WO2022083615A1 - 一种冲牙器控制方法、控制系统及冲牙器 - Google Patents

一种冲牙器控制方法、控制系统及冲牙器 Download PDF

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Publication number
WO2022083615A1
WO2022083615A1 PCT/CN2021/124882 CN2021124882W WO2022083615A1 WO 2022083615 A1 WO2022083615 A1 WO 2022083615A1 CN 2021124882 W CN2021124882 W CN 2021124882W WO 2022083615 A1 WO2022083615 A1 WO 2022083615A1
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WO
WIPO (PCT)
Prior art keywords
water outlet
dental irrigator
area
irrigator
water
Prior art date
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PCT/CN2021/124882
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English (en)
French (fr)
Inventor
卢伟
张明富
李天成
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厦门松霖科技股份有限公司
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Application filed by 厦门松霖科技股份有限公司 filed Critical 厦门松霖科技股份有限公司
Publication of WO2022083615A1 publication Critical patent/WO2022083615A1/zh
Priority to US18/136,392 priority Critical patent/US20230255735A1/en

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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0075—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by spectroscopy, i.e. measuring spectra, e.g. Raman spectroscopy, infrared absorption spectroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
    • A61B5/0088—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for oral or dental tissue
    • 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
    • A61C17/0202—Hand-pieces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • 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
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/136—Segmentation; Edge detection involving thresholding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
    • A61C1/0007—Control devices or systems
    • A61C1/0015—Electrical systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30036—Dental; Teeth

Definitions

  • the invention relates to the technical field of oral care, in particular to a control method, a control system and a dental irrigator of a dental irrigator.
  • the dental irrigator uses a water pump to pump the water in the water tank to the water outlet to form a jet, so as to flush the user's mouth and teeth.
  • a water pump to pump the water in the water tank to the water outlet to form a jet, so as to flush the user's mouth and teeth.
  • the main purpose of the present invention is to provide a dental irrigator control method, control system and dental irrigator, which overcome the deficiencies of the prior art dental irrigators and can automatically irrigate based on the identified tooth area , which ensures the flushing effect and enhances the user's comfort.
  • the present invention adopts following technical scheme:
  • a method for controlling a dental irrigator comprising:
  • controlling the water outlet from the water outlet of the dental irrigator based on the acquired pictures of the oral cavity includes:
  • the tooth area is identified based on the obtained oral image, and if the tooth area is identified, the water outlet of the dental irrigator is controlled to emit water; otherwise, the water outlet of the dental irrigator is controlled to not emit water.
  • controlling the water outlet from the water outlet of the dental irrigator based on the acquired pictures of the oral cavity includes:
  • the tooth area is identified based on the obtained oral pictures. If the tooth area is identified and the foreign body area in the tooth area is greater than or equal to the judgment threshold, the water outlet of the dental irrigator is controlled to discharge water; otherwise, the water outlet of the dental irrigator is controlled not to out of water.
  • controlling the water outlet from the water outlet of the dental irrigator based on the acquired pictures of the oral cavity includes:
  • controlling the water outlet from the water outlet of the dental irrigator based on the acquired pictures of the oral cavity includes:
  • the tooth area if the tooth area is recognized and the foreign body area in the tooth area is greater than or equal to the judgment threshold, it is further detected whether the water outlet of the dental irrigator is facing the tooth area, and if it is facing the tooth area. , control the water outlet of the tooth irrigator to output water; otherwise, control the water outlet of the tooth irrigator to produce no water, or control the water outlet of the tooth irrigator to rotate to face the teeth area and then water;
  • the tooth area if the tooth area is identified and the water outlet of the dental irrigator is facing the tooth area, further detect whether the foreign body area in the tooth area is greater than or equal to the judgment threshold, if it is greater than, Control the water outlet of the dental irrigator to output water; otherwise, control the water outlet of the dental irrigator to produce no water, or control the water outlet of the dental irrigator to rotate to face the teeth area and then output water.
  • controlling the water outlet from the water outlet of the dental irrigator based on the acquired pictures of the oral cavity includes:
  • the change of the water outlet flow rate of the water outlet nozzle of the dental irrigator is controlled based on the acquired pictures of the oral cavity, including:
  • the tooth area is identified based on the obtained oral image. If the tooth area is identified and the tooth area contains foreign objects, the water outlet flow rate of the water outlet of the dental irrigator is controlled to increase, decrease or remain unchanged according to the foreign body area.
  • controlling the water outlet from the water outlet of the dental irrigator based on the acquired pictures of the oral cavity includes:
  • control the change of the water output force of the water outlet of the irrigator increase, decrease or remain unchanged.
  • the change of the water outlet force of the water outlet of the dental irrigator is controlled based on the acquired pictures of the oral cavity, including:
  • the tooth area is identified based on the obtained oral image. If the tooth area is identified and the tooth area contains foreign objects, the water outlet force of the water outlet of the dental irrigator is controlled to increase, decrease or remain unchanged according to the foreign body area.
  • the method for identifying the tooth region includes:
  • the tooth edge picture F0' is processed by the first bandpass filter to obtain the filtered picture F0";
  • the method for identifying the foreign body area includes:
  • the picture F2 is processed by the second high-pass filter to obtain the filtered picture F2';
  • the area covered by the jets ejected from the water outlet at least partially overlaps with the imaging area of the image acquisition device.
  • the image acquisition device includes a visible light imaging device, an infrared thermal imaging device or an ultraviolet imaging device; the image acquisition device forms a detachable connection or a non-detachable connection with the dental irrigator.
  • a dental irrigator control system comprising:
  • an oral picture acquisition module used for acquiring oral pictures through an image acquisition device installed on the irrigator
  • the control module is used for controlling the water outlet of the irrigator based on the acquired oral pictures.
  • control module is specifically configured to identify the tooth region based on the acquired oral picture, and if the tooth region is identified, control the water outlet of the dental irrigator to output water; otherwise, control the water outlet of the dental irrigator to output water.
  • control module is specifically configured to identify the tooth area based on the obtained oral picture, and if the tooth area is identified and the foreign body area in the tooth area is greater than or equal to the judgment threshold, then control the water outlet of the dental irrigator Water comes out; otherwise, the water outlet of the control irrigator does not produce water.
  • control module is specifically configured to identify the tooth area based on the acquired oral picture, and if the tooth area is identified, further detect whether the water outlet of the dental irrigator is facing the tooth area, and if it is facing the tooth area, Control the water outlet of the dental irrigator to output water; otherwise, control the water outlet of the dental irrigator to produce no water, or control the water outlet of the dental irrigator to rotate to face the teeth area and then output water.
  • control module is specifically configured to identify the tooth area based on the acquired oral picture, and if the tooth area is identified and the foreign body area in the tooth area is greater than or equal to a judgment threshold, further detect the water outlet of the dental irrigator Whether the mouth is facing the tooth area, if it is facing, control the water outlet of the dental irrigator to output water; otherwise, control the water outlet of the dental irrigator to not produce water, or control the water outlet of the dental irrigator to rotate to face the teeth. Water out of the area;
  • the tooth area if the tooth area is identified and the water outlet of the dental irrigator is facing the tooth area, further detect whether the foreign body area in the tooth area is greater than or equal to the judgment threshold, if it is greater than, Control the water outlet of the dental irrigator to output water; otherwise, control the water outlet of the dental irrigator to produce no water, or control the water outlet of the dental irrigator to rotate to face the teeth area and then output water.
