WO2016082784A1 - 一种儿童刷牙智能训练系统 - Google Patents

一种儿童刷牙智能训练系统 Download PDF

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Publication number
WO2016082784A1
WO2016082784A1 PCT/CN2015/095746 CN2015095746W WO2016082784A1 WO 2016082784 A1 WO2016082784 A1 WO 2016082784A1 CN 2015095746 W CN2015095746 W CN 2015095746W WO 2016082784 A1 WO2016082784 A1 WO 2016082784A1
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Prior art keywords
brushing
module
toothbrush
data
smart
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PCT/CN2015/095746
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English (en)
French (fr)
Inventor
成迪寒
赵昊翔
胡斌
刘信生
喻强
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南京童禾信息科技有限公司
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Priority claimed from CN201410713522.6A external-priority patent/CN104523000A/zh
Priority claimed from CN201510107784.2A external-priority patent/CN104765952B/zh
Application filed by 南京童禾信息科技有限公司 filed Critical 南京童禾信息科技有限公司
Publication of WO2016082784A1 publication Critical patent/WO2016082784A1/zh

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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
    • A61C17/16—Power-driven cleaning or polishing devices
    • A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like

Definitions

  • the present invention relates generally to smart device technology, and more particularly to a child smart brushing guidance system.
  • Brushing is an important self-oral health care method that uses toothbrushes to remove plaque, soft dirt and food residue, and keeps the mouth clean. It is also the most important means for people to self-clear plaque and prevent the occurrence, development and recurrence of periodontal disease. Maintaining proper brushing methods and habits can help to control plaque, maintain oral health or extend the life of the prosthesis. However, many people have incorrect brushing methods, such as incorrect brushing, incomplete coverage, and insufficient brushing time.
  • the object of the present invention is to provide a child brushing intelligent training system for detecting the deficiencies of the prior art, which can detect and evaluate the correctness of the user's brushing action, and provide the user with health advice on the teeth, etc. through the game interaction.
  • the method guides children to correct brushing posture and good brushing habits, improves the entertainment and enthusiasm of children's brushing, and provides a future intelligent life mode of home.
  • a children's brushing intelligent training system including a smart toothbrush, a smart terminal and a smart brushing application, wherein:
  • the smart toothbrush includes a toothbrush body, a motion sensor module disposed in the toothbrush body, a processor module, a wireless communication module, and a power module, and the motion sensor module captures an action of the user using the smart toothbrush according to a preset frequency, and generates Transmitting data to the processor module; the processor module encodes the action of the toothbrush body into data transmission to the wireless communication module; the wireless communication module transmits the encoded data to the corresponding intelligent terminal; the intelligent terminal saves the received Data and analysis and processing of data through smart brushing applications;
  • the smart brushing application further includes a toothbrush attitude detection and evaluation module and a smart reinforcement module, wherein:
  • the toothbrush attitude detection and evaluation module comprises a toothbrush attitude analysis module, an initial position determination module, a brushing motion analysis module, a brushing area analysis module, a time statistics module and a vibration number statistics module, wherein: the tooth
  • the brush attitude analysis module calculates a rolling angle of the toothbrush according to the data collected by the accelerator, and maps the rolling angle to a posture of the toothbrush, the posture of the toothbrush includes the brush head facing upward, the brush head facing downward, the brush head facing left, and the brush head facing right.
  • the initial position determining module calculates a roll angle and a pitch angle according to the module acquired by the accelerator, thereby determining whether the toothbrush is at an initial position specified on the tooth;
  • the brushing action analysis module calculates a brushing action by the accelerator;
  • the brushing area The analysing module calculates the yaw angle of the toothbrush relative to the tooth according to the initial position of the toothbrush, and determines the area of the toothbrush on the tooth in combination with the toothbrush posture; and the time statistic module calculates the toothbrush according to the analysis result of the brushing area analysis module.
  • the dwell time on each brushing area thereby obtaining the total duration of the user's brushing and the time-sharing length of each area;
  • the vibration number counting module counting the number of vibrations of the toothbrush in each area;
  • the smart reinforcement module includes a data processing module, a brushing weakness analysis module, and a reinforcement strategy execution module, wherein: the data processing module processes data received from the smart toothbrush to form brushing state data in a time dimension, The brushing state data includes a brushing region value, a region correct time value and a correct action time value; the brushing weak component analysis module uses mean analysis and variance analysis to statistically process the brushing state data, and obtains the mean value of the correct time in the unit time.
  • the voice display reminds the user that the implicit reinforcement is implicitly increased or shortened directly in the standard value of the brushing guide; the reinforcement strategy execution module performs the brushing action every N times, according to the specified reinforcement strategy. Perform the actual reinforcement operation so that the standard value referenced in the subsequent n brushings is the standard value after the reinforcement. To be reinforced after the operation is performed, the next round of weaknesses analysis and reinforcement operations.
  • the toothbrush posture is divided into a brush head upward, a brush head facing downward, a brush head facing left, and a brush head facing right.
  • the cloud service module is further configured to receive the brushing record data sent by the smart terminal, and provide the user with the brushing data query, analysis, and sharing service.
  • the smart application further comprises a game module, and the user is guided to brush the teeth by an animation demonstration action, and the game module receives and compares the data of the toothbrush posture detection and evaluation module in real time, and performs feedback prompting by means of a screen or a sound.
