CN117357291A - Image processing-based tooth gap detection method and device and tooth flusher - Google Patents
Image processing-based tooth gap detection method and device and tooth flusher Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 26
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- 238000004458 analytical method Methods 0.000 claims description 2
- 238000003672 processing method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 38
- 238000011010 flushing procedure Methods 0.000 abstract description 34
- 238000004140 cleaning Methods 0.000 abstract description 29
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- 210000000214 mouth Anatomy 0.000 description 18
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- 238000005406 washing Methods 0.000 description 3
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- 238000004364 calculation method Methods 0.000 description 1
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- 208000002925 dental caries Diseases 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/02—Rinsing or air-blowing devices, e.g. using fluid jets or comprising liquid medication
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C15/00—Devices for cleaning between the teeth
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The embodiment of the application provides a method and a device for detecting a tooth gap based on image processing and a tooth flusher. The method can realize accurate detection of the tooth gaps in the working process of the tooth flusher, and is convenient for judging the cleaning state of the tooth gaps, thereby controlling the tooth flusher to realize corresponding automatic flushing.
Description
The application is a divisional application of Chinese patent application with application number of 202210803210.9, the invention name of automatic flushing control method and device of the dental flushing device and 7 th year of 2022 and 7 th month of application.
Technical Field
The application relates to the technical field of tooth flushers, in particular to an image processing-based tooth gap detection method and device and a tooth flusher.
Background
The switch of the traditional tooth flusher (including the portable tooth flusher) mainly relies on the manual control mode of a user completely. In order to achieve the cleaning effect, the cleaning device is mainly operated in a mode of emitting kinetic energy fluid (such as water, mouthwash or water vapor fusion and the like) to physically impact the cleaning part. Taking the current mainstream portable tooth irrigators as an example, the water pump pressure can reach 100psi (about 0.69 mpa), so that the fluid pushed by the portable tooth irrigators has a certain potential danger. For example, if it is aimed at delicate organs such as the eyes, nasal cavities, etc., it may cause injury to the user.
In addition, there are a large number of operations for calibrating the working position during the actual cleaning working time, so that a considerable part of the time is ineffective or inefficient, and the continuously injected fluid itself is a waste of resources, so that manufacturers have to adopt measures for increasing the water tank in order to compensate for the waste of the part, which affects portability and size, and cannot solve the actual situation of waste of consumables and production resources.
Disclosure of Invention
To solve at least one of the above problems, embodiments of the present application provide a method and an apparatus for controlling automatic rinsing of a dental rinse, and a dental rinse.
In a first aspect, an embodiment of the present application provides a method for controlling automatic rinsing of a dental rinse, where an image sensor is disposed on the dental rinse, the method includes:
acquiring an image in real time by the image sensor;
calculating the definition of the image, and detecting whether an area to be cleaned exists in the image with the definition meeting the preset requirement;
and after determining that the area to be cleaned exists, starting the tooth flusher to flush with a preset gear corresponding to the area to be cleaned.
In some embodiments, the type of area to be cleaned includes a facing area; after determining that the area to be cleaned exists, the method further comprises:
performing region segmentation on the image to obtain pixel fraction information of each region to be cleaned;
determining the type of each region to be cleaned according to the pixel-level segmentation information;
when the flushing area of the tooth flushing device is opposite to the tooth surface area, the tooth flushing device is started to flush with a preset standard gear.
In some embodiments, the type of area to be cleaned further comprises a gingival area; the method further comprises the steps of:
and when the flushing area of the tooth flushing device is opposite to the gum area, starting the tooth flushing device to flush at a low gear lower than the preset standard gear.
In some embodiments, the type of region to be cleaned further comprises an interdental region; the method further comprises the steps of:
determining the dental clearance area according to the adjacent relation of the dental face area;
and when the flushing area of the tooth flusher is opposite to the tooth gap area, starting the tooth flusher to flush at a high gear higher than the preset standard gear.
In some embodiments, the method further comprises:
detecting whether the interdental area has foreign matters or not, and if the interdental area has foreign matters, controlling the tooth flusher to flush at a gear higher than the high gear.