  • control module is specifically used for:
  • the water outlet flow rate of the water outlet of the dental irrigator is controlled to increase, decrease or remain unchanged.
  • control module is specifically used for:
  • the tooth area is identified based on the obtained oral image. If the tooth area is identified and the tooth area contains foreign objects, the water outlet flow rate of the water outlet of the dental irrigator is controlled to increase, decrease or remain unchanged according to the foreign body area.
  • control module is specifically used for:
  • the water outlet force of the water outlet of the irrigator is controlled to be larger, smaller or unchanged.
  • control module is specifically used for:
  • the tooth area is identified based on the obtained oral image. If the tooth area is identified, and the tooth area contains a foreign body, the water outlet force of the water outlet of the dental irrigator is controlled to increase, decrease or remain unchanged according to the foreign body area.
  • the area covered by the jets ejected from the water outlet at least partially overlaps with the imaging area of the image acquisition device.
  • the image acquisition device includes a visible light imaging device, an infrared thermal imaging device or an ultraviolet imaging device; the image acquisition device forms a detachable connection or a non-detachable connection with the dental irrigator.
  • a dental irrigator includes a main body, a water outlet and an image acquisition device; the water outlet and the image acquisition device are installed on the main body, and further comprises: the dental irrigator control system.
  • a dental irrigator includes a main body, a water outlet and an image acquisition device; the water outlet and the image acquisition device are installed on the main body, and further comprises a memory, a processor, and a device stored in the memory and running on the processor.
  • a computer program when the processor executes the program, implements the steps of the dental irrigator control method.
  • the present invention obtains pictures of the oral cavity through the image acquisition device installed on the irrigator, and controls the water outlet of the irrigator to discharge or not to water based on the obtained pictures of the oral cavity, so as to realize automatic control of irrigating according to the collected pictures of the oral cavity
  • the water outlet of the device works without manual control and adjustment, which is convenient for users to use;
  • the present invention can quickly identify the tooth area and the corresponding foreign body area from the acquired oral images, and when the water outlet of the dental irrigator is facing the tooth area, control the water outlet of the dental irrigator based on the foreign body area
  • the mouth performs rinsing to ensure that the rinsing is facing the tooth area, and the intensity of rinsing can be automatically adjusted according to the foreign body area, while fully cleaning the teeth, preventing damage to the mouth or face, and improving user comfort and satisfaction Spend;
  • the image acquisition device of the present invention is preferably a visible light imaging device, an infrared thermal imaging device or an ultraviolet imaging device, and the water outlet of the water outlet is located in the imaging area of the image acquisition device;
  • the rinsing position of the dental appliance is consistent, ensuring that when a tooth area appears in the center of the picture of the image acquisition device, the direction of the water outlet is facing the tooth area at this time, and there is no need to adjust the direction of the water outlet.
  • Fig. 1 is the flow chart of the control method of the dental irrigator according to the first embodiment of the present invention
  • FIG. 2 is a schematic diagram of a water outlet aligning with a tooth region according to an embodiment of the present invention
  • FIG. 3 is a flowchart of identifying a tooth region according to an embodiment of the present invention.
  • FIG. 4 is a flow chart of acquiring the area of foreign objects according to an embodiment of the present invention.
  • Fig. 5 is the structural block diagram of the dental irrigator control system of the embodiment of the present invention.
  • Fig. 6 is the side view of the dental irrigator of the embodiment of the present invention.
  • Fig. 7 is the perspective view of the dental irrigator of the embodiment of the present invention.
  • FIG. 8 is a cross-sectional view of a separate water outlet installed on the body of the embodiment of the present invention.
  • FIG. 9 is a cross-sectional view of an endoscope alone installed on the body of an embodiment of the present invention.
  • FIG. 10 is a cross-sectional view of a water tank in a retracted position according to an embodiment of the present invention
  • FIG. 11 is a cross-sectional view of a water tank in an extended position according to an embodiment of the present invention.
  • FIG. 12 is a control principle diagram of the dental irrigator according to the embodiment of the present invention.
  • connection should be understood in a broad sense, such as " Connection”, which can be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, or an internal connection between two components.
  • Connection can be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, or an internal connection between two components.
  • a method for controlling a dental irrigator of the present invention includes:
  • the operation of the water outlet of the dental irrigator can be automatically controlled according to the collected oral pictures, without manual control and adjustment, which is convenient for users to use.
  • using manual control increases the difficulty of use and leads to some potential use risks.
  • the teeth can be automatically cleaned by placing the dental irrigator into the oral cavity, which reduces the difficulty of use and increases the safety.
  • the foreign objects in this embodiment include tartar and food residues.
  • controlling of the water outlet of the irrigator based on the acquired oral pictures includes:
  • the tooth area is identified based on the obtained oral image, and if the tooth area is identified, the water outlet of the dental irrigator is controlled to emit water; otherwise, the water outlet of the dental irrigator is controlled to emit no water.
  • the water outlet of the dental irrigator is controlled to emit water to rinse the teeth, so as to prevent the water outlet from also rinsing when the non-dental area is identified based on the acquired oral image. If the water is discharged without identifying the tooth area, on the one hand, water will be wasted, and on the other hand, it will cause certain damage to the oral cavity, such as causing the user to feel pain or even causing oral injury.
  • controlling of the water outlet of the irrigator based on the acquired oral pictures includes:
  • the tooth area is identified based on the obtained oral pictures. If the tooth area is identified and the foreign body area in the tooth area is greater than or equal to the judgment threshold, the water outlet of the dental irrigator is controlled to discharge water; otherwise, the water outlet of the dental irrigator is controlled not to out of water.
  • the water outlet of the dental irrigator is controlled to emit water to rinse the teeth. It can be seen that, in order to control the water outlet of the irrigator to discharge water, in addition to identifying the tooth area, it is also necessary to judge the size of the foreign body area in the tooth area. Only when the area of the foreign body reaches the judgment threshold, the water outlet of the irrigator is controlled to be flushed with water. This embodiment can prevent flushing too frequently.
  • judgment threshold may be a preset value or a self-adjustable value, which is specifically set according to actual use, which is not limited in this embodiment.
  • controlling of the water outlet of the irrigator based on the acquired oral pictures includes:
  • the water outlet of the dental irrigator is controlled to emit water to rinse the teeth. It can be seen that, in order to control the water outlet of the dental irrigator to discharge water, in addition to identifying the tooth area, it is also necessary to determine whether the water outlet of the dental irrigator is facing the tooth area. Only when the water outlet of the dental irrigator is facing the tooth area, the water outlet of the dental irrigator is controlled to be flushed with water. This embodiment further ensures that it is the teeth that are rinsed.
  • controlling of the water outlet of the irrigator based on the acquired oral pictures includes:
  • the tooth area based on the obtained oral picture, if the tooth area is recognized and the foreign body area in the tooth area is greater than or equal to the judgment threshold, it is further detected whether the water outlet of the dental irrigator is facing the tooth area, and if it is facing the tooth area. , control the water outlet of the tooth irrigator to output water; otherwise, control the water outlet of the tooth irrigator to produce no water, or control the water outlet of the tooth irrigator to rotate to face the teeth area and then water out.
