CN108594640A - A kind of intelligent electric frequency conversion toothbrush, control system and method - Google Patents
A kind of intelligent electric frequency conversion toothbrush, control system and method Download PDFInfo
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/027—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using neural networks only
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Abstract
The invention discloses a kind of intelligent electric frequency conversion toothbrush, control system and methods, Eulerian angles calculation of initial value is carried out to the acceleration parameter after being filtered by initial Eulerian angles computing module, electric toothbrush inertial attitude is resolved according to angular speed parameter and initial Eulerian angles by strap down inertial navigation attitude algorithm module, keeps resolving module to keep parameter to resolve the posture of electric toothbrush according to angular speed, acceleration or direction magnetic field parameter by posture；Dental area judgment module judges that the dental area that toothbrush is being brushed teeth, vibration frequency adjustment module are adjusted the vibration frequency of electric toothbrush according to the dental area brushed teeth that dental area judgment module judges according to the attitude parameter during toothbrush use.The present invention is realized according to tooth different parts and posture adjust automatically acoustic wave vibrations frequency of brushing teeth, and not only ensure that cleaning effect but also had been improved experience of brushing teeth, and promoted the effect of oral cleaning, life is allowed to become more interesting and intelligent.
Description
Technical field
The present invention relates to intelligent toothbrush technical fields, and in particular to a kind of intelligent electric frequency conversion toothbrush, control system and side
Method.
Background technology
Intelligent electric toothbrush is a kind of novel high-tech toothbrush, usually can analyze user of toothbrushing custom, and pass through movement
Data are included on smart mobile phone by application software.Applicant has applied for a kind of intelligent electric toothbrush, toothbrush spatial attitude a few days ago
Obtain system and method, accurate attitude data of brushing teeth can not be obtained by solving existing intelligent toothbrush, can be promoted toothbrush with
Interactive experience between terminal records user of toothbrushing behavior, analyzes toothbrushing effect, realizes the digitization of behavior of brushing teeth and visual
Change, accurately acquires brush teeth attitude data and real time data.
In the prior art, intelligent toothbrush can only use same frequency in the same process once brushed teeth.But ours is every
The vibrations pressure that one tooth is born is different, this is determined by the construction of tooth, suppose front tooth and rear molar, separately
Outside, the vibrations pressure that same tooth inner side and outer side is born is also different.If we use molar frequency after cleaning
Front tooth is cleaned, certainly will not be comfortable, conversely, the cleaning effect of rear molar will have a greatly reduced quality.Although Publication No.
The Chinese patent of CN201610368449.2 discloses a kind of the oscillation intensity control method and system of electric toothbrush, by brushing
When head vibration, the pressure data of brush head is detected in real time；The pressure value of brush head is calculated according to pressure data；Judge pressure value whether
In pre-set pressure range；When pressure value is in pre-set pressure range, control motor with vibration frequency corresponding with pressure value and
Pulse-width signal duty cycle；When pressure value is not in pre-set pressure range, control motor is with preset constant vibration
Frequency and preset constant pulse width modulated signal duty cycle.But the technical solution is still not according to the posture brushed teeth
Toothbrush vibration frequency adjustment is carried out with dental area, therefore there is an urgent need for a kind of new technical solutions to solve existing intelligent electric
The problem of toothbrush, thus applicant carried out further research and development on the basis of the patent applied a few days ago.
Invention content
The purpose of the present invention is to provide a kind of intelligent electric frequency conversion toothbrush, control system and methods, can be according to tooth
Different parts and posture adjust automatically acoustic wave vibrations frequency of brushing teeth, not only ensure that cleaning effect but also had improved experience of brushing teeth.