  • a game module receives and compares the data of the toothbrush posture detection and evaluation module in real time, and performs feedback prompting by means of a screen or a sound.
  • the toothbrush attitude detection and evaluation module comprises a data evaluation module, and compares the output result of the attitude detection module with the standard brushing motion model to evaluate the correctness of the user's brushing action, and the evaluation index includes the brushing area coverage and the total brushing time. , the length of brushing time in each area, the number of toothbrush vibrations in each area.
  • the brushing area is divided into 13 areas, namely, left outer side, right incisor, right outer side, left chewing surface (top), left chewing surface (lower), left inner side (upper), left inner side (lower), Inside the incisors (upper), incisors (lower), right chewing (top), right chewing (lower), right medial (upper), right medial (lower).
  • the brushing action includes brushing in the horizontal direction, brushing in the up and down direction, and rest.
  • the present invention has the following advantages: the brushing posture and the area of the toothbrush on the teeth, the brushing time, and the number of vibrations can be detected by the module, and the correctness of the user's brushing motion can be detected and evaluated by using the information. And provide users with health advice on the teeth, etc., so as to improve the correct brushing methods and habits of the user, keep the mouth clean and prevent periodontal disease.
  • FIG. 1 is a schematic view showing the overall structure of a child brushing intelligent training system according to the present invention
  • FIG. 2 is a schematic structural diagram of the structure of the smart training toothbrush hardware of the present invention.
  • FIG. 3 is a schematic structural diagram of a component of an application software module according to the present invention.
  • FIG. 4 is a schematic flow chart of the brushing posture detecting and evaluating module according to the present invention.
  • FIG. 5 is a schematic flow chart of a smart brushing method for brushing teeth according to the present invention.
  • the invention discloses a children's brushing intelligent training system, which comprises three parts: intelligent training toothbrush hardware, application software and cloud service.
  • intelligent training toothbrush hardware When the user is in use, first open the application software on the mobile intelligent terminal, cooperate with the smart training toothbrush, follow the guided brushing demonstration in the application software, perform the actual brushing action, and use the action detection and evaluation in the application software to give real-time feedback. , prompting the correctness of the action, thus helping the user to establish good habits and correcting the wrong brushing habits.
  • the intelligent training toothbrush hardware includes a toothbrush body, and a motion sensor module, a processor module, a wireless communication module, and a power module on the toothbrush body.
  • the motion sensor module captures the action of the user using the smart training toothbrush and transmits to the processor module; the motion sensor module includes an accelerator, a gyroscope and a magnetometer to capture motion data of the user using the smart training toothbrush as three-dimensional coordinate data.
  • the processor module encodes the action of the toothbrush body into data transmission to the wireless communication module; the wireless communication module transmits the encoded data to the corresponding smart terminal.
  • the transmitted data content includes the hardware number and firmware version information of the smart training toothbrush.
  • the smart training toothbrush continuously acquires the sensor sampling data including the accelerator, the gyroscope and the magnetometer according to the preset sampling frequency, and samples the data for each type of sensor. Divided into three values of X, Y, Z, the data is divided into single transmission and batch transmission.
  • the data format is,
  • the data type is a motion sensor such as an accelerator, a gyroscope, or a magnetometer.
  • a motion sensor such as an accelerator, a gyroscope, or a magnetometer.
  • the application software runs on the mobile intelligent terminal (including a tablet computer, a smart phone, etc.), including a data transceiver module, a game module (game APP), a brushing posture detection and evaluation module, and a smart reinforcement module.
  • the user uses a smart training toothbrush to brush teeth, generates a brushing action, and transmits the motion data to the application software system.
  • the data transceiver module in the smart terminal application software system is responsible for receiving the action data transmitted by the smart training toothbrush and saving the data to the local.
  • the brushing posture detection and evaluation module in the application system has a built-in brushing motion analysis engine, which can match the user's brushing motion with the optimal brushing motion and give an evaluation.
  • the game module in the application system is responsible for interacting with the user's brushing action.
  • the game When the user generates a brushing action in a certain direction, the game also generates a corresponding direction operation, which may trigger the occurrence of an event of the game (such as extinction). Current location locusts, etc.).
  • the game has a built-in brushing action guiding engine, which guides the user to adopt the correct brushing posture in the form of a game. When the engine determines that the user's brushing action in a certain direction is sufficient, a corresponding game event will be generated to guide the user to the next step. Brushing action.
  • Intelligent reinforcement module using data analysis method, automatically analyzes the tooth area that needs to be reinforced, and guides the user to strengthen the dental care in the area.
  • the module receives motion sensor data on the smart training toothbrush on the one hand, including the accelerator, gyroscope and magnetic force. Calculated data.
  • the brushing records and evaluation results are sent to the cloud server for users to query and analyze.
  • the brushing attitude detection and evaluation module is the core of the application software system, including a toothbrush attitude analysis module, an initial position determination module, a brushing motion analysis module, a brushing area analysis module, a time statistics module, a vibration number statistics module, and a data evaluation module, wherein:
  • Toothbrush attitude analysis module Calculate the rolling angle of the toothbrush by the accelerator data, and then map the angle to the attitude of the toothbrush.