  • the irrigating is controlled.
  • the water from the water outlet of the appliance rinses the teeth. It can be seen that, in order to control the water outlet of the irrigator to discharge water, in addition to identifying the tooth area, it is also necessary to judge whether the area of foreign objects in the tooth area is greater than or equal to the judgment threshold and whether the water outlet of the irrigator is facing the tooth area. Only when the three conditions are met, the water outlet of the dental irrigator is controlled to be flushed with water. This embodiment not only ensures the accuracy of flushing, but also prevents excessive flushing.
  • the tooth area if the tooth area is identified and the water outlet of the dental irrigator is facing the tooth area, further detect whether the foreign body area in the tooth area is greater than or equal to the judgment threshold, if it is greater than, Control the water outlet of the dental irrigator to output water; otherwise, control the water outlet of the dental irrigator to produce no water, or control the water outlet of the dental irrigator to rotate to face the teeth area and then output water.
  • the water outlet of the tooth irrigator is controlled not to perform rinsing, preventing Accidental flushing. But at this time, a sound prompt or a light prompt can be given to prompt that a foreign body is detected but the water outlet is not facing the tooth area.
  • the offset angle or offset displacement between the water outlet and the tooth area can be calculated first, and then the water outlet can be driven by the driving mechanism.
  • the mouth is rotated until it faces the tooth area, and finally the water outlet of the dental irrigator is controlled to perform rinsing based on the foreign body area.
  • water spout may be driven by a motor to rotate or perform flushing.
  • the method for judging whether the water outlet of the dental irrigator is facing the tooth region is as follows.
  • the middle point of the picture is taken as the reference origin, and all tooth contours are added to the vectors of the origin. If the absolute length of the resulting vector is less than the preset threshold, it is determined that the tooth is not in the middle of the picture, otherwise it is considered that the tooth is in the middle of the picture, that is, the water comes out The mouth is facing the teeth.
  • the identification of the tooth region based on the oral cavity image specifically includes:
  • the oral image f0 obtained by the image acquisition device is converted from the time domain to the frequency domain.
  • S1023 Process the tooth edge picture F0' through a first bandpass filter to obtain a filtered picture F0".
  • the first bandpass filter can be continuously learned so as to accurately pass the tooth edge.
  • the area of the teeth should be within a certain frequency range after Fourier transformation (S1021), assuming that the range is (wl, wh), the following learning mechanism is established.
  • the first step is to number each oral picture as n in sequence, and n ranges from 1 to 1000;
  • the second step is to manually mark the tooth area
  • the third step is to perform Fourier transform on each image to find the marked frequency domain
  • the fourth step record the label n and the corresponding frequency range (wn1, wn2);
  • the sixth step is to remove abnormal data from the 1000 groups of data in the fifth step, and sort by the labels, and output the sequence Wi, and the sequence Wi includes several groups of frequency ranges that are not excluded;
  • the seventh step is to take the average of the upper and lower frequency limits of the sequence Wi, respectively, to calculate the mean value range (wl, wh), and to calculate the mean square error ⁇ l of wl and the root mean square ⁇ h of wh;
  • the sequence Wi, the frequency range (wl, wh), ⁇ l and ⁇ h are taken together as the output data of the learning mechanism, that is, the parameters of the first bandpass filter.
  • the parameters are constantly corrected through the above-mentioned processing flow on a regular basis.
  • S1024 Perform inverse Fourier transform on the picture F0" to obtain a transformed picture f0'.
  • the processed image is converted back to the time domain.
  • the first step is to traverse all the pixels and remove the outliers
  • the second step is to set the window parameter wnd, and erode the image to make it a connected contour area;
  • the third step is to traverse each connected area, remove the sub-areas under other connected areas, obtain the tooth contour map, and obtain the tooth area.
  • obtaining the corresponding foreign body area based on the identified tooth area specifically includes:
  • the first step is to create a new frame of image, the size of the new image is the same as the original image;
  • a new image is used as the original image of the tooth portion, and the newly created image is f2.
  • S1034 Process the picture F2 through a second high-pass filter to obtain a filtered picture F2'.
  • the second high-pass filter can be continuously learned.
  • the area of foreign objects in the teeth should be within a certain frequency range after Fourier transform. Assuming that the range is (wb, + ⁇ ), it should be within a certain frequency range. In the frequency range of , assuming that the range is (wb, + ⁇ ), the following learning mechanism is established.
  • the first step is to number each oral picture as n in sequence, and n ranges from 1 to 1000;
  • the second step is to manually mark the foreign body area, and count the area area S1, S2, S3...;
  • the third step is to perform Fourier transform on each image to find the marked frequency domain
  • the fourth step record the label n and the corresponding frequency range (wn, + ⁇ );
  • the fifth step repeat the third and fourth steps, a total of 1000 times, to get 1000 groups of frequency ranges, (w1, + ⁇ ), (w2, + ⁇ ) whil
  • the sixth step is to remove abnormal data from the 1000 groups of data in the fifth step, and sort by the labels, and output the sequence Wi, and the sequence Wi includes several groups of frequency ranges that are not excluded;
  • the seventh step is to take the average of the upper limit of the frequency in the sequence Wi, calculate the mean value range (wb, + ⁇ ), and calculate the mean square error ⁇ b of wb;
  • the eighth step is to remove abnormal points from the area of the foreign body area, and take the average Sthl and the mean square error ⁇ thl, where Sthl is the judgment threshold.
  • the sequence Wi, the frequency range (wb, + ⁇ ) and ⁇ b are taken together as the output data of the learning mechanism, that is, the parameters of the second high-pass filter.
  • the parameters are constantly corrected through the above processing flow to improve the accuracy.
  • the enhanced picture is converted back to the time domain.
  • the first step is to remove the solitary point for the image f2' obtained after inverse Fourier transform
  • the second step is to traverse the image and convert all pixels into grayscale values
  • the third step is to set the threshold, and set the pixels on both sides of the threshold to black and white;
  • the fourth step is to output a new image processed by pixel points, which is the marked foreign body area, and obtain the image f2".
  • this embodiment can control the change of the water outlet flow rate of the water outlet of the dental irrigator based on the acquired picture of the oral cavity: increase, decrease or remain unchanged; and/or, this embodiment can control the irrigator based on the acquired picture of the oral cavity
  • the judging conditions for controlling the water outlet flow rate and/or the water outlet strength may be the area of the foreign body, the type of the foreign body, the thickness of the foreign body, and the like.
  • the specific method may be to control the water outlet flow rate/strength of the water outlet of the dental irrigator based on the obtained oral pictures, including:
  • the tooth area is identified based on the obtained oral image. If the tooth area is identified and the tooth area contains foreign objects, the water outlet flow/strength of the water outlet of the dental irrigator is controlled according to the foreign object area. Controlling the water outlet of the dental irrigator for flushing based on the foreign body area, including:
  • the water outlet of the dental irrigator is controlled to perform flushing in different gears.
  • the water outlet of the dental irrigator is controlled to perform flushing.