To achieve the above object, the technical scheme is that：A kind of intelligent electric frequency conversion toothbrush, the electric toothbrush packet
Data acquisition module, filter module, initial Eulerian angles computing module, strap down inertial navigation attitude algorithm module, posture is included to keep resolving
Module, dental area judgment module and vibration frequency adjust module；The data acquisition module is established with the filter module to be connected
Relationship is connect, data acquisition module is used to obtain angular speed, the acceleration of electric toothbrush by gyroscope, accelerometer or magnetometer
Or direction magnetic field parameter；The filter module be used for the electric toothbrush angular speed, acceleration or direction magnetic field parameter of acquisition into
Row filtering；The initial Eulerian angles computing module establishes a connection with the filter module, and initial Eulerian angles computing module is used
According to the acceleration parameter progress Eulerian angles calculation of initial value after being filtered；The strap down inertial navigation attitude algorithm module and institute
It states filter module and initial Eulerian angles computing module establishes a connection, strap down inertial navigation attitude algorithm module is used for according to angular speed
Parameter and initial Eulerian angles resolve electric toothbrush inertial attitude；The posture keeps resolving module and the filter module
It establishes a connection, posture keeps resolving module to be used for according to angular speed, acceleration or direction magnetic field parameter to electric toothbrush
Posture keeps parameter to be resolved；The dental area judgment module is established connection with the strap down inertial navigation attitude algorithm module and is closed
System, dental area judgment module are used to judge tooth portion that toothbrush is being brushed teeth according to the attitude parameter during toothbrush use
Position；The vibration frequency adjustment module establishes connection pass with the strap down inertial navigation attitude algorithm module and dental area judgment module
System, vibration frequency adjustment module are used for the tooth of brushing teeth of the brush teeth posture and the judgement of dental area judgment module according to electric toothbrush
Position adjusts the vibration frequency of toothbrush in real time.
A kind of intelligent electric frequency conversion toothbrush as described above, the electric toothbrush further include that posture fusion resolves module, institute
State posture fusion resolving module keeps resolving module to establish a connection with the strap down inertial navigation attitude algorithm module and posture, appearance
State fusion resolving module is used to keep parameter to carry out fusion the posture of electric toothbrush to resolve realization Eulerian angles error correction.Euler
Angle is the angular relationship for characterizing rigid body relative to some with reference to rectangular coordinate system.In life, pitch angle, roll angle and side
Parallactic angle is the most common type Eulerian angles, and it is reference frame usually to take ground level coordinate system, which is defined as：Coordinate is former
Point O is located on local horizontal horizontal plane, and OX axis and OY axle positions are in horizontal plane, and OZ axis is vertically upward.
Further, the electric toothbrush further includes Eulerian angles output module, the Eulerian angles output module and the posture
Fusion resolve module establish a connection, Eulerian angles output module be used for posture merge resolve the revised Eulerian angles of module into
Row output.
A kind of intelligent electric frequency conversion toothbrush as described above, the data acquisition module is configured with gyroscope, accelerometer
And magnetometer, the gyroscope are used to obtain position, motion track and the acceleration parameter of electric toothbrush；The accelerometer is used
In the acceleration parameter for obtaining electric toothbrush；The magnetometer is used to obtain the geomagnetic parameter of electric toothbrush.
The present invention also provides a kind of intelligent electric frequency conversion toothbrush control system, the control system includes above-mentioned electric tooth
Brush, the control system further include mobile terminal, Cloud Server and data screening module, the electric toothbrush and the cloud service
Device is established a connection by wireless telecommunications, and the electric toothbrush attitude data of brushing teeth obtained in the process that will brush teeth is transferred to the cloud
Server；The mobile terminal is established a connection with the Cloud Server by wireless telecommunications, and mobile terminal is for receiving cloud
The attitude data message of brushing teeth of server platform push；The data screening module establishes a connection with Cloud Server, data
Screening module is used to carry out accuracy screening to the attitude data of brushing teeth for uploading to Cloud Server.
A kind of intelligent electric frequency conversion toothbrush control system as described above, the control system further includes deep learning mould
Block, the deep learning module establish a connection with electric toothbrush, and deep learning module is by neural network algorithm according to cloud
The tooth-brushing habit of the accumulative user's routine use data study user of server, the acquisition of deep learning module are suitable for each user
The attitude data of brushing teeth of oral cavity feature.