In some embodiments, determining that the sharpness of the image meets a preset requirement includes:
carrying out gray processing on the image to obtain a gray image;
and calculating a transition value of the gray level image by using an edge detection algorithm, and determining that the definition of the image meets a preset requirement when the transition value exceeds a preset threshold.
In some embodiments, the calculating the transition value of the gray scale image using an edge detection algorithm includes:
calculating the mean square value of the Laplacian of each pixel point in the gray level image to be used as the jump value; the value range of the preset threshold value is 20-50.
In a second aspect, embodiments of the present application further provide an automatic rinsing control device for a dental rinse, where an image sensor is disposed on the dental rinse, and the device includes:
the image acquisition module is used for acquiring images in real time through the image sensor;
the image detection module is used for calculating the definition of the image and detecting whether an area to be cleaned exists in the image with the definition meeting the preset requirement;
and the flushing control module is used for starting the tooth flusher to flush with a preset gear corresponding to the area to be cleaned after determining that the area to be cleaned exists.
In a third aspect, an embodiment of the present application further provides a dental irrigator, where the dental irrigator includes an image sensor, a processor, and a memory, where the image sensor is used for image acquisition, and the memory stores a computer program, and the processor is used to execute the computer program to implement the automatic irrigation control method of the dental irrigator.
In a fourth aspect, embodiments of the present application further provide a readable storage medium storing a computer program, where the computer program implements the automatic rinse control method of a dental rinse described above when the computer program is executed on a processor.
The embodiment of the application has the following beneficial effects:
the automatic flushing control method of the tooth flushing device is applied to the tooth flushing device with the image sensor, the image sensor is used for collecting images in real time, the definition of the images is calculated, when the images meeting the definition requirements are obtained, the fact that the current tooth flushing device reaches a proper position is determined, and then whether the images meeting the definition requirements have areas to be cleaned or not is detected; after determining that the area to be cleaned exists, starting the tooth flusher to flush with a preset gear corresponding to the area to be cleaned. According to the method, whether the oral cavity is in the area to be cleaned is identified by acquiring the clear image, flushing is started when the image containing the area to be cleaned is detected, and flushing is performed by adopting corresponding preset gears aiming at different cleaning areas, so that on one hand, the danger caused by false touch can be avoided to a large extent, the use safety of the tooth flusher is improved, meanwhile, discomfort caused by jet flow flushing different cleaning areas in the oral cavity is effectively reduced, and the use experience and the like of a user are improved; on the other hand, the resources such as fluid, electric energy and the like can be saved to a certain extent.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic structural view of a dental rinse according to an embodiment of the present application;
FIGS. 2A, 2B and 2C show three types of schematic views of an area to be cleaned, respectively;
FIG. 3 is a schematic view showing a first flow of the automatic rinse control method of the dental rinse according to the embodiment of the present application;
fig. 4 shows a correspondence relationship between a distance between a photographing lens and a subject and a jump value;
FIG. 5 is a schematic view showing a second flow of the automatic rinse control method of the dental rinse according to the embodiment of the present application;
FIG. 6 is a schematic view showing a third flow of the automatic irrigation control method of the dental irrigator according to the embodiment of the present application;
fig. 7 is a schematic view showing a first construction of an automatic irrigation control device of the dental irrigator according to an embodiment of the present application;
fig. 8 is a schematic view showing a second construction of the automatic irrigation control device of the dental irrigator according to the embodiment of the present application.
Description of the embodiments
The following description of the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.
The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In the following, the terms "comprises", "comprising", "having" and their cognate terms may be used in various embodiments of the present application are intended only to refer to a particular feature, number, step, operation, element, component, or combination of the foregoing, and should not be interpreted as first excluding the existence of or increasing the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of this application belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is identical to the meaning of the context in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below and features of the embodiments may be combined with each other without conflict.
Fig. 1 is a schematic structural view of a tooth-rinsing device according to an embodiment of the present application. Exemplarily, the tooth cleaning device may include a memory 11, a processor 12, a sensor acquiring unit 13 and a rinsing executing unit 14, where the memory 11, the sensor acquiring unit 13 and the rinsing executing unit 14 are all electrically connected with the processor 12 directly or indirectly, so as to implement the automatic rinsing control method in the embodiment of the application, and effectively reduce discomfort caused by jet flow to non-cleaning areas in an oral cavity, thereby improving use experience and the like of the tooth cleaning device.