  • the resulting toothbrush posture is divided into four types, namely, the brush head is up, down, left, and right.
  • This module uses the accelerator data to calculate the roll angle and pitch angle to determine if the toothbrush is at the initial position specified on the tooth. For example, it can be specified that the toothbrush needs to be placed on the front teeth at the beginning.
  • Brushing motion analysis module The action of brushing is determined by an accelerator, which includes brushing teeth left and right, brushing teeth up and down, and whether the toothbrush is stationary.
  • the module (2.2.2) determines that the toothbrush is in the specified initial position. With the initial position, the yaw angle of the toothbrush relative to the tooth can be obtained, thereby combining the module (2.2.1).
  • the toothbrush posture can determine the 13 areas of the toothbrush on the teeth.
  • the calculation of the yaw angle can be divided into two methods.
  • One is to use a 9-axis sensor to obtain the data of the accelerator, the gyroscope and the magnetometer, and then use the sensor fusion algorithm to obtain the Euler angle.
  • this method needs to take into account the correction of the magnetizer. Based on the use characteristics of the toothbrush, it is impossible to require the user to perform a strict 8-word rotation before each use to correct the magnetic device, so an automatic correction algorithm during normal use, such as the Gauss Newton method, must be used.
  • Another method is to use only the accelerator and the gyroscope, but it is necessary to solve the drift problem of the gyroscope, and some complementary filtering method can be used.
  • the second case is that the module (2.2.2) determines that the toothbrush is not in the specified initial position, in this case only the roll angle and the pitch angle, so that only the toothbrush attitude of the module (2.2.1) can be passed.
  • the teeth are roughly divided into 4 areas (upper left, upper middle, upper right synthetic brush head up area, lower left, lower middle, lower right synthetic brush head down area, left outer, right inner, incisor synthetic brush head towards Right area, left inner, right outer synthetic brush head to the left area).
  • the evaluation indicators include the coverage of the brushing area, the total length of brushing, the length of brushing in each area, and the number of toothbrush vibrations in each area.
  • the evaluation module first sets a standard brushing action model. In the standard model, the full score standard of each index is specified, for example, the coverage index reaches 13 full marks, the total brush length indicator reaches 3 minutes, and so on. Ratio mode calculation. After calculating the scores of each indicator, the weighted score method is used to calculate the total score, and the overall evaluation is given.
  • the game module is guided. Through the cartoon screen, the brushing teeth are decomposed into 13 areas.
  • the demonstration action guides the user to adopt the correct brushing posture.
  • the user follows the brushing action in the picture, and uses the intelligent training toothbrush to perform the brushing action.
  • the attitude detection and evaluation module automatically determines the correctness of the user's brushing action, returns the result to the game module, and the game module gives a corresponding prompt in the screen.
  • the intelligent reinforcement includes a data processing module, a brushing weak component analysis module, a reinforcement strategy formulation module, and a reinforcement strategy execution module.
  • the user collects data at a certain frequency while brushing the teeth.
  • the brushing time data is also collected.
  • the collected data is recorded and processed by software to form a judgment on the brushing area and brushing action, and is transformed into a time dimension.
  • the final data includes the brushing area, the correct time of the area, and the correct time of the action.
  • the correct time of the area refers to the duration of the user's brushing in the area, but the action is not necessarily correct.
  • the correct time for the action refers to the user's brushing in the correct area and the correct duration of the action.
  • the correct time of action must be no more than the correct time of the area.
  • the first row of data in the above table refers to the area on the left outer side, the user used the brush for 9 seconds, and the correct time for the action was 7 seconds.
  • the data in the above table is recorded after each brushing.
  • the data input of the brushing weak component analysis module is the data record of the brushing area, the correct time of the area, and the correct time of the action.
  • the number of data records that can be analyzed for the weak item is N, which means that when the number of brushing times is accumulated to N times, it can be performed. 1 weak analysis.
  • the brushing weakening analysis mainly uses two statistical methods, mean analysis and variance analysis.
  • the analysis index is two, which are the correct time of the region and the correct time for the action.
  • T1 the time value of each brushing area
  • T2-1 seconds the total value of T1-1.
  • T2-1 seconds the required standard value
  • the average brushing time in the area is less than 8 seconds, and it can be judged that the brushing time in the area is insufficient and reinforcement is required.
  • the average operation time of the area is less than 7 seconds, it can be judged that the correct operation time of the area is insufficient and the reinforcement needs to be strengthened.
  • the reinforcement strategy formulation module is for the output of the weak analysis module and the reinforcement strategy for the corresponding weak items.
  • the reinforcement strategy is divided into explicit reinforcement and invisible reinforcement.
  • the explicit reinforcement refers to reminding the user to strengthen the care of the tooth area through the screen or voice display, and increasing the brushing time in the area.
  • Implicit reinforcement refers to the way of implicitly increasing the time in the process of intelligent training toothbrush guidance, without prompting the user, adding a few seconds, the user feels not obvious.
  • the display reinforcement method is adopted. If the difference is within 4 seconds, the implicit reinforcement method is adopted, and the reinforcement time is the difference between the mean value and the standard value.
  • the display reinforcement method is adopted. If the difference is within 3 seconds, the implicit reinforcement method is adopted, and the reinforcement time is the difference between the mean value and the standard value.