The present invention also provides a kind of intelligent electric frequency conversion toothbrush control method, the control method uses above-mentioned electric tooth
Brush, is realized, the control method includes the following steps by above-mentioned control system：
Step 1：Electric toothbrush is obtained respectively using gyroscope, accelerometer and magnetometer by data acquisition module
Angular speed, acceleration or direction magnetic field parameter；
Step 2：The angular speed of the electric toothbrush of acquisition, acceleration or direction magnetic field parameter are carried out by filter module
It is filtered；
Step 3：Eulerian angles initial value is carried out to the acceleration parameter after being filtered by initial Eulerian angles computing module
It calculates, electric toothbrush inertial attitude is carried out according to angular speed parameter and initial Eulerian angles by strap down inertial navigation attitude algorithm module
It resolves, keeps resolving posture holding of the module according to angular speed, acceleration or direction magnetic field parameter to electric toothbrush by posture
Parameter is resolved；
Step 4：Dental area judgment module judges what toothbrush was being brushed teeth according to the attitude parameter during toothbrush use
Dental area, the dental area brushed teeth that vibration frequency adjustment module judges according to dental area judgment module is to electric tooth
The vibration frequency of brush is adjusted.
A kind of intelligent electric frequency conversion toothbrush control method as described above further includes being melted by posture in the step 3
Resolving module is closed to keep the posture for resolving module that parameter is kept to carry out fusion resolving posture and carry out Eulerian angles error correction, by
Eulerian angles calibration corrections feed back to strap down inertial navigation attitude algorithm module.
A kind of intelligent electric frequency conversion toothbrush control method as described above further includes vibration frequency tune in the step 3
Mould preparation root tuber is adjusted the vibration frequency of electric toothbrush according to the posture of brushing teeth that strap down inertial navigation attitude algorithm module resolves.
The present invention is equipped with data acquisition module, filter module, initial Eulerian angles computing module, strap down inertial navigation attitude algorithm mould
Block, posture keep resolving module, dental area judgment module and vibration frequency adjustment module；Data acquisition module passes through gyro
Instrument, accelerometer or magnetometer obtain angular speed, acceleration or the direction magnetic field parameter of electric toothbrush；Filter module is to acquisition
Electric toothbrush angular speed, acceleration or direction magnetic field parameter are filtered；After initial Eulerian angles computing module is according to being filtered
Acceleration parameter carry out Eulerian angles calculation of initial value；Strap down inertial navigation attitude algorithm module is according to angular speed parameter and initial Euler
Angle resolves electric toothbrush inertial attitude；Posture keeps resolving module according to angular speed, acceleration or direction magnetic field parameter
Parameter is kept to resolve the posture of electric toothbrush；Dental area judgment module is according to the attitude parameter during toothbrush use
Judge the dental area that toothbrush is being brushed teeth；Vibration frequency adjust module according to electric toothbrush brush teeth posture and dental area is sentenced
The dental area of brushing teeth that disconnected module judges adjusts the vibration frequency of toothbrush in real time.The present invention is realized according to tooth difference portion
Position and posture adjust automatically acoustic wave vibrations frequency of brushing teeth, not only ensure that cleaning effect but also had improved experience of brushing teeth, and it is clear to promote oral cavity
Clean effect allows life to become more interesting and intelligent.
Description of the drawings
Fig. 1 is intelligent electric frequency conversion Tooth-brush structure schematic diagram；
Fig. 2 is intelligent electric frequency conversion toothbrush control system schematic diagram；
Fig. 3 is intelligent electric frequency conversion toothbrush control method schematic diagram；
Fig. 4 is that intelligent electric frequency conversion toothbrush brush body reference frame defines schematic diagram；
Fig. 5 is the Eulerian angles relational graph of intelligent electric frequency conversion toothbrush and reference frame.
Specific implementation mode
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
As shown in Figure 1, a kind of intelligent electric frequency conversion toothbrush, electric toothbrush includes data acquisition module 1, filter module 2, just
Beginning Eulerian angles computing module 3, strap down inertial navigation attitude algorithm module 4, posture keep resolving module 5,6 and of dental area judgment module
Vibration frequency adjusts module 7；Data acquisition module 1 establishes a connection with filter module 2, and data acquisition module 1 is for passing through
Gyroscope, accelerometer or magnetometer obtain angular speed, acceleration or the direction magnetic field parameter of electric toothbrush；Filter module 2 is used
It is filtered in the electric toothbrush angular speed, acceleration or direction magnetic field parameter to acquisition；Initial Eulerian angles computing module 3 and filter
Wave module 2 establishes a connection, and initial Eulerian angles computing module 3 is used to carry out Euler according to the acceleration parameter after being filtered
Angle calculation of initial value；Strap down inertial navigation attitude algorithm module 4 establishes connection pass with filter module 2 and initial Eulerian angles computing module 3
System, strap down inertial navigation attitude algorithm module 4 are used to carry out electric toothbrush inertial attitude according to angular speed parameter and initial Eulerian angles
It resolves；Posture keeps resolving module 5 to establish a connection with filter module 2, and posture keeps resolving module 5 for according to angle speed
Degree, acceleration or direction magnetic field parameter keep parameter to resolve the posture of electric toothbrush；Dental area judgment module 6 and victory
Connection inertial attitude resolves module 4 and establishes a connection, and dental area judgment module 6 is used for according to the posture during toothbrush use
Parameter judges the dental area that toothbrush is being brushed teeth；Vibration frequency adjusts module 7 and strap down inertial navigation attitude algorithm module 4 and tooth
Position judgment module 6 establishes a connection, and vibration frequency adjusts module 7 for brush teeth posture and the tooth portion according to electric toothbrush
The dental area of brushing teeth that position judgment module 6 judges adjusts the vibration frequency of toothbrush in real time.