In the present embodiment, the Memory 11 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), or the like. Wherein the memory 11 is adapted to store a computer program which, upon receiving an execution instruction, is executable by the processor 12 accordingly.
In this embodiment, the processor 12 may be an integrated circuit chip having signal processing capabilities. Processor 12 may be a general-purpose processor including at least one of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) and network processor (Network Processor, NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application.
In the present embodiment, the sensor acquiring unit 13 is mainly used for acquiring the environmental image information of the dental caries device, for example, the sensor acquiring unit 13 may include, but is not limited to, an image sensor, a distance sensor (such as ultrasonic wave, laser, etc.), and the like. Taking an image sensor as an example, considering that the structure of the tooth irrigator is small and the application range is small, for example, a miniature visible light color image and the like can be selected for image acquisition. The irrigation execution unit 14 mainly comprises a spray head, a water pipe, a fluid storage tank and the like which are required for spraying fluid, so that the irrigation operation of teeth is realized.
The image information obtained by the image sensor typically includes a non-cleaning area and a region to be cleaned associated with the teeth when the water outlet of the rinse head is in or about to work in the oral cavity. For example, the area to be cleaned generally includes at least a tooth surface (i.e., a tooth surface) area as shown in fig. 2A, a gum area as shown in fig. 2B, a crevice area between two adjacent tooth surfaces as shown in fig. 2C, and the like.
Based on the above-mentioned structure, the embodiment of the application provides an automatic rinsing control method for a tooth rinsing device, which is to collect images in real time, judge whether the water jet of the tooth rinsing device is aligned to the area to be cleaned of the oral cavity by utilizing the definition of the images, and start the working pump to perform rinsing operation when aligning to the area to be cleaned of the oral cavity, otherwise, if the water jet is aligned to the area not to be cleaned of the oral cavity, but other areas such as throat, eyes, face, etc., then no rinsing operation is started, etc. It can be understood that in view of the fact that the jet flow of the tooth-rinsing device has stronger kinetic energy, the introduction of the intelligent control scheme can greatly improve the safety of the tooth-rinsing device, and meanwhile, the tooth-rinsing device is not started to perform rinsing operation when the tooth-rinsing device detects an area outside an area to be cleaned of an oral cavity, so that jet fluid can be saved to a great extent, and the situation that a manufacturer of the tooth-rinsing device adopts a measure of increasing the size of a water tank to compensate the waste of the area is avoided, the portability of the tooth-rinsing device is improved, and waste of consumable materials and production resources is reduced.
Referring to fig. 3, an exemplary automatic rinsing control method of the dental rinse includes the following steps:
s110, acquiring images in real time through an image sensor. In particular, real-time acquisition refers to continuous acquisition at relatively short time intervals. The images collected are typically images of the mouth or teeth, as well as other unspecified images captured by the image sensor during use of the dental irrigator.
When the intelligent control is started, the image of the tooth washer can be acquired in real time through an image sensor and the like, so that an image of the environment where the tooth washer is positioned, namely an image of an unspecified environment in the water spraying direction of a water nozzle of the tooth washer, is obtained.
It should be noted that the automatic flushing control method of the present embodiment is continuously performed. For the dental irrigator, the image acquisition and processing are usually performed in a subtle or millimeter time, and the human body is usually slow (such as a few seconds or tens of seconds) when holding the dental irrigator for movement, so that the user can perform operations such as acquisition and further processing of a plurality of images completely during the movement of the dental irrigator.
S120, calculating the definition of the image to determine whether the definition of the current image meets the preset requirement.
In the embodiment, the distance from the water outlet of the tooth flusher to the area to be cleaned of the oral cavity is reflected through the definition of the image, so that whether the current position is proper or not is determined, and the next processing is performed through determining that the image is clear, thereby saving electric energy, power consumption and the like. It can be understood that in the case where the focal length of the photographing lens is known, the higher the sharpness of the image, the closer the photographed target distance is to the focal length.