  • the correct time of the area is reinforced and the action is rectified at the correct time.
  • the two do not overlap, and the larger of them is the larger one.
  • explicit enhancement is used, otherwise implicit enhancement is adopted.
  • the reinforcement strategy execution module after each number of brushing times reaches N times, after performing a weak item analysis and a reinforcement strategy formulation, the actual reinforcement operation is performed according to the formulated strategy.
  • the boot program is based on each The regional reinforcement strategy performs the reinforcement operation and the reinforcement operation lasts for 6 times. The weakness analysis is no longer performed during the reinforcement period. After the 6th end, each area returns to the standard brushing time. Enter the next round of weak analysis and reinforcement operations, and so on.
  • the cloud service is deployed on the public cloud of the Internet, providing functions such as historical record storage, data analysis, and sharing ranking.
  • the cloud service consists of two modules, a data interface module and a service module.
  • the data interface module receives the brushing record data transmitted from the mobile intelligent terminal, and stores the data on the server, and the transmitted data includes a user name, a brushing date, and a brushing area score.
  • the service module provides users with various brushing data query, analysis and sharing services, including history query, curve display, trend analysis, vulnerability analysis, viewing ranking, sharing, and pushing dental health knowledge.

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  • Health & Medical Sciences (AREA)
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  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
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Abstract

一种儿童刷牙智能训练系统，包括智能训练牙刷硬件、安装在移动智能终端上的应用软件系统、云服务三大部分，所述智能训练牙刷硬件包括牙刷本体，以及牙刷本体上的运动传感器模块、处理器模块、无线通信模块和电源模块。所述的应用软件系统，安装在移动智能终端上，功能包括数据收发、刷牙姿态检测及评价、刷牙动作引导、智能补强、数据上传云端等。所述的云服务部署在互联网公有云上，提供历史记录存储、数据分析、分享排名等功能。

Description

一种儿童刷牙智能训练系统 技术领域
本发明主要涉及智能设备技术，尤其涉及儿童智能刷牙引导系统。
背景技术