  • the dental irrigator can be divided into three flushing gears, as follows:
  • the area covered by the jet from the water outlet at least partially overlaps with the imaging area of the image acquisition device.
  • the water outlet of the water outlet is located in the imaging area of the image acquisition device.
  • the imaging position of the image acquisition device is consistent with the flushing position of the dental irrigator, so that there is no need to adjust the position.
  • This design can also be used in real time through the image acquisition device. The flushing effect is observed, very clear and intuitive.
  • the image acquisition device includes a visible light imaging device, an infrared thermal imaging device or an ultraviolet imaging device; the image acquisition device forms a detachable connection or a non-detachable connection with the dental irrigator.
  • the visible light imaging device includes an endoscope.
  • An endoscope is a detection instrument that integrates traditional optics, ergonomics, precision machinery, modern electronics, mathematics, and software. It has image sensors, optical lenses, light source lighting, and mechanical devices.
  • the endoscope is installed on the dental irrigator as an image acquisition device, which can not only collect pictures of the oral cavity, but also facilitate the real-time observation of the oral conditions and the observation of the flushing effect, which is very clear and intuitive.
  • image acquisition devices can also be used in the present invention, as long as images of the oral cavity can be acquired and the above-mentioned functions can be realized.
  • a dental irrigator control system of the present invention includes:
  • the oral picture acquisition module 501 is used for acquiring oral pictures through the image acquisition device installed on the dental irrigator;
  • the control module 502 is configured to control the water outlet of the dental irrigator to output water based on the acquired oral cavity pictures.
  • control module 502 is specifically configured to identify the tooth region based on the obtained oral picture, and if the tooth region is identified, control the water outlet of the dental irrigator to discharge water; otherwise, control the water outlet of the dental irrigator No water.
  • control module 502 is specifically configured to identify the tooth region based on the obtained oral picture, and if the tooth region is identified and the foreign body area in the tooth region is greater than or equal to the judgment threshold, then control the dental irrigator water from the water outlet; otherwise, the water outlet of the control irrigator does not produce water.
  • control module 502 is specifically configured to identify the tooth area based on the obtained oral picture, and if the tooth area is identified, further detect whether the water outlet of the dental irrigator is facing the tooth area, if If it is facing, the water outlet of the dental irrigator is controlled to emit water; otherwise, the water outlet of the dental irrigator is controlled to produce no water, or the water outlet of the dental irrigator is controlled to be turned to face the teeth area and then water is discharged.
  • control module 502 is specifically configured to perform tooth area identification based on the acquired oral image, and if the tooth area is identified and the foreign body area in the tooth area is greater than or equal to a judgment threshold, further detect the tooth punching Check whether the water outlet of the irrigator is facing the tooth area, if it is, control the water outlet of the irrigator to output water; otherwise, control the water outlet of the irrigator to not produce water, or control the water outlet of the irrigator to rotate until it is facing Water comes out behind the tooth area;
  • the tooth area if the tooth area is identified and the water outlet of the dental irrigator is facing the tooth area, further detect whether the foreign body area in the tooth area is greater than or equal to the judgment threshold, if it is greater than, Control the water outlet of the dental irrigator to output water; otherwise, control the water outlet of the dental irrigator to produce no water, or control the water outlet of the dental irrigator to rotate to face the teeth area and then output water.
  • the control module 502 is specifically used to:
  • the control of the water outlet flow of the water outlet of the dental irrigator based on the acquired oral pictures includes:
  • the tooth area is identified based on the acquired oral image, and if the tooth area is identified and the tooth area contains foreign objects, the water outlet flow rate of the water outlet of the dental irrigator is controlled according to the area of the foreign object.
  • the control module 502 is also specifically used to:
  • control the change of the water output force of the water outlet of the irrigator increase, decrease or remain unchanged.
  • the control of the water outlet flow of the water outlet of the dental irrigator based on the acquired oral pictures includes:
  • the tooth area is identified based on the acquired oral image. If the tooth area is identified and the tooth area contains a foreign object, the water outlet force of the water outlet of the dental irrigator is controlled according to the area of the foreign object.
  • the area covered by the jets ejected from the water outlet at least partially overlaps with the imaging area of the image acquisition device.
  • the image acquisition device includes a visible light imaging device, an infrared thermal imaging device or an ultraviolet imaging device; the image acquisition device forms a detachable connection or a non-detachable connection with the dental irrigator.
  • An embodiment of a dental irrigator of the present invention includes a main body 1, a water outlet 2 and an image acquisition device 3; the water outlet 2 and the image acquisition device 3 are installed on the main body, and the The dental irrigator further includes: the aforementioned dental irrigator control system.
  • the dental irrigator control system is implemented by a controller (eg, MCU).
  • the image acquisition device 3 may be a visible light imaging device, an infrared thermal imaging device or an ultraviolet imaging device.
  • the focal length range of the image acquisition device 3 be a to b. According to different image acquisition devices 3, the values of a and b are different, the mirror surface of the image acquisition device 3 is lower than the water outlet of the water outlet 2, and the image The mirror surface of the acquisition device 3 faces the water outlet 2 , and the water outlet of the water outlet 2 is located in the imaging area of the image acquisition device 3 .
  • the imaging area of the image acquisition device 3 is consistent with the area to be flushed by the water outlet 2, and the flushing area of the water outlet 2 always appears in the imaging area of the image acquisition device 3.
  • the water outlet 2 and the flushing area of the water outlet 2 always appear in the imaging area of the image capturing device 3 .
  • the controller 4 controls the water outlet 2 of the dental irrigator to perform rinsing through the motor.
  • the height difference L between the mirror surface of the image capture device 3 and the water outlet of the water outlet 2 satisfies: a ⁇ L ⁇ b; the vertical distance L2 between the water outlet of the water outlet 2 and the central axis of the image capture device 3 satisfies : 0 ⁇ L2 ⁇ tan( ⁇ °/2)*L; where ⁇ represents the dispersion angle of the endoscope.
  • the water outlet 2 and the image capture device 3 are respectively detachably connected to the body 1 .
  • the water outlet 2 is directly connected to the main body 1, and the bottom of the image capture device 3 is provided with a connector that forms a mechanical connection + electrical connection with the bottom of the main body 1, so that the image capture device 3 can take electricity from the main body 1 and fix it on body 1.
  • a connector may be in the mode of magnetic attraction + conductive elastic piece 31 , which belongs to the prior art and will not be repeated here.
  • the image capturing device 3 can also be fixed on the main body 1 and cannot be removed.
  • the body 1 in order to facilitate the user to store the removed water outlet 2 and the image capture device 3 , the body 1 has a chamber for accommodating the image capture device 3 and the water outlet 2 . In this way, the user does not need to prepare an additional storage box, and it is very convenient to carry when traveling.
  • the dental irrigator is a portable dental irrigator, so the main body 1 has a built-in water tank 17 , and the bottom of the main body 1 has a cover 171 for opening or closing the water tank 17 .
  • the main body 1 has a built-in water tank 17
  • the bottom of the main body 1 has a cover 171 for opening or closing the water tank 17 .
  • all the required components can be integrated on the main body 1, and the storage volume is small, which is further convenient for the user to carry out.