For example, in one embodiment, determining whether the sharpness of the image meets a preset requirement includes:
carrying out gray scale treatment on the image to obtain a gray scale image; and further, calculating a transition value of the gray level image by using an edge detection algorithm, and determining that the definition of the image meets the requirement when the calculated transition value meets a preset threshold condition. The principle of the edge detection algorithm is mainly that a discretization gradient approximation function is utilized to search the gray transition position of an image gray matrix according to a two-dimensional gray matrix gradient vector. When the calculated gray jump value reaches a certain threshold range, the image display target can be considered to be near the focal length of the lens (the target in the lens can be clearly displayed), and the corresponding relation between the distance between the shooting lens and the target and the jump value is shown in fig. 4.
In this embodiment, the laplacian method is preferred to perform edge detection, and specifically, the mean square value (i.e. variance) of the laplacian of each pixel point in the gray-scale image can be calculated as the jump value; and when the jump value is detected to fall into a preset threshold range, the current shooting position is determined to be satisfactory. Considering different illumination conditions, for example, the value range of the preset threshold may be 20-50, and if the value exceeds the range, the shooting position is too close to or too far from the shooting object, and the shot image is a blurred image.
S130, detecting whether an area to be cleaned exists in the image with the definition meeting the preset requirement. If so, step S140 is performed, otherwise step S150 is performed.
For the detection of the cleaning region in the oral cavity, a target detection algorithm based on a neural network can be adopted, for example, teeth are used as detection targets, and further, the targets can be subjected to example segmentation (Instance Segmentation), so that segmentation information of the cleaning region is obtained.
For example, a model for detecting teeth and segmentation may be trained in advance by acquiring an image of the oral teeth, and then using the model to detect tooth characteristics of a clear image to determine whether a region to be cleaned associated with the teeth is present in the image, and generating a corresponding rinsing operation when the region to be cleaned is present.
And S140, after determining that the area to be cleaned exists, starting the tooth washer to wash in a preset gear corresponding to the area to be cleaned.
Wherein, different gears will adopt different powers to spray, and the impulsive force of the fluid that sprays correspondingly also will be different. For example, in one embodiment, the gear may be divided into two gears (e.g., high gear and low gear) or three gears (e.g., low, medium and high gears) according to the impact force, and there may be more gears, which are not limited herein.
And S150, when the fact that the area to be cleaned does not exist is determined, the flushing operation of the tooth flusher is not started.
According to the automatic flushing control method, the area to be cleaned related to the teeth is judged to exist in the current shot image, so that the fact that the dental flusher is aligned to the area to be cleaned of the oral cavity is determined, flushing operation is started, other areas such as the area not in the oral cavity can be prevented from being injured due to false triggering, and safety and the like in use are improved; in addition, from the viewpoint of saving resources, fluid, electric energy and the like can be greatly saved through throttle control.
In view of the fact that even when the mouth region is aimed, if the object to be ejected is a non-cleaning region or the like, discomfort is also given to the user, the image can be further processed so as to achieve more accurate rinsing control.
Referring to fig. 5, the automatic rinsing control method of the dental rinse exemplarily includes the following steps:
s210, acquiring images in real time through an image sensor.
S220, calculating the definition of the image to determine whether the definition of the current image meets the requirement.
S230, detecting whether an area to be cleaned exists in the image with the definition meeting the preset requirement. If yes, go to step S240-S270, otherwise go to step S300.
Steps S210 to S230 can be referred to above steps S110 to S130, and the description thereof will not be repeated here.
S240, carrying out region segmentation on the image to obtain pixel region segmentation information of each region to be cleaned.
S250, determining the type of each area to be cleaned according to the pixel level distribution information.
For example, when the tooth detection model is used for detecting the region to be cleaned, the region to be cleaned can be further subjected to pixel-level segmentation, so that information such as pixel-level segmentation masks of different regions to be cleaned can be obtained. It will be appreciated that the pixel level division masks for the different regions to be cleaned are different, and thus, after the pixel level division information is obtained, the type of each region to be cleaned, such as a tooth surface region or a gum region or a crevice region, can be determined. Furthermore, for different types of areas to be cleaned, different gears can be adopted for flushing operation, so that flushing efficiency and user experience are improved.