随着社会进步，身体健康越来越被更多人重视，但由于城市生活的快节奏以及不良的生活习惯，人们总是常常因为懒惰而忽视刷牙，这表现在忘记刷牙、刷牙时间不够、刷牙动作不规范，从而导致口腔压齿不清洁，造成很多口腔疾病。通常都是发生口腔疾病才开始注重，但仅通过医生的宣传降解口腔清洁动作规范还是远远不够的，因为难以使普通人引起兴趣，因此仍然存在刷牙不规范，难以坚持下去的问题。
刷牙是使用牙刷去除牙菌斑、软垢和食物残渣，保持口腔清洁的重要自我口腔保健方法，也是人们自我清除菌斑，预防牙周病发生、发展和复发的最主要手段。保持正确的刷牙方法和习惯，可以最大程度的帮助控制牙菌斑，维护口腔健康或延长修复体的使用寿命。但很多人的刷牙方法不正确，表现在，刷牙动作不正确、覆盖面不全、刷牙时间不够等。
发明内容
发明目的：本发明的目的是针对现有技术的不足而提供了一种儿童刷牙智能训练系统，可以检测和评价用户刷牙动作的正确性，并向用户提供牙齿方面的保健建议等，通过游戏交互方式引导儿童正确的刷牙姿势和良好的刷牙习惯，提高了儿童刷牙的娱乐性和积极性，提供了一种未来家居智能生活模式。
技术方案：为了实现发明目的，本发明采用以下技术方案：一种儿童刷牙智能训练系统，包括智能牙刷、智能终端和智能刷牙应用，其中：
所述智能牙刷，包括牙刷本体，以及设在牙刷本体内的运动传感器模块、处理器模块、无线通信模块和电源模块，所述运动传感器模块根据预设频率捕获用户使用智能牙刷的动作，并生成数据传送至处理器模块；所述处理器模块对牙刷本体的动作编码成数据传输至无线通信模块；所述无线通信模块则将编码数据传送至对应的智能终端；所述智能终端保存接收到的数据，并通过智能刷牙应用对数据进行分析和处理；
所述智能刷牙应用又包括牙刷姿态检测与评价模块和智能补强模块，其中：
所述牙刷姿态检测与评价模块，包括牙刷姿态解析模块、初始位置判断模块、刷牙动作解析模块、刷牙区域解析模块、时间统计模块和震动次数统计模块，其中：所述牙 刷姿态解析模块根据加速器采集的数据计算牙刷的滚动角，并将该滚动角映射成牙刷的姿态，该牙刷的姿态包括刷头朝上、刷头朝下、刷头朝左、刷头朝右；所述初始位置判断模块根据加速器采集的模块算出滚动角和俯仰角，从而判断牙刷是否在牙齿上规定的初始位置上；所述刷牙动作解析模块则通过加速器计算刷牙动作，；所述刷牙区域解析模块，根据牙刷的初始位置计算获得牙刷相对于牙齿的偏航角，并结合牙刷姿态判断出牙刷处于牙齿上的区域；所述时间统计模块，则根据刷牙区域解析模块的解析结果统计牙刷在每个刷牙区域上的停留时间，从而获得用户刷牙的总时长和各区域的分时长；所述震动次数统计模块，统计牙刷在每个区域的震动次数；
所述智能补强模块，包括数据处理模块、刷牙弱项分析模块、补强策略执行模块，其中：所述数据处理模块对从智能牙刷接收到的数据进行处理形成时间维度上的刷牙状态数据，该刷牙状态数据包括刷牙区域值、区域正确时间值和动作正确时间值；所述刷牙弱项分析模块，分别采用均值分析和方差分析对刷牙状态数据进行统计处理，得到单位时间内区域正确时间的均值和动作正确时间的均值，并与标准值进行比较得到差值；所述补强策略制定模块，根据差值的大小进行显性补强或隐性补强，所述显性补强是通过画面或语音显示提醒用户，所述隐性补强是直接在刷牙引导的标准值中隐式的增加或缩短时间；所述补强策略执行模块每隔N次完整刷牙动作后，根据指定的补强策略进行实际补强操作，使得后续n次刷牙中参照的标准值为经过补强后的标准值，待补强操作执行过后，进入下一轮的弱项分析和补强操作。
作为优选，所述牙刷姿态分为刷头朝上、刷头朝下、刷头朝左、刷头朝右。
作为优选，还包括云服务模块，用于接收智能终端发送的刷牙记录数据，并为用户提供刷牙数据查询、分析和分享服务。
作为优选，所述智能应用还包括游戏模块，通过动画示范动作引导用户刷牙，所述游戏模块实时接收牙刷姿态检测与评价模块的数据并进行比较，并通过画面或声音的方式进行反馈提示。
作为优选，所述牙刷姿态检测与评价模块包含数据评价模块，将姿态检测模块的输出结果与标准刷牙动作模型比较，从而评价用户的刷牙动作正确性，评价指标包括刷牙区域覆盖度、刷牙总时长、各区域刷牙分时长、各区域牙刷震动次数。
作为优选，所述刷牙区域分为13个区域，分别是左外侧、门牙外侧、右外侧、左咀嚼面(上)、左咀嚼面(下)、左内侧(上)、左内侧(下)、门牙内侧(上)、门牙内侧(下)、右咀嚼面(上)、右咀嚼面(下)、右内侧(上)、右内侧(下)。
作为优选，该刷牙动作包括水平方向刷牙、上下方向刷牙和静止。
有益效果：本发明与现有技术相比，具有以下优点：通过模块可以检测出刷牙姿态以及牙刷在牙齿上的区域、刷牙时间、震动次数，利用这些信息可以检测和评价用户刷牙动作的正确性，并向用户提供牙齿方面的保健建议等，从而能提高使用者正确的刷牙方法和习惯，保持口腔清洁，预防牙周病发生。
附图说明
图1为本发明所述儿童刷牙智能训练系统总体结构示意图；
图2为本发明所述智能训练牙刷硬件的组成结构示意图；
图3为本发明所述应用软件模块组成结构示意图；
图4为本发明所述刷牙姿态检测与评价模块的流程示意图；
图5为本发明所述刷牙智能补强方法的流程示意图。
具体实施方式