  • the main body 1 is provided with a lighting switch 12 and a photographing switch 13;
  • the user presses the lighting switch 12 to control the image capture device 3 to be activated or deactivated; after the image capture device 3 is activated, the camera switch 13 is pressed to capture the current imaging area of the image capture device 3 .
  • the lighting switch and the photographing switch may be buttons or touch switches.
  • the main body 1 is also provided with an indicator light for indicating the current water outlet gear.
  • the number of indicator lights is consistent with the flushing gear, and when the flushing gear is increased or decreased, the number of indicator lights will increase or decrease accordingly.
  • the smart terminal In order to facilitate users to observe their own oral cavity, it also includes an APP installed on the smart terminal, which establishes a wireless connection between the APP and the image acquisition device 3, and displays the imaging area of the image acquisition device 3 on the APP in real time, or the image acquisition device 3 The oral photos taken by the device 3 are displayed on the APP. In this way, users can observe their oral cavity in real time when irrigating their teeth, or take pictures of their oral cavity and keep them for careful observation.
  • a motor 14 is also provided inside the body 1 to drive the piston assembly 15 , and the motor 14 drives the piston assembly 5 to reciprocate to pump the water in the water tank 17 into the pipeline inside the body 1 .
  • the pipe 151 communicates with the water nozzle through the duckbill valve 16, so that the backflow of water in the water nozzle can be avoided.
  • the water tank 17 communicates with the pipeline 151 through the check valve 18 , which also prevents the water in the pipeline from flowing back into the water tank 17 .
  • the main body 1 is also provided with a circuit board of the image capture device 3 , and a conductive contact 19 electrically connected to the elastic elastic piece 31 of the image capture device 3 , and the conductive contact 19 is connected to the circuit board by wires.
  • the end of the image capture device 3 facing the oral cavity is also provided with a waterproof lens 32 for protecting the lens of the image capture device 3 .
  • a waterproof cover 33 is installed on the main body 1 to cover the conductive contacts 19 .
  • the lighting switch 12 and the photographing switch 13 are connected to the circuit board of the image acquisition device 3 , and the circuit board of the image acquisition device 3 is connected to the controller 4 to send the collected oral images to the controller 4 .
  • the main body 1 is also provided with a dental irrigator circuit board, and the dental irrigator circuit board is connected to the controller 4 .
  • the controller 4 controls the water outlet 2 to perform rinsing or stop rinsing through the irrigator circuit board.
  • the outer wall of the body 1 is also slidably connected with the inner wall of the water tank 17, so that the water tank 17 moves between the extended position and the retracted position.
  • a telescopic tube 171 is arranged in the water tank 17, the upper end of the telescopic tube 171 is kept in communication with the pipes in the main body 1, and the lower end extends or contracts correspondingly with the extension or contraction of the water tank. Since the water tank 17 is slidably connected to the body 1, the water tank 17 can be slid to the retracted position to reduce the storage volume during storage, and the effective volume of the water tank 17 can be increased by sliding the water tank 17 to the extended position during use.
  • the control principle of the dental irrigator of the present invention is as follows: the power supply module 6 connected to the controller 4 , the image acquisition device 3 and the pump set 5 is the controller 4 , the image acquisition device 3 and the pump set 5 .
  • the pump group 5 is powered separately; the control switch 7 connected with the controller 4 controls the controller 4 to start working; the image acquisition device 3 is connected with the controller 4 to send the collected oral cavity pictures to The controller 4; the controller 4 identifies the oral picture, and when the controller 4 identifies a qualified oral picture, it controls the connected pump group 5; the pump group 5. Control the water in the water tank 17 to be sprayed from the water outlet 2 to rinse the teeth.
  • a memory, a processor, and a computer program stored in the memory and running on the processor are further included, and the processor implements the steps of the method for controlling the dental irrigator when the processor executes the program. .
  • the processor is configured to:
  • the memory and the processor may be integrated on the controller and implemented by the controller.