And S260, when the rinsing area of the tooth rinsing device is opposite to the tooth surface area, starting the tooth rinsing device to rinse with a preset standard gear. The image sensor of the tooth-rinsing device is preferably a camera, and the direction of the image shot by the camera is parallel to the water outlet direction of the water jet of the tooth-rinsing device or is arranged at a small angle, and generally no more than 30 degrees. Because the direction of the camera shooting the image is parallel to the water outlet direction of the water jet of the tooth washer or is arranged at a small angle, the washing area of the tooth washer can be calculated and determined according to the determined position of the area to be cleaned and the specific arrangement of the camera and the water jet direction. When the rinsing area is located in the area to be cleaned, the rinsing area of the dental irrigator can be regarded as being opposite to the area to be cleaned.
And S270, when the flushing area of the tooth flushing device is opposite to the gingival area, starting the tooth flushing device to flush at a low gear lower than the preset standard gear.
When the tooth-cleaning device works, the water in the water tank is discharged through the high-speed operation of the water pump, and water columns are formed through the pipeline of the nozzle of the tooth-cleaning device and the water outlet, so that the water columns act on the area to be cleaned of the oral cavity to form a flushing area as shown in fig. 2A or fig. 2B. It is understood that the rinsing area is the mapping point of the water outlet of the nozzle of the tooth rinsing device on the area to be cleaned of the oral cavity. Therefore, by calculating the position information of the mapping point and combining the position information of each type of to-be-cleaned area, whether the flushing area is opposite to or coincident with the to-be-cleaned area can be determined. The preset standard gear and the lower gear below the standard gear can be set correspondingly according to actual requirements, and generally, the smaller the set power is, the lower the corresponding gear level is.
It will be appreciated that the rinsing operation will only be initiated when the rinsing area is opposite to the facing area or the gingival area, and that generally there will not be much residue in the facing and gingival areas like the crevices between teeth, where the rinsing is performed using a preset standard or low gear, and on the other hand, the amount of fluid to be sprayed may be controlled according to the specific cleaning object, especially for a fluid storage tank with extremely limited volume, a larger amount of fluid flow may be saved, and thus the number of uses may be increased.
As a preferred solution, there may be more residues at the positions of the slits, and specific cleaning is often required, so that the slits can be further identified by different areas of the tooth surface, and then the slits are cleaned with greater intensity to ensure the cleaning effect.
Illustratively, after step S250, the automatic rinse control method of the dental rinse further includes:
s280, determining the dental clearance area according to the adjacent relation of the dental surface areas.
After information such as a pixel-level division mask of the tooth surface region is acquired, the tooth gap can be further judged. For example, based on the division mask information of each tooth surface, that is, the division mask information of the teeth, the center point position, width and height information of each tooth can be calculated, then the distance between the center points of different teeth is calculated, and the adjacent tooth relationship, that is, which teeth are adjacent relationship, can be obtained by combining the width information of the teeth, and the tooth gap region exists between the adjacent two teeth.
In one embodiment, as shown in fig. 6, step S280 includes the sub-steps of:
s281, calculating the center point and the width and height information of the teeth based on the pixel-level segmentation mask of the tooth surface.
For example, when the divided mask is a rectangle, the center of the rectangle may be taken as a center point and the length and width of the rectangle may be taken as the width-height information of the tooth. Of course, if the mask is in other forms, the center point, width, height and other position information of the corresponding teeth can be calculated by the same method.
S282, selecting three teeth each time, and calculating the tooth center distance between every two teeth according to the center point information of each selected tooth to obtain three tooth center distances.
S283, determining the width of the corresponding tooth according to the width and height information.
S284, selecting a minimum value from the three tooth center distances, and calculating the average width according to the widths of the two teeth corresponding to the minimum value.
And S285, when the ratio of the minimum value to the average width is smaller than a preset value, determining that the two teeth are adjacent, otherwise, determining that the two teeth are not adjacent.