下面结合附图和实施例，对本发明的技术方案进行详细说明，但本发明要求保护的范围不局限于实施例表示的范围，故凡依本发明专利申请范围所述的构造、特征及原理所做的等效变化或修饰，均包括于本发明专利申请范围内。
本发明公开了一种儿童刷牙智能训练系统，包括智能训练牙刷硬件、应用软件、云服务三大部分。用户在使用时，首先打开移动智能终端上的应用软件，配合使用智能训练牙刷，跟随应用软件中的引导式刷牙示范，进行实际的刷牙动作，应用软件中通过动作检测和评价，给出实时反馈，提示动作正确性，从而帮助用户建立良好的习惯，并可纠正错误的刷牙习惯。
1.智能训练牙刷硬件
智能训练牙刷硬件包括牙刷本体，以及牙刷本体上的运动传感器模块、处理器模块、无线通信模块和电源模块。其中运动传感器模块捕获用户使用智能训练牙刷的动作，并传送至处理器模块；运动传感器模块包括加速器、陀螺仪和磁力计，捕获用户使用智能训练牙刷的动作数据为三维坐标数据。
处理器模块对牙刷本体的动作编码成数据发送至无线通信模块；无线通信模块则将编码数据传送至对应的智能终端。
数据传送分为两个阶段。
第一阶段，当智能训练牙刷与智能终端进行连接时，传输的数据内容包含智能训练牙刷的硬件编号和固件版本信息。
第二阶段，当用户使用智能训练牙刷开始刷牙时，智能训练牙刷会根据预设的采样频率，不断获取包含加速器、陀螺仪、磁力计在内的传感器采样数据，对于每一类传感器，采样数据分为X、Y、Z三个轴的数值，传递的数据的分为单个发送和批量发送两种。
对于单个发送，数据格式为，
数据类型 X轴数据 Y轴数据 Z轴数据
数据类型为加速器、陀螺仪或者磁力计等运动传感器。对于批量发送，根据所选用的传感器，一次性采样多个传感器数据并一次发送，数据格式为，
传感器A的X轴数据 传感器A的Y轴数据 传感器A的Z轴数据
传感器B的X轴数据 传感器B的Y轴数据 传感器B的Z轴数据
……    
。
2.应用软件系统
应用软件运行在移动智能终端上(包括平板电脑、智能手机等)，包括数据收发模块、游戏模块(游戏APP)、和刷牙姿态检测与评价模块、智能补强模块。
该系统的处理流程如下：
(1)用户使用智能训练牙刷进行刷牙，产生刷牙动作，并将动作数据传输至应用软件系统。
(2)智能终端应用软件系统中的数据收发模块负责接收智能训练牙刷传送来的动作数据，并将该数据保存到本地。
(3)应用系统中的刷牙姿态检测与评价模块内置刷牙动作分析引擎，该引擎能够将用户的刷牙动作与最佳刷牙动作进行匹配，并给出评价。
(4)应用系统中的游戏模块负责与用户刷牙动作进行交互，当用户产生某个方向的刷牙动作时，游戏也会产生相应方向的操作，该操作可以触发游戏某个事件的发生(比如消灭当前位置蛀虫等)。游戏内置有刷牙动作引导引擎，该引擎以游戏的形式引导用户采用正确的刷牙姿势，当该引擎判断用户某个方位的刷牙动作已经足够时，将产生相应的游戏事件从而引导用户进行下一步的刷牙动作。
(5)智能补强模块，采用数据分析方法，自动分析得出需要补强的牙齿区域，引导用户加强该区域的牙齿护理。
2.1数据收发模块
该模块一方面接收智能训练牙刷上的运动传感器数据，包括加速器，陀螺仪和磁力 计传来的数据。
另一方面，将刷牙记录、评价结果发送到云服务端，供用户查询、分析。
2.2刷牙姿态检测与评价模块
刷牙姿态检测与评价模块是应用软件系统的核心，包括牙刷姿态解析模块、初始位置判断模块、刷牙动作解析模块、刷牙区域解析模块、时间统计模块和震动次数统计模块、数据评价模块，其中：
2.2.1牙刷姿态解析模块：通过加速器数据计算牙刷的滚动角，再将该角度映射成牙刷的姿态。最终得出的牙刷姿态分为四种，分别是刷头朝上、朝下、朝左和朝右。
2.2.2初始位置判断模块：该模块使用加速器数据算出滚动角和俯仰角，从而判断牙刷是否在牙齿上规定的初始位置。比如可以规定牙刷开始时需要放在门牙上。
2.2.3刷牙动作解析模块：通过加速器来判断刷牙的动作，该动作包括左右刷牙、上下刷牙以及牙刷是否静止。
2.2.4刷牙区域解析模块：通过牙刷的姿态和初始位置，可判断牙刷在口腔中的区域，根据模块(2.2.2)的输出分两种情况。
(2.2.4.1)第一种情况是模块(2.2.2)判断出牙刷处于规定的初始位置，有了初始位置就可以得到牙刷相对于牙齿的偏航角，从而结合模块(2.2.1)的牙刷姿态可以判断出牙刷在牙齿上的13个区域。
计算偏航角可以分成两种方法,一种是使用9轴传感器,得到加速器,陀螺仪和磁力计的数据，然后使用传感器融合算法得到欧拉角。但因为磁力计极易受到周围磁场的影响，所以此种方法需要考虑到磁力器的矫正。基于牙刷的使用特性，不可能要求用户每次使用前做一次严格的8字旋转来矫正磁力器，所以须采用在正常使用过程中的自动矫正算法，比如高斯牛顿方法。另外一种方法是只使用加速器和陀螺仪，但是需要解决陀螺仪的漂移问题，可以使用某种互补滤波方法。
(2.2.4.2)第二种情况是模块(2.2.2)判断出牙刷不处于规定的初始位置，这种情况下只有滚动角和俯仰角，从而只能通过模块(2.2.1)的牙刷姿态将牙齿粗略的分成4个区域(上左，上中，上右合成刷头朝上区域，下左，下中，下右合成刷头朝下区域，左外，右内，门牙合成刷头朝右区域，左内，右外合成刷头朝左区域)。