  • it also includes an APP installed on the smart terminal, and the APP establishes a wireless connection with the image acquisition device 3 to display the imaging area of the image acquisition device 3 on the APP in real time, or to shoot the image acquisition device 3 The photo of the oral cavity is displayed on the APP.
  • connection position of the image capture device 3 and the body 1 is located on the side of the water outlet 2 facing the jet; the mirror surface of the image capture device 3 is lower than the water outlet surface of the water outlet.
  • connection position of the image capture device 3 and the body 1 is located on the side of the water outlet 2 facing away from the jet; the mirror surface of the image capture device 3 is higher than the water outlet surface of the water outlet.
  • the present invention provides a control method, a control system and a dental irrigator for a dental irrigator.
  • the control method comprises: acquiring pictures of an oral cavity through an image acquisition device installed on the dental irrigating device; Water flow and water strength.
  • the present invention can perform automatic rinsing based on the identified tooth region, ensures the rinsing effect, and improves the user's comfort and satisfaction.

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Abstract

一种冲牙器控制方法、控制系统及冲牙器，控制方法包括：通过安装在冲牙器上的图像采集装置（3）获取口腔图片；基于获取的口腔图片控制冲牙器的出水嘴（2）出水。能够基于识别出的牙齿区域进行自动冲洗，保证了冲洗效果，并提升了用户的舒适感和满意度。

Description

一种冲牙器控制方法、控制系统及冲牙器 技术领域
本发明涉及口腔护理技术领域，特别是一种冲牙器控制方法、控制系统及冲牙器。
背景技术
冲牙器作为一种口腔保健领域的个人护理器具，通过水泵将水箱内的水抽至出水嘴中形成射流，以对用户的口腔和牙齿进行冲刷。较之于普通牙刷，其因能更彻底地清除牙菌斑，以及其能更为科学有效地减少包括牙龈炎、牙周病和牙龈出血等在内的口腔疾病的优点，逐渐受到了消费者的青睐。
口腔清洁的时候，有时候需要先观察口腔状态，判断牙齿是否有异物以及异物面积的大小，然后再进行对应的冲洗。而现有的冲牙器，只能清洁牙齿，不能够对口腔状况进行自动识别及自动控制，也无法控制冲洗的力度。这样，一方面如果力度过小会导致一些异物无法去除或去除不完全，清洗效果不明显，另一方面如果力度过大或过度频繁冲洗会导致口腔或脸部弄伤，使用户有不舒适感，降低了客户满意度。
发明内容
本发明的主要目的在于提出一种冲牙器控制方法、控制系统及冲牙器，其克服了现有技术的冲牙器所存在的不足之处，能够基于识别的出的牙齿区域进行自动冲洗，保证了冲洗效果，并提升了用户的舒适感。
本发明采用如下技术方案：
一种冲牙器控制方法，包括：
通过安装在冲牙器上的图像采集装置获取口腔图片；
基于获取的口腔图片控制冲牙器的出水嘴出水。
优选的，基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
优选的，基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中的异物面积大于等于判断阈值，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
优选的，基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
优选的，基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述牙齿区域中的异物面积大于等于判断阈值，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水；
或者，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述冲牙器的出水嘴正对所述牙齿区域，进一步检测所述牙齿区域中的异物面积是否大于等于判断阈值，如果大于，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
优选的，基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片控制冲牙器的出水嘴的出水流量变化：变大、变小或不变。
优选的，基于获取的口腔图片控制冲牙器的出水嘴的出水流量变化，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水流量变大、变小或不变。
优选的，基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片控制冲牙器的出水嘴的出水力度变化：变大、变小或不变。
优选的，基于获取的口腔图片控制冲牙器的出水嘴的出水力度变化，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水力度变大、变小或不变。
优选的，基于获取的口腔图片，识别牙齿区域的方法，包括：
对图像采集装置获取的口腔图片f0进行傅里叶变换，获得变换后的图片F0；
对所述图片F0进行图片增强，获得包括高频分量的牙齿边缘图片F0’；
通过第一带通滤波器对所述牙齿边缘图片F0’进行处理，获得滤波后的图片F0”；
对所述图片F0”进行傅里叶逆变换，获得变换后的图片f0’；
遍历所述图片f0’，获得标注有牙齿区域的图片f1。
优选的，基于牙齿区域，识别异物面积的方法，包括：
将标注有牙齿区域的图片f1映射到通过图像采集装置获取的口腔图片f0；
截取所述口腔图片f0的牙齿部分，获得图片f2；
对所述图片f2进行傅里叶变换，获得图片F2；
通过第二高通滤波器对所述图片F2进行处理，获得滤波后的图片F2’；
对所述图片F2’进行傅里叶反变换，获得图片f2’；
对所述图片f2’进行二值化处理，将异物标注为黑点，获得图片f2”；
遍历所述图片f2”，统计出异物面积。
优选的，述出水嘴喷出的射流所覆盖的区域与所述图像采集装置的成像区域至少部分重合。
优选的，所述图像采集装置包括可见光成像设备、红外热成像设备或紫外成像设备；所述图像采集装置与所述冲牙器形成可拆卸连接或不可拆卸连接。
一种冲牙器控制系统，包括：
口腔图片获取模块，用于通过安装在冲牙器上的图像采集装置获取口腔图片；
控制模块，用于基于获取的口腔图片控制冲牙器的出水嘴出水。
优选的，所述控制模块，具体用于，基于获取的口腔图片进行牙齿区域识别， 如果识别到牙齿区域，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
优选的，所述控制模块，具体用于，基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中的异物面积大于等于判断阈值，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
优选的，所述控制模块，具体用于，基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
优选的，所述控制模块，具体用于，基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述牙齿区域中的异物面积大于等于判断阈值，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水；
或者，用于：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述冲牙器的出水嘴正对所述牙齿区域，进一步检测所述牙齿区域中的异物面积是否大于等于判断阈值，如果大于，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
优选的，所述控制模块，具体用于，
基于获取的口腔图片控制冲牙器的出水嘴的出水流量变大、变小或不变。
优选的，所述控制模块，具体用于，
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水流量变大、变小或不变。
优选的，所述控制模块，具体用于，
基于获取的口腔图片控制冲牙器的出水嘴的出水力度变大、变小或不变。
优选的，所述控制模块，具体用于，
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿 区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水力度变大、变小或不变。
优选的，所述出水嘴喷出的射流所覆盖的区域与所述图像采集装置的成像区域至少部分重合。
优选的，所述图像采集装置包括可见光成像设备、红外热成像设备或紫外成像设备；所述图像采集装置与所述冲牙器形成可拆卸连接或不可拆卸连接。
一种冲牙器，包括本体、出水嘴和图像采集装置；所述出水嘴和所述图像采集装置安装在本体上，还包括：所述的冲牙器控制系统。
一种冲牙器，包括本体、出水嘴和图像采集装置；所述出水嘴和所述图像采集装置安装在本体上，还包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现所述冲牙器控制方法的步骤。
与现有技术相比，本发明的有益效果如下：
(1)本发明通过安装在冲牙器上的图像采集装置获取口腔图片，并基于获取的口腔图片控制冲牙器的出水嘴出水或不出水，实现了根据采集到的口腔图片自动控制冲牙器的出水嘴工作，无需手动进行控制及调节，方便用户使用；