In one embodiment of intelligent electric frequency conversion toothbrush, electric toothbrush further includes that posture fusion resolves module 8, and posture is melted
Close resolving module 8 keeps resolving module 5 to establish a connection with strap down inertial navigation attitude algorithm module 4 and posture, posture fusion solution
Module 8 is calculated to be used to keep parameter to carry out fusion resolving the posture of electric toothbrush to realize Eulerian angles error correction.Electric toothbrush is also
Including Eulerian angles output module 9, Eulerian angles output module 9 merges resolving module 8 with posture and establishes a connection, Eulerian angles output
Module 9 is used to merge resolving 8 revised Eulerian angles of module to posture and export.
In one embodiment of intelligent electric frequency conversion toothbrush, data acquisition module 1 is configured with gyroscope, accelerometer and ground
Magnetic meter, gyroscope are used to obtain position, motion track and the acceleration parameter of electric toothbrush；Accelerometer is for obtaining electric tooth
The acceleration parameter of brush；Magnetometer is used to obtain the geomagnetic parameter of electric toothbrush.
Referring to Fig. 2, the present invention also provides a kind of intelligent electric frequency conversion toothbrush control system, control system includes above-mentioned electricity
Dynamic toothbrush, control system further includes mobile terminal 10, Cloud Server 11 and data screening module 12, electric toothbrush and Cloud Server
11 are established a connection by wireless telecommunications, and the electric toothbrush attitude data of brushing teeth obtained in the process that will brush teeth is transferred to cloud service
Device 11；Mobile terminal 10 is established a connection with Cloud Server 11 by wireless telecommunications, and mobile terminal 10 is for receiving cloud service
The attitude data message of brushing teeth of 11 platform of device push；Data screening module 12 establishes a connection with Cloud Server 11, data sieve
Modeling block 12 is used to carry out accuracy screening to the attitude data of brushing teeth for uploading to Cloud Server 11.
In one embodiment of intelligent electric frequency conversion toothbrush control system, control system further includes deep learning module 13,
Deep learning module 13 establishes a connection with electric toothbrush, and deep learning module 13 is by neural network algorithm according to cloud service
The tooth-brushing habit of the accumulative user's routine use data study user of device 11, the acquisition of deep learning module 13 are suitable for each user
The attitude data of brushing teeth of oral cavity feature.
Referring to Fig. 3, the present invention also provides a kind of intelligent electric frequency conversion toothbrush control method, control method uses above-mentioned electricity
Dynamic toothbrush, realizes that control method includes the following steps by above-mentioned control system：
S1：Obtain the angle speed of electric toothbrush respectively using gyroscope, accelerometer and magnetometer by data acquisition module 1
Degree, acceleration or direction magnetic field parameter；
S2：The angular speed of the electric toothbrush of acquisition, acceleration or direction magnetic field parameter are filtered by filter module 2
Processing；
S3：Eulerian angles initial value meter is carried out to the acceleration parameter after being filtered by initial Eulerian angles computing module 3
It calculates, electric toothbrush inertial attitude is carried out according to angular speed parameter and initial Eulerian angles by strap down inertial navigation attitude algorithm module 4
It resolves, keeps resolving posture holding of the module 5 according to angular speed, acceleration or direction magnetic field parameter to electric toothbrush by posture
Parameter is resolved；
S4：Dental area judgment module 6 judges the tooth that toothbrush is being brushed teeth according to the attitude parameter during toothbrush use
Teeth portion position, the dental area brushed teeth that vibration frequency adjustment module 7 judges according to dental area judgment module 6 is to electric tooth
The vibration frequency of brush is adjusted.