The specific example is that three teeth are selected at any time, and the teeth with the numbers of 1, 2 and 3 are respectively marked, and the tooth center distances between every two of the three teeth can be calculated according to the coordinate information of the respective center points and are respectively marked as D12, D23 and D13; meanwhile, the width of each tooth is determined according to the width and height information of each tooth and is respectively marked as d1, d2 and d3. Then, the minimum value of the three tooth center distances is selected, and is assumed to be D12, then the two teeth corresponding to the minimum value are calculated to be the teeth No. 1 and No. 2, then the sum of half of each width can be calculated according to the widths D1 and D2 of the teeth No. 1 and No. 2, and is recorded as D12, and finally the ratio of the minimum value D12 to the sum D12, namely the average value of the two values, is calculated. If the ratio is smaller than or equal to a preset value, the teeth 1 and 2 are adjacent, and a tooth gap exists between the teeth. If the ratio is greater than the preset value, it can be determined that teeth 1 and 2 are not adjacent, and at least one tooth is spaced between the teeth. And by analogy, the adjacent relation of all teeth in the current image can be judged. The preset value can be selected according to actual requirements, and is not limited herein; the preset value can be selected from the range of more than 1 and less than or equal to 1.6, preferably 1.5 according to the detection precision requirement of a specific scene, and if the preset value is more than 1.5, the distance between two teeth is at least more than 1/2 of the average value of the widths of two adjacent teeth, the relative interval distance is larger, and the probability is high for the two non-adjacent teeth. In addition, in the above embodiment, after determining that the tooth 1 and the tooth 2 are in the adjacent relationship, the difference between D12 and D12 may be further calculated, to obtain a specific value of the tooth space between the tooth 1 and the tooth 2, that is, a specific value of the tooth space distance.
In another preferred embodiment, to reduce the complexity of control calculation, the segmentation mask information of any two teeth can be directly obtained, and the adjacent relationship and/or the tooth space between the teeth can be determined by referring to the process of calculating the teeth 1 and 2 in the previous embodiment. This embodiment may have a slight accuracy error relative to the previous embodiments, but a greater efficiency improvement may be obtained.
And S286, processing the pixel fraction information of each of the two adjacent teeth to obtain corresponding slit segmentation images. For example, the split mask of two adjacent teeth may be expanded and then subjected to intersection operation to obtain the split mask information of the slits, that is, the slit region, and the specific slit width and/or height value may be further determined and output according to the slit split mask information.
Then, after the interdental position is determined, step S290 is performed.
And S290, when the flushing area of the tooth flusher is opposite to the tooth gap area, starting the tooth flusher to flush at a high gear higher than a preset standard gear.
It will be appreciated that if the rinse zone is opposite the interproximal areas, the rinse can be performed with a higher gear than the standard gear, in other words, some increased cleaning force can be accommodated to ensure cleaning effect, etc., as compared to the cleaning of the flank area.
As an alternative, after the step S286, that is, after the corresponding interdental area is obtained, the cleaning degree of each interdental may be further determined, so as to determine the corresponding rinsing gear.
Illustratively, the obtained interdental area image may be input into a trained interdental foreign matter detection model to obtain the cleaning state of the interdental spaces. For example, the cleaning state of the interdental spaces can be classified into the presence of foreign substances (e.g., residues, etc., i.e., recognized as unclean) and the absence of foreign substances (e.g., recognized as clean), etc. The tooth gap foreign matter detection model can be constructed based on a neural network and is obtained by training a corresponding number of tooth foreign matter samples in advance. Reference is made to the training process of the general model for the interdental foreign matter detection model, which will not be described here. Further, when the step S290 is performed, an appropriate gear may be determined according to the degree of cleaning of the crevices. For example, if the crevice between teeth is in a foreign matter-free state, the flushing with the high gear is started; on the contrary, if the tooth gap is in a foreign matter state, the washing is started at a higher gear than the high gear.
Step S300, the rinsing operation of the dental irrigator is not started.
The rinsing operation is not initiated, for example, if there is no area to be cleaned. Alternatively, if the rinsing area is not opposed to the above-mentioned facial area, gum area, interdental area, or the like when the dental irrigator is moved in the oral cavity, the rinsing operation may be stopped as well, thereby reducing the discomfort of the user, or the like.