2.2.5时间统计模块：结合模块(2.2.4)的解析结果和时间戳数据，可以统计牙刷在每个刷牙区域上的停留时间，从而计算出用户的刷牙总时长和各区域的分时长。
2.2.6震动次数统计模块：根据模块(2.2.3)的解析结果，可以统计出牙刷在每个 区域上的震动次数。
2.2.7数据评价模块：根据姿态模块的输出结果，评价用户的刷牙动作正确性。评价指标包括刷牙区域覆盖度、刷牙总时长、各区域刷牙时长、各区域牙刷震动次数。评价模块首先设定一个标准的刷牙动作模型，该标准模型中，规定各指标的满分标准，例如覆盖面指标达到13个为满分，刷牙总时长指标达到3分钟为满分，等等，各指标得分按照比率方式计算。在计算各项指标得分后，采用加权评分方式，计算总得分，给出总体评价。
2.3游戏模块
游戏模块为引导式，通过卡通画面，将刷牙分解为13个区域，通过示范动作引导用户采用正确的刷牙姿势，用户跟随画面中的刷牙动作，配合使用智能训练牙刷，实施刷牙动作，此时刷牙姿态检测与评价模块自动判断用户刷牙动作的正确性，将结果返回给游戏模块，游戏模块在画面中给出相应的提示。
2.4智能补强模块
智能补强包括数据处理模块，刷牙弱项分析模块、补强策略制定模块、补强策略执行模块。
2.4.1数据处理模块
用户在刷牙时通过一定频率采集数据，除传感器数据外，刷牙时间数据同时也被采集。采集的数据记录下来，并通过软件处理后，形成对刷牙区域、刷牙动作的判断，并转化为时间维度，最后形成的数据包括刷牙区域、区域正确时间、动作正确时间。
其中刷牙区域一共13个，分别是左外侧、门牙外侧、右外侧、左咀嚼面(上)、左咀嚼面(下)、左内侧(上)、左内侧(下)、门牙内侧(上)、门牙内侧(下)、右咀嚼面(上)、右咀嚼面(下)、右内侧(上)、右内侧(下)。区域正确时间指的是，用户在该区域刷牙的持续时间，但动作不一定正确。动作正确时间，指的是用户在正确的区域刷牙，并且动作正确的持续时间。动作正确时间一定是不大于区域正确时间。采集的数据格式如下表所示：
刷牙区域 区域正确时间 动作正确时间
左外侧 T1_左外侧 T2_左外侧
门牙外侧 T1_门牙外侧 T2_门牙外侧
右外侧 T1_右外侧 T2_右外侧
左咀嚼面(上) T1_左咀嚼面(上) T2_左咀嚼面(上)
左咀嚼面(下) T1_左咀嚼面(下) T2_左咀嚼面(下)
左内侧(上) T1_左内侧(上) T2_左内侧(上)
左内侧(下) T1_左内侧(下) T2_左内侧(下)
门牙内侧(上) T1_门牙内侧(上) T2_门牙内侧(上)
门牙内侧(下) T1_门牙内侧(下) T2_门牙内侧(下)
右咀嚼面(上) T1_右咀嚼面(上) T2_右咀嚼面(上)
右咀嚼面(下) T1_右咀嚼面(下) T2_右咀嚼面(下)
右内侧(上) T1_右内侧(上) T2_右内侧(上)
右内侧(下) T1_右内侧(下) T2_右内侧(下)
一个可能的数据记录片段如下表所示：
刷牙区域 区域正确时间 动作正确时间
左外侧 9秒 7秒
门牙外侧 10秒 10秒
右外侧 10秒 9秒
左咀嚼面(上) 10秒 10秒
左咀嚼面(下) 10秒 10秒
左内侧(上) 10秒 9秒
左内侧(下) 8秒 4秒
门牙内侧(上) 10秒 10秒
门牙内侧(下) 8秒 6秒
右咀嚼面(上) 5秒 2秒
右咀嚼面(下) 10秒 10秒
右内侧(上) 10秒 10秒
右内侧(下) 10秒 10秒
举例来说，上表中的第1行数据，指的是在左外侧这个区域上，用户刷牙用了9秒钟，而动作正确的时间是7秒钟。上表中的数据，在每次刷牙结束后，均被记录下来。
2.4.2刷牙弱项分析模块
刷牙弱项分析模块的数据输入是刷牙区域、区域正确时间、动作正确时间的数据记录，达到可以进行弱项分析的数据记录条数是N，指的是，当刷牙次数累计到N次时，可以进行1次弱项分析。
刷牙弱项分析主要采用均值分析和方差分析两种统计方法，分析指标是2个，分别是区域正确时间和动作正确时间。在13个刷牙区域中，每个刷牙区域的时间满分值为T1，要求达标值为T2＝T1-2，同时考虑到数据采样周期误差因素，每个区域的动作正确时间满分值为T1-1秒钟，要求达标值为T2-1秒钟。
以区域左外侧(上)为例,假设N次采样的刷牙区域正确时间均值为avg(t1)，如果
avg(t1)<T1-1s
即该区域的平均刷牙时间小于8秒钟，则可判断该区域刷牙时间不足，需要补强。
同样的，假设N次采样的刷牙动作正确时间均值为avg(t2)，如果
avg(t2)<T2-1s
即该区域的平均动作正确时间小于7秒钟，则可判断该区域的动作正确时间不足，需要补强。
2.4.3补强策略制定模块
补强策略制定模块，是针对弱项分析模块的输出结果，对相应的弱项进行补强策略制定。补强策略分为显性补强和隐形补强，显性补强指的是通过画面或语音显示提醒用户需要加强该牙齿区域的护理，同时增加该区域刷牙时间。隐式补强指的是在智能训练牙刷引导过程中，通过隐式增加时间的方式，不提示用户，增加数秒钟时间，用户感觉不明显。
如果某个区域的刷牙时间均值与达标值相差4秒钟以上(含4秒钟)，则采用显示补强方式。如果相差4秒钟之内，则采用隐式补强方式，补强时间为均值与达标值的差值。
