance rate and brushing evaluation result.
9. a kind of brushing evaluation system for performing brushing evaluation method as claimed in claim 1, it is characterised in that the system bag
Include execution step S1 intelligent toothbrush and the intelligent terminal with the execution step S2-S5 of the intelligent toothbrush wireless connection.
10. brushing evaluation system according to claim 9, it is characterised in that the intelligent terminal also passes through voice or figure
As feeding back brush teeth duration, coverage rate of brushing teeth, brush teeth positive appearance rate and brushing evaluation result.
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| CN110377159A (en) * | 2019-07-24 | 2019-10-25 | 张洋 | Action identification method and device |
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