The automatic flushing control method of the tooth flusher can work with lower gear power when no foreign matters exist on the premise of improving the use safety, so that electric energy and the like can be saved, and the tooth gaps with residues can be cleaned with maximum intensity, differential cleaning is realized, and electric energy, water consumption and the like can be saved. Through practical verification, under the condition of the fluid storage boxes with the same volume, compared with the traditional manual cleaning scheme, the automatic flushing control method can save 30% -50% of the consumption, save fluid, prolong the single use time and improve the operation experience; in addition, the fluid and the electric energy are saved at the same time, so that the whole cruising ability is improved to a certain extent. In addition, through the intelligent control scheme, the system can avoid the danger caused by false touch to a large extent on the premise of not greatly changing the current portable tooth irrigator; the discomfort caused by jet flow to the non-cleaning area in the oral cavity is effectively reduced, and the overall cruising ability is improved to a certain extent, so that the overall experience of a user of the product is greatly improved.
In another preferred embodiment, in order to increase the self-priming applicability of the dental irrigator, the priming conditions in the automatic irrigation control method of the dental irrigator may be appropriately reduced. When the acquired image definition meets the preset requirement, the tooth washer can be controlled to start, and the tooth washer can be used for washing at a certain gear. The certain gear may be a high, medium or low gear in the foregoing embodiment, or a lower gear lower than the high, medium or low gear, or a gear used last time by the tooth irrigator, that is, a memory gear. The type of the area to be cleaned can be identified according to the detection method disclosed in the foregoing in the working engineering of rinsing after the tooth rinsing device is started, so as to match and switch the working gear, and the foregoing embodiment can be referred to for details, and will not be repeated here.
Referring to fig. 7, based on the method of the above embodiment, the present embodiment provides an automatic rinsing control device 100 for a dental rinse, wherein an image sensor is disposed on the dental rinse, and the automatic rinsing control device 100 for a dental rinse includes:
the image acquisition module 110 is configured to acquire an image in real time through the image sensor.
The image detection module 120 is configured to calculate the sharpness of the image, and detect whether an area to be cleaned exists in the image whose sharpness meets a preset requirement.
And the flushing control module 130 is used for starting the tooth flusher to flush with a preset gear corresponding to the area to be cleaned after determining that the area to be cleaned exists.
In another preferred embodiment, the device further comprises an image processing module, which is used for processing the image data acquired by the image acquisition module to acquire tooth segmentation masks, tooth center point position information, width and height information, tooth center distance information and the like. The device also comprises an analysis and judgment module for determining whether the tooth gap exists or not and determining the tooth gap distance according to the information.
Further, as shown in fig. 8, the automatic rinsing control device 100 for a dental rinse further includes:
the image segmentation module 140 is configured to segment the image to obtain pixel level segmentation information of each region to be cleaned, and determine a type of each region to be cleaned according to the pixel level segmentation information.
Further, in controlling the rinsing, the rinsing control module 130 is configured to start the rinsing of the dental appliance with a preset standard gear when the rinsing area of the dental appliance is opposite to the dental surface area.
The rinse control module 130 is further configured to activate the rinse to rinse at a lower gear than the preset standard gear when the rinse area of the rinse is opposite the gum area.
As an alternative, the automatic rinsing control device 100 for a dental rinsing device further includes:
the interdental detection module 150 is configured to determine the interdental area according to the adjacent relationship between the dental surface areas. The rinse control module 130 is further configured to activate the rinse to rinse at a higher gear than the preset standard gear when the rinse area of the rinse is opposite the interdental area.
Further, the interdental detection module 150 is further configured to detect whether a foreign object exists in the interdental area. The rinsing control module 130 is further configured to control the dental irrigator to perform rinsing at a gear higher than the high gear if foreign matters exist in the interdental area.
It will be appreciated that the apparatus of this embodiment corresponds to the method of the above embodiment, and that the alternatives in the above embodiment are equally applicable to this embodiment, so that the description will not be repeated here.
The present application also provides a readable storage medium for storing the computer program for use in the above-described dental irrigator.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application.
Claims (10)
1. An image sensor is provided based on an image processing method for detecting slits between teeth, which is characterized in that,
acquiring an image in real time by the image sensor, the image comprising a dental image;
acquiring segmentation mask information of a first tooth surface and a second tooth surface in the tooth image, determining width information of the first tooth surface and width information of the second tooth surface based on the segmentation mask information of the first tooth surface and the second tooth surface, and determining a tooth center distance between the first tooth surface and the second tooth surface;
and determining whether a tooth gap exists or not according to the width information of the first tooth surface, the width information of the second tooth surface and the tooth center distance.