如果某个区域的动作正确时间均值与达标值相差3秒钟以上(含3秒钟)，则采用显示补强方式。如果相差3秒钟之内，则采用隐式补强方式，补强时间为均值与达标值的差值。
区域正确时间补强和动作正确时间补强，两者不叠加，取两者之中较大者。在补强方式上，如果两者存在一个显式补强，则采用显式增强，否则采用隐式增强。
2.4.4补强策略执行模块
补强策略执行模块，当刷牙次数每达到N次时，进行完一次弱项分析和补强策略制定后，根据制定的策略，进行实际的补强操作。在下次刷牙过程中，引导程序根据每个 区域的补强策略，执行补强操作，补强操作持续6次，补强期间不再进行弱项分析，6次结束后，每个区域均恢复到标准刷牙时间。进入下一轮弱项分析及补强操作，如此循环。
3.云服务
云服务部署在互联网公有云上，提供历史记录存储、数据分析、分享排名等功能。云服务包含两个模块，分别是数据接口模块、服务模块。
数据接口模块接收来自与移动智能终端传输的刷牙记录数据，并存储在服务端，传输的数据包括用户名、刷牙日期、刷牙各区域得分。
服务模块，为用户提供各种刷牙数据查询、分析、分享服务，包括历史记录查询、曲线展示、趋势分析、弱项分析，查看排名、分享、推送牙齿保健知识等。

Claims (7)

  1. 一种儿童刷牙智能训练系统，其特征在于：包括智能牙刷、智能终端和智能刷牙应用，其中：
    所述智能牙刷，包括牙刷本体，以及设在牙刷本体内的运动传感器模块、处理器模块、无线通信模块和电源模块，所述运动传感器模块根据预设频率捕获用户使用智能牙刷的动作，并生成数据传送至处理器模块；所述处理器模块对牙刷本体的动作编码成数据传输至无线通信模块；所述无线通信模块则将编码数据传送至对应的智能终端；所述智能终端保存接收到的数据，并通过智能刷牙应用对数据进行分析和处理；
    所述智能刷牙应用又包括牙刷姿态检测与评价模块和智能补强模块，其中：
    所述牙刷姿态检测与评价模块，包括牙刷姿态解析模块、初始位置判断模块、刷牙动作解析模块、刷牙区域解析模块、时间统计模块和震动次数统计模块，其中：所述牙刷姿态解析模块根据加速器采集的数据计算牙刷的滚动角，并将该滚动角映射成牙刷的姿态，该牙刷的姿态包括刷头朝上、刷头朝下、刷头朝左、刷头朝右；所述初始位置判断模块根据加速器采集的模块算出滚动角和俯仰角，从而判断牙刷是否在牙齿上规定的初始位置上；所述刷牙动作解析模块则通过加速器计算刷牙动作，；所述刷牙区域解析模块，根据牙刷的初始位置计算获得牙刷相对于牙齿的偏航角，并结合牙刷姿态判断出牙刷处于牙齿上的区域；所述时间统计模块，则根据刷牙区域解析模块的解析结果统计牙刷在每个刷牙区域上的停留时间，从而获得用户刷牙的总时长和各区域的分时长；所述震动次数统计模块，统计牙刷在每个区域的震动次数；
    所述智能补强模块，包括数据处理模块、刷牙弱项分析模块、补强策略执行模块，其中：所述数据处理模块对从智能牙刷接收到的数据进行处理形成时间维度上的刷牙状态数据，该刷牙状态数据包括刷牙区域值、区域正确时间值和动作正确时间值；所述刷牙弱项分析模块，分别采用均值分析和方差分析对刷牙状态数据进行统计处理，得到单位时间内区域正确时间的均值和动作正确时间的均值，并与标准值进行比较得到差值；所述补强策略制定模块，根据差值的大小进行显性补强或隐性补强，所述显性补强是通过画面或语音显示提醒用户，所述隐性补强是直接在刷牙引导的标准值中隐式的增加或缩短时间；所述补强策略执行模块每隔N次完整刷牙动作后，根据指定的补强策略进行实际补强操作，使得后续n次刷牙中参照的标准值为经过补强后的标准值，待补强操作执行过后，进入下一轮的弱项分析和补强操作。
  2. 根据权利要求1所述儿童刷牙智能训练系统，其特征在于：所述牙刷姿态分为刷 头朝上、刷头朝下、刷头朝左、刷头朝右。
  3. 根据权利要求1所述儿童刷牙智能训练系统，其特征在于：还包括云服务模块，用于接收智能终端发送的刷牙记录数据，并为用户提供刷牙数据查询、分析和分享服务。
  4. 根据权利要求1所述儿童刷牙智能训练系统，其特征在于：所述智能应用还包括游戏模块，通过动画示范动作引导用户刷牙，所述游戏模块实时接收牙刷姿态检测与评价模块的数据并进行比较，并通过画面或声音的方式进行反馈提示。
  5. 根据权利要求1所述儿童刷牙智能训练系统，其特征在于：所述牙刷姿态检测与评价模块包含数据评价模块，将姿态检测模块的输出结果与标准刷牙动作模型比较，从而评价用户的刷牙动作正确性，评价指标包括刷牙区域覆盖度、刷牙总时长、各区域刷牙分时长、各区域牙刷震动次数。
  6. 根据权利要求1所述儿童刷牙智能训练系统，其特征在于：所述刷牙区域分为13个区域，分别是左外侧、门牙外侧、右外侧、左咀嚼面(上)、左咀嚼面(下)、左内侧(上)、左内侧(下)、门牙内侧(上)、门牙内侧(下)、右咀嚼面(上)、右咀嚼面(下)、右内侧(上)、右内侧(下)。
  7. 根据权利要求1所述儿童刷牙智能训练系统，其特征在于：该刷牙动作包括水平方向刷牙、上下方向刷牙和静止。
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