In one embodiment of intelligent electric frequency conversion toothbrush control method, further include being merged by posture and resolving mould in S3
Block 8 keeps the posture for resolving module 5 that parameter is kept to carry out fusion resolving posture and carries out Eulerian angles error correction, by Eulerian angles
Calibration corrections feed back to strap down inertial navigation attitude algorithm module 4.
In one embodiment of intelligent electric frequency conversion toothbrush control method, further include that vibration frequency adjusts module 7 in S3
The posture of brushing teeth resolved according to strap down inertial navigation attitude algorithm module 4 is adjusted the vibration frequency of electric toothbrush.
Referring to Fig. 4, the Eulerian angles of toothbrush are calculated in the present embodiment using 6DOF Eulerian angles blending algorithm.Eulerian angles are used
The angular relationship of rectangular coordinate system is referred to relative to some in characterization rigid body.In life, pitch angle, roll angle and azimuth are
The most common type Eulerian angles, it is reference frame usually to take ground level coordinate system, which is defined as：Coordinate origin O
In on local horizontal horizontal plane, OX axis and OY axle positions are in horizontal plane, and OZ axis is vertically upward.
When due to brushing teeth, human body head is little (this is a basic assumption) relative to the angle change on ground, therefore calculates
The reference frame of method toothbrush is selected as earth axes, and Euler's angular dependence is as shown in figure 3, data acquisition module 1 passes through three
Axis gyroscope and three axis accelerometer lead to after a 5ms angular speed of output and acceleration, output times full 8 times (40ms)
Filter module 2 is crossed to be filtered above-mentioned initial data.When brushing teeth, the acceleration of toothbrush is approximately gravity acceleration g, and three axis add
What speedometer measured is component of the acceleration of gravity in three reference axis of toothbrush, and toothbrush pitch angle or roll angle are different, three axis
The component that three axis of accelerometer measure is also different, around this principle, when starting to brush teeth, is calculated by three axis accelerometer
Obtaining the initial Eulerian angles of toothbrush, (wherein, pitch angle and roll angle are calculated by three axis accelerometer measured value, azimuth initial value
Total is 0), later, to carry out strap down inertial navigation attitude algorithm using the angular speed that gyroscope measures, Quaternion Method is used in this algorithm,
Quaternion Method belongs to the prior art, reference can be made to what Light Engineering Institutes Of Zhengzhou Zhang Duo in 2017 was delivered《Strapdown Inertial Navigation System quaternary number
Navigation algorithm research》One text, constantly updates Eulerian angles, to ensure that toothbrush also can be obtained accurately in real time during the motion
Obtain Euler's angle information of brush body.
Can be that the customization of user volume body is only suitable for the acoustic toothbrush of oneself, according to year according to the different situations of user's toothbrush
Age is different, and gender is different, and the color of tooth is different, a rough segmentation can be carried out to vibration frequency, referring to following table：It is divided into 6 etc.
Grade be respectively：1、2、3、4、5、6.1 is most weak, and 6 is most strong.Factory default is 4.
| Grade | Frequency (beat/min) |
| 1 | 20000 |
| 2 | 24000 |
| 3 | 28000 |
| 4 | 31000 |
| 5 | 36000 |
| 6 | 40000 |
The present invention is equipped with data acquisition module 1, filter module 2, initial Eulerian angles computing module 3, strap down inertial navigation posture solution
Calculate module 4, posture keeps resolving module 5, dental area judgment module 6 and vibration frequency adjustment module 7；Data acquisition module 1
Angular speed, acceleration or the direction magnetic field parameter of electric toothbrush are obtained by gyroscope, accelerometer or magnetometer；Filter module
Electric toothbrush angular speed, acceleration or the direction magnetic field parameter of 2 pairs of acquisitions are filtered；Initial 3 basis of Eulerian angles computing module
Acceleration parameter after being filtered carries out Eulerian angles calculation of initial value；Strap down inertial navigation attitude algorithm module 4 is joined according to angular speed
Number and initial Eulerian angles resolve electric toothbrush inertial attitude；Posture keep resolve module 5 according to angular speed, acceleration or
Direction magnetic field parameter keeps parameter to resolve the posture of electric toothbrush；Dental area judgment module 6 was used according to toothbrush
Attitude parameter in journey judges the dental area that toothbrush is being brushed teeth；Vibration frequency adjusts the brushing teeth according to electric toothbrush of module 7
The dental area of brushing teeth that posture and dental area judgment module 6 judge adjusts the vibration frequency of toothbrush in real time.The present invention
It realizes according to tooth different parts and posture adjust automatically acoustic wave vibrations frequency of brushing teeth, not only ensure that cleaning effect but also improved brush
Tooth is experienced, and promotes the effect of oral cleaning, life is allowed to become more interesting and intelligent.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention belong to the scope of protection of present invention.