2. The image processing-based interdental detection method according to claim 1, wherein the determining whether there is an interdental space according to the width information of the first tooth surface, the width information of the second tooth surface, and the tooth center distance specifically comprises:
acquiring the average value of the width information of the first tooth surface and the width information of the second tooth surface;
calculating the ratio of the tooth center distance to the average value;
comparing the ratio with a preset value, and if the ratio is smaller than the preset value, determining that the first tooth surface and the second tooth surface are in an adjacent relation, wherein a tooth gap exists between the first tooth surface and the second tooth surface.
3. The image processing-based interdental detection method according to claim 2, wherein the preset value has a value range of (1,1.6).
4. The image processing-based interdental detection method according to claim 2, wherein the preset value has a value of 1.5.
5. The image processing-based interdental detection method according to claim 2, further comprising calculating a difference between the tooth center distance and the mean value; and outputting the difference value as the distance between the teeth of the first tooth surface and the teeth of the second tooth surface.
6. The image processing-based interdental detection method according to any one of claims 1 to 5, wherein the determining the tooth center distance between the first tooth surface and the second tooth surface specifically comprises:
determining center point position information of the first tooth surface and center point position information of the second tooth surface based on the segmentation mask information of the first tooth surface and the second tooth surface;
and determining the tooth center distances of the first tooth surface and the second tooth surface according to the central point position information of the first tooth surface and the central point position information of the second tooth surface.
7. The image processing-based interdental detection method according to any one of claims 1 to 5, wherein the gray image jump value of the tooth image is in a range of 20 to 50.
8. An image processing-based interdental detection device, comprising an image sensor, characterized in that the device comprises:
the image acquisition module is used for acquiring images in real time through the image sensor;
the image processing module is used for processing the image acquired by the image acquisition module, acquiring the split mask information of the first tooth surface and the second tooth surface in the tooth image, determining the width information of the first tooth surface and the width information of the second tooth surface based on the split mask information of the first tooth surface and the second tooth surface, and determining the tooth center distance between the first tooth surface and the second tooth surface;
and the analysis and judgment module is used for determining whether tooth gaps exist or not according to the width information of the first tooth surface, the width information of the second tooth surface and the tooth center distance.
9. A dental irrigator, characterized in that it comprises an image sensor for image acquisition, a processor and a memory, the memory storing a computer program, the processor being adapted to execute the computer program to implement the image processing based interdental detection method of any one of claims 1 to 7.
10. A readable storage medium, characterized in that it stores a computer program which, when executed on a processor, implements the image processing-based interdental detection method according to any one of claims 1 to 7.
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| CN202310910680.XA CN117357291A (en) | 2022-07-07 | 2022-07-07 | Image processing-based tooth gap detection method and device and tooth flusher |
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| CN202210803210.9A CN115006031B (en) | 2022-07-07 | 2022-07-07 | Automatic flushing control method and device for tooth flushing device and tooth flushing device |
| CN202310910680.XA CN117357291A (en) | 2022-07-07 | 2022-07-07 | Image processing-based tooth gap detection method and device and tooth flusher |
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| CN202210803210.9A Active CN115006031B (en) | 2022-07-07 | 2022-07-07 | Automatic flushing control method and device for tooth flushing device and tooth flushing device |
| CN202310910680.XA Pending CN117357291A (en) | 2022-07-07 | 2022-07-07 | Image processing-based tooth gap detection method and device and tooth flusher |
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| CN114376511A (en) * | 2020-10-20 | 2022-04-22 | 厦门松霖科技股份有限公司 | Tooth rinsing device control method and system and tooth rinsing device |
| CN112569012B (en) * | 2020-12-29 | 2022-08-12 | 深圳素士科技股份有限公司 | Multifunctional tooth flushing device and spray head |
| CN112891002B (en) * | 2021-01-25 | 2022-04-22 | 深圳市飞猫电器有限公司 | Intelligent intensity-adjusting tooth washing device control method, tooth washing device and computer readable storage medium |
| CN113229973B (en) * | 2021-04-26 | 2022-08-12 | 东莞市力博得电子科技有限公司 | Method and device for adjusting spraying force, tooth flushing device and storage medium |
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