(2)本发明能够从获取的口腔图片中快速识别出牙齿区域及对应的异物面积，并在冲牙器的出水嘴正对所述牙齿区域时，基于所述异物面积控制冲牙器的出水嘴执行冲洗，保证了冲洗时是对着牙齿区域，且冲洗的力度可以根据所述异物面积进行自动调节，在充分清洁牙齿的同时，防止弄伤口腔或脸部，提升用户的舒适感和满意度；
(3)本发明的图像采集装置优选为可见光成像设备、红外热成像设备或紫外成像设备，且出水嘴的出水口位于所述图像采集装置的成像区域内；使得图像采集装置的成像位置和冲牙器的冲洗位置一致，保证当图像采集装置的图片中心出现牙齿区域时，此时出水嘴的方向正对牙齿区域，无需再对出水嘴的方向进行调节。
上述说明仅是本发明技术方案的概述，为了能够更清楚地了解本发明的技术手段，从而可依照说明书的内容予以实施，并且为了让本发明的上述和其他目的、特征和优点能够更明显易懂，以下列举本发明的具体实施方式。
根据下文结合附图对本发明具体实施例的详细描述，本领域技术人员将会更 加明了本发明的上述及其他目的、优点和特征。
附图说明
图1为本发明实施例1冲牙器控制方法流程图；
图2为本发明实施例的出水嘴对准牙齿区域的示意图；
图3为本发明实施例的识别牙齿区域流程图；
图4为本发明实施例的获取异物面积流程图；
图5为本发明实施例的冲牙器控制系统结构框图；
图6为本发明实施例的冲牙器的侧视图；
图7为本发明实施例的冲牙器的立体图；
图8为本发明实施例的本体上单独安装出水嘴的剖视图；
图9为本发明实施例的本体上单独安装内窥镜的剖视图；
图10为本发明实施例的水箱在收缩位置的剖视图；
图11为本发明实施例的水箱在伸长位置的剖视图；
图12为本发明实施例的冲牙器的控制原理图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述；显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例，基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明的描述中，需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”、“顶/底 端”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“设置有”、“套设/接”、“连接”等，应做广义理解，例如“连接”，可以是固定连接，也可以是可拆卸连接，或一体地连接，可以是机械连接，也可以是电连接，可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通，对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
参见图1-4所示，本发明一种冲牙器控制方法，包括：
S101，通过安装在冲牙器上的图像采集装置获取口腔图片；
S102，基于获取的口腔图片控制冲牙器的出水嘴出水。
通过上述控制方法，实现了根据采集到的口腔图片自动控制冲牙器的出水嘴工作，无需手动进行控制及调节，方便用户使用。特别的，对于老年用户和儿童用户，如果使用手动控制增加了使用难度，以及会导致一些潜在的使用风险。而使用本发明的上述自动控制方法，使用时只需将冲牙器放置入口腔内即可实现自动清洁牙齿，降低了使用难度，增加了安全性。
进一步的，本实施例中的异物包括牙垢及食物残渣等。
一实施例中，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
该实施例中，只有基于获取的口腔图片识别到牙齿区域时，才控制冲牙器的出水嘴出水冲洗牙齿，防止在基于获取的口腔图片识别到非牙齿区域时，出水嘴也出水冲洗。如果未识别到牙齿区域即进行出水，一方面造成水浪费，另一方面导致对口腔造成一定的伤害，如导致用户有疼痛感甚至导致口腔损伤。
一实施例中，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿 区域中的异物面积大于等于判断阈值，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
该实施例中，只有基于获取的口腔图片识别到牙齿区域且所述牙齿区域中的异物面积大于等于判断阈值时，才控制冲牙器的出水嘴出水冲洗牙齿。可知，控制冲牙器的出水嘴进行出水，除了要识别到牙齿区域外，还要对牙齿区域的异物面积的大小进行判断。只有当异物面积达到判断阈值后，才控制冲牙器的出水嘴出水冲洗。本实施例可以防止冲洗过于频繁。
需要说明的是，所述判断阈值可以是一个预设值，也可以是一个可自调节的值，具体根据实际使用进行设置，本实施例不做限制。
一实施例中，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
该实施例中，只有基于获取的口腔图片识别到牙齿区域且所述冲牙器的出水嘴正对所述牙齿区域时，才控制冲牙器的出水嘴出水冲洗牙齿。可知，控制冲牙器的出水嘴进行出水，除了要识别到牙齿区域外，还要判断所述冲牙器的出水嘴是否正对所述牙齿区域。只有当所述冲牙器的出水嘴正对所述牙齿区域时，才控制冲牙器的出水嘴出水冲洗。本实施例进一步保证冲洗的是牙齿。
一实施例中，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述牙齿区域中的异物面积大于等于判断阈值，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
该实施例中，只有基于获取的口腔图片识别到牙齿区域，且所述牙齿区域中的异物面积大于等于判断阈值及所述冲牙器的出水嘴正对所述牙齿区域时，才控制冲牙器的出水嘴出水冲洗牙齿。可知，控制冲牙器的出水嘴进行出水，除了要识别到牙齿区域外，还要判断所述牙齿区域中的异物面积是否大于等于判断阈值及所述冲牙器的出水嘴是否正对所述牙齿区域。只有当三个条件都满足时，才控 制冲牙器的出水嘴出水冲洗。本实施例即保证了冲洗的准确度，也可以防止冲洗过于频繁。
当然，同时满足上述三个条件的实现还可以是：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述冲牙器的出水嘴正对所述牙齿区域，进一步检测所述牙齿区域中的异物面积是否大于等于判断阈值，如果大于，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
上述两种方式任意一种均可实现上述发明目的，具体可根据需要进行选择。
对于出水嘴不可转动的冲牙器或不能自动转动的冲牙器，如果判断出所述冲牙器的出水嘴没有正对所述牙齿区域，则控制冲牙器的出水嘴不执行冲洗，防止误冲洗。但此时，可以给出一个声音提示或光提示，提示检测到异物但出水嘴没有正对所述牙齿区域。
对于出水嘴可自动转动的冲牙器，在检测到异物但出水嘴没有正对所述牙齿区域，可以先计算出出水嘴与牙齿区域的偏移角度或偏移位移，然后通过驱动机构驱动出水嘴进行转动至正对所述牙齿区域，最后再基于所述异物面积控制冲牙器的出水嘴执行冲洗。
进一步的，可通过马达驱动出水嘴转动或执行冲洗。
本实施例中，判断所述冲牙器的出水嘴是否正对所述牙齿区域的方法如下。
参见图2所示，当图像采集装置采集的图片中心出现牙齿区域时，此时出水嘴的方向正对牙齿区域。因此通过出水嘴和图像采集装置镜头的夹角β与成像距离d之间的设计，可以确保当图片中间出现牙齿区域时，出水嘴也正对牙齿。因此判断出水嘴是否正对牙齿区域，就变成了判断图片中间区域是否为牙齿区域。
具体的，取图片的中间点为参考原点，所有牙齿轮廓与原点的矢量相加，如果结果矢量的绝对长度小于预设阈值，则判定牙齿不在图片中间，否则认为牙齿位于图片正中，也就是出水嘴正对牙齿。
参见图3所示，所述基于所述口腔图片，识别出牙齿区域，具体包括：
S1021，对图像采集装置获取的口腔图片f0进行傅里叶变换，获得变换后的图片F0。
本步骤中，将图像采集装置获取的口腔图片f0由时域转为频域。
S1022，对所述图片F0进行图片增强，获得包括高频分量的牙齿边缘图片F0’。
S1023，通过第一带通滤波器对所述牙齿边缘图片F0’进行处理，获得滤波后的图片F0”。
本步骤中，第一带通滤波器可以不断进行学习，以便准确通过牙齿边缘。
具体的，根据实际口腔图片可知，牙齿的区域经傅里叶变换后(S1021)，应该在一定的频率范围内，假设该范围为(wl，wh)，建立如下学习机制。
预先采集1000张口腔图片，将每张图片进行如下流程处理：
第一步，给每张口腔图片依次编号为n，n的范围为1～1000；
第二步，人工标注牙齿区域；
第三步，对每张图片进行傅里叶变换，找到标注的频率域；
第四步，记录标号n以及对应的频率范围(wn1，wn2)；
第五步，重复执行第三步和第四步，共执行1000次，得到1000组频率范围，(w11，w22)，(w21,w22)......
第六步，将第五步中的1000组数据剔除异常数据，并按标号进行排序，输出序列Wi，序列Wi中包括未被剔除的若干组频率范围；
第七步，对序列Wi中的频率上限和下限分别取平均数，计算得出均值范围(wl，wh)，并计算出wl的均方差σl，和wh的均方根σh；
第八步，将序列Wi、频率范围(wl，wh)、σl和σh共同作为学习机制的输出数据，即为第一带通滤波器的参数。
进一步的，当获得的口腔图片不断增加时，定期通过上述处理流程不断修正参数。
S1024，对所述图片F0”进行傅里叶逆变换，获得变换后的图片f0’。
本步骤中，将处理过的图片转回成时域。
S1025，遍历所述图片f0’，获得标注有牙齿区域的图片f1。
经过第一带通滤波器处理后，图片只保留相应的频率部分，也就是仅有牙齿轮廓信息保留在效果图上。考虑到带通后的图片在视觉上不是连续的，因此要做如下处理：
第一步，遍历所有像素点，去除孤点；
第二步，设定窗口参数wnd，对图片进行腐蚀处理，使其成为连通的轮廓区 域；
第三步，遍历各连通区域，去除处于其他连通区域下的子区域，得到牙齿轮廓图，获得牙齿区域。
需要说明的是，上述仅为识别牙齿区域的一个具体实现方式，其他现有的牙齿区域识别方法亦可应用在本发明中，本发明实施例不做具体限制。
参见图4所示，所述基于识别出的牙齿区域，获得对应的异物面积，具体包括：
S1031，将标注有牙齿区域的图片f1映射到通过图像采集装置获取的口腔图片f0。
S1032，截取所述口腔图片f0的牙齿部分，获得图片f2。
具体的，包括：
第一步，新建一帧图片，新建图片的大小与原始图片相同；
第二步，通过扫描S1025中的牙齿区域的轮廓图片，将原始图片f0中同样坐标的像素点复制到新建图片中；
第三步，新建图片作为牙齿部分的原始图片，所述新建图片即为f2。
S1033，对所述图片f2进行傅里叶变换，获得图片F2。
由上述说明可知，本步骤中，仅对牙齿部分进行傅里叶变换，将时域转换成频域。
S1034，通过第二高通滤波器对所述图片F2进行处理，获得滤波后的图片F2’。
本步骤中，第二高通滤波器可以不断进行学习。
具体的，预先采集1000张口腔图片，根据实际口腔图片可知，牙齿中异物的区域经傅里叶变换后，应该在一定的频率范围内，假设该范围为(wb，+∞)，应该在一定的频率范围内，假设该范围为(wb，+∞)，则建立如下学习机制。
将每张图片进行如下流程处理：
第一步，给每张口腔图片依次编号为n，n的范围为1～1000；
第二步，人工标注异物区域，并统计区域面积S1、S2、S3…；
第三步，对每张图片进行傅里叶变换，找到标注的频率域；
第四步，记录标号n以及对应的频率范围(wn，+∞)；
第五步，重复执行第三步和第四步，共执行1000次，得到1000组频率范围， (w1，+∞)，(w2，+∞)......