Claims (9)
1. a kind of intelligent electric frequency conversion toothbrush, it is characterised in that：The electric toothbrush include data acquisition module, filter module,
Initial Eulerian angles computing module, strap down inertial navigation attitude algorithm module, posture keep resolving module, dental area judgment module and shake
Dynamic frequency adjusts module；The data acquisition module establishes a connection with the filter module, and data acquisition module is for leading to
Cross angular speed, acceleration or direction magnetic field parameter that gyroscope, accelerometer or magnetometer obtain electric toothbrush；The filtering mould
Block is for being filtered the electric toothbrush angular speed, acceleration or direction magnetic field parameter of acquisition；The initial Eulerian angles calculate
Module establishes a connection with the filter module, and initial Eulerian angles computing module is used for according to the acceleration ginseng after being filtered
Number carries out Eulerian angles calculation of initial value；The strap down inertial navigation attitude algorithm module is calculated with the filter module and initial Eulerian angles
Module establishes a connection, and strap down inertial navigation attitude algorithm module is used for according to angular speed parameter and initial Eulerian angles to electric toothbrush
Inertial attitude is resolved；The posture keeps resolving module to establish a connection with the filter module, and posture keeps resolving
Module is used to keep parameter to resolve the posture of electric toothbrush according to angular speed, acceleration or direction magnetic field parameter；It is described
Dental area judgment module establishes a connection with the strap down inertial navigation attitude algorithm module, and dental area judgment module is used for root
Judge the dental area that toothbrush is being brushed teeth according to the attitude parameter during toothbrush use；The vibration frequency adjustment module and institute
It states strap down inertial navigation attitude algorithm module and dental area judgment module establishes a connection, vibration frequency adjusts module and is used for basis
What brush teeth posture and the dental area judgment module of electric toothbrush judged brush teeth, and that dental area carries out the vibration frequency of toothbrush is real
When adjust.
2. a kind of intelligent electric frequency conversion toothbrush according to claim 1, it is characterised in that：The electric toothbrush further includes appearance
State fusion resolves module, and the posture fusion resolves module and keeps resolving mould with the strap down inertial navigation attitude algorithm module and posture
Block establishes a connection, and posture fusion resolving module is used to keep parameter to carry out fusion the posture of electric toothbrush to resolve realization Europe
Draw angle error amendment.
3. a kind of intelligent electric frequency conversion toothbrush according to claim 2, it is characterised in that：The electric toothbrush further includes Europe
Angle output module, the Eulerian angles output module is drawn to merge resolving module with the posture and establish a connection, Eulerian angles output
Module is used to merge the resolving revised Eulerian angles of module to posture and export.
4. a kind of intelligent electric frequency conversion toothbrush according to claim 1, it is characterised in that：The data acquisition module configuration
There are gyroscope, accelerometer and magnetometer, the gyroscope to be used to obtain position, motion track and the acceleration ginseng of electric toothbrush
Number；The accelerometer is used to obtain the acceleration parameter of electric toothbrush；The magnetometer is used to obtain the earth magnetism of electric toothbrush
Parameter.
5. a kind of intelligent electric frequency conversion toothbrush control system, it is characterised in that：The control system includes such as Claims 1-4
Any one of them electric toothbrush, the control system further include mobile terminal, Cloud Server and data screening module, the electricity
Dynamic toothbrush is established a connection with the Cloud Server by wireless telecommunications, and electric toothbrush is by the appearance of brushing teeth obtained in the process of brushing teeth
State data transmission is to the Cloud Server；The mobile terminal is established a connection with the Cloud Server by wireless telecommunications,
Mobile terminal is used to receive the attitude data message of brushing teeth of Cloud Server platform push；The data screening module and Cloud Server
It establishes a connection, data screening module is used to carry out accuracy screening to the attitude data of brushing teeth for uploading to Cloud Server.
6. a kind of intelligent electric frequency conversion toothbrush control system according to claim 5, it is characterised in that：The control system
Further include deep learning module, the deep learning module establishes a connection with electric toothbrush, and deep learning module passes through god
Learn the tooth-brushing habit of user according to user's routine use data that Cloud Server adds up through network algorithm, deep learning module obtains
It must be suitable for the attitude data of brushing teeth of each user oral cavity feature.
7. a kind of intelligent electric frequency conversion toothbrush control method, the control method uses such as Claims 1-4 any one of them
Electric toothbrush is realized by the control system as described in any one of claim 5 to 6, it is characterised in that：The control method includes
Following steps：
Step 1：Obtain the angle speed of electric toothbrush respectively using gyroscope, accelerometer and magnetometer by data acquisition module
Degree, acceleration or direction magnetic field parameter；
Step 2：The angular speed of the electric toothbrush of acquisition, acceleration or direction magnetic field parameter are filtered by filter module
Processing；
Step 3：Eulerian angles initial value meter is carried out to the acceleration parameter after being filtered by initial Eulerian angles computing module
It calculates, electric toothbrush inertial attitude is solved according to angular speed parameter and initial Eulerian angles by strap down inertial navigation attitude algorithm module
It calculates, keeps resolving posture holding ginseng of the module according to angular speed, acceleration or direction magnetic field parameter to electric toothbrush by posture
Number is resolved；
Step 4：Dental area judgment module judges the tooth that toothbrush is being brushed teeth according to the attitude parameter during toothbrush use
Position, the dental area brushed teeth that vibration frequency adjustment module judges according to dental area judgment module is to electric toothbrush
Vibration frequency is adjusted.
8. a kind of intelligent electric frequency conversion toothbrush control method according to claim 7, it is characterised in that：In the step 3
Further include that resolve module by posture fusion carries out merging resolving and carry out to the posture holding parameter of posture holding resolving module
Eulerian angles calibration corrections are fed back to strap down inertial navigation attitude algorithm module by Eulerian angles error correction.
9. a kind of intelligent electric frequency conversion toothbrush control method according to claim 7, it is characterised in that：In the step 3
Further include vibration of the posture to electric toothbrush of brushing teeth that vibration frequency adjustment module is resolved according to strap down inertial navigation attitude algorithm module
Frequency is adjusted.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110517392A (en) * | 2019-09-02 | 2019-11-29 | 东北农业大学 | A kind of shared bicycle smart lock control system in the campus based on attitude algorithm |
| CN110608754A (en) * | 2019-08-30 | 2019-12-24 | 深圳市云顶信息技术有限公司 | Oral cavity area identification method, oral cavity area identification device, computer equipment and storage medium |
| CN110608753A (en) * | 2019-08-30 | 2019-12-24 | 深圳市云顶信息技术有限公司 | Oral cavity area identification method, oral cavity area identification device, computer equipment and storage medium |
| CN110619289A (en) * | 2019-08-30 | 2019-12-27 | 深圳市云顶信息技术有限公司 | Oral cavity area identification method, oral cavity area identification device, computer equipment and storage medium |
| CN111191137A (en) * | 2019-12-31 | 2020-05-22 | 广州皓醒湾科技有限公司 | Method and device for determining tooth brushing recommendation scheme based on tooth color |
| CN112884132A (en) * | 2021-03-19 | 2021-06-01 | 有品国际科技(深圳)有限责任公司 | Tooth brushing detection method and device based on neural network, electric toothbrush and medium |
| TWI779680B (en) * | 2021-06-22 | 2022-10-01 | 亞東學校財團法人亞東科技大學 | Clean electric assembly |
| CN117574045A (en) * | 2024-01-15 | 2024-02-20 | 东莞微感电子技术有限公司 | Electric toothbrush control method, device, electronic equipment and storage medium |
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