第六步，将第五步中的1000组数据剔除异常数据，并按标号进行排序，输出序列Wi，序列Wi中包括未被剔除的若干组频率范围；
第七步，对序列Wi中的频率上限取平均数，计算得出均值范围(wb，+∞)，并计算出wb的均方差σb；
第八步，异物区域面积去除异常点，取平均Sthl及均方差σthl，其中Sthl为判断阈值。
第九步，将序列Wi、频率范围(wb，+∞)和σb共同作为学习机制的输出数据，即为第二高通滤波器的参数。
进一步的，当获得的口腔图片不断增加时，定期通过上述处理流程不断修正参数，以提高准确度。
S1035，对所述图片F2’进行傅里叶反变换，获得图片f2’。
本步骤中，将增强后的图片转回时域。
S1036，对所述图片f2’进行二值化处理，将异物标注为黑点，获得图片f2”。
具体的，为了便于计算异物区域，需要做二值化图片处理，如下：
第一步，对经过傅里叶反变换后所得图片f2’先去除孤点；
第二步，遍历图片，将所有像素点换算成灰阶值；
第三步，设定阈值，将阈值两侧的像素点设置为黑白二色；
第四步，输出像素点处理过的新图片，即为标注后的异物区域，得到图片f2”。
S1037，遍历所述图片f2”，统计出异物面积。
需要说明的是，上述仅为识获取异物面积的一个具体实现方式，其他现有的异物面积获取方法亦可应用在本发明中，本发明实施例不做具体限制。
进一步的，本实施例能够基于获取的口腔图片控制冲牙器的出水嘴的出水流量变化：变大、变小或不变；和/或，本实施例能够基于获取的口腔图片控制冲牙器的出水嘴的出水力度变化：变大、变小或不变。
具体的，控制出水流量和/或出水力度的判断条件可以是异物面积、异物种类、异物厚度等。
如根据异物面积进行判断，具体可以是，基于获取的口腔图片控制冲牙器的出水嘴的出水流量/力度，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水流量/力度。基于所述异物面积控制冲牙器的出水嘴出水进行冲洗，包括：
基于所述异物面积控制冲牙器的出水嘴执行不同档位的冲洗。
具体的，当所述异物面积S大于等于判断阈值Sthl时，控制冲牙器的出水嘴执行冲洗。
本实施例中，根据异物面积S，冲牙器可分为三个冲洗档位，如下：
当Sthl<S<Sl时，异物面积小，启动低档(马达转速低，冲洗1秒)；
当Sl<S<Sh时，异物面积中等，启动中档(马达转速中，冲洗3秒)；
当S>Sh时，异物面积大，启动高档(马达转速高，冲洗5秒)。
如上仅为一示意实施例，具体的档位及冲洗时间可根据实际应用设置，本发明实施例不做限制。
进一步的，所述出水嘴喷出的射流所覆盖的区域与所述图像采集装置的成像区域至少部分重合。优选的，所述出水嘴的出水口位于所述图像采集装置的成像区域内。
具体的，通过对冲牙器和图像采集装置的相对位置进行特殊设计，使得图像采集装置的成像位置和冲牙器的冲洗位置一致，从而无需调整位置，这样的设计同时也可以通过图像采集装置实时观察到冲洗效果，非常清晰直观。
本实施例中，所述图像采集装置包括可见光成像设备、红外热成像设备或紫外成像设备；所述图像采集装置与所述冲牙器形成可拆卸连接或不可拆卸连接。
所述的可见光成像设备包括内窥镜。内窥镜是集中了传统光学、人体工程学、精密机械、现代电子、数学、软件等于一体的检测仪器，其具有图像传感器、光学镜头、光源照明、机械装置等。将内窥镜作为图像采集装置安装到冲牙器上，不仅能够采集口腔图片，还方便实时观察口腔状况及观察冲洗效果，非常清晰直观。
可以理解的是，本发明也可以采用其他图像采集装置，只要能采集到口腔图片并能够实现上述功能即可。
本发明一种冲牙器控制系统，参见图5所示，包括：
口腔图片获取模块501，用于通过安装在冲牙器上的图像采集装置获取口腔图片；
控制模块502，用于基于获取的口腔图片控制冲牙器的出水嘴出水。
一实施例中，所述控制模块502，具体用于，基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
一实施例中，所述控制模块502，具体用于，基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中的异物面积大于等于判断阈值，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
一实施例中，所述控制模块502，具体用于，基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
一实施例中，所述控制模块502，具体用于，基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述牙齿区域中的异物面积大于等于判断阈值，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水；
或者，用于：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述冲牙器的出水嘴正对所述牙齿区域，进一步检测所述牙齿区域中的异物面积是否大于等于判断阈值，如果大于，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
所述控制模块502，具体用于，
基于获取的口腔图片控制冲牙器的出水嘴的出水流量变化：变大、变小或不变。
所述基于获取的口腔图片控制冲牙器的出水嘴的出水流量，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水流量。
所述控制模块502，还具体用于，
基于获取的口腔图片控制冲牙器的出水嘴的出水力度变化：变大、变小或不变。
所述基于获取的口腔图片控制冲牙器的出水嘴的出水流量，包括：
基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水力度。
所述出水嘴喷出的射流所覆盖的区域与所述图像采集装置的成像区域至少部分重合。
所述图像采集装置包括可见光成像设备、红外热成像设备或紫外成像设备；所述图像采集装置与所述冲牙器形成可拆卸连接或不可拆卸连接。
所述口腔图片获取模块501和控制模块502的具体实现参见一种冲牙器控制方法，本处不做重复说明。
本发明一种冲牙器实施例，参见图6-13所示，包括本体1、出水嘴2和图像采集装置3；所述出水嘴2和所述图像采集装置3安装在本体上，所述冲牙器还包括：前述的冲牙器控制系统。本实施例中，所述冲牙器控制系统通过控制器(如MCU)实现。所述图像采集装置3可以为可见光成像设备、红外热成像设备或紫外成像设备。
令所述图像采集装置3的焦距范围为a～b，根据不同的图像采集装置3，a和b的数值不同，所述图像采集装置3的镜面低于出水嘴2的出水口，所述图像采集装置3的镜面朝向所述出水嘴2，并且出水嘴2的出水口位于图像采集装置3的成像区域内。
通过上述设计后，所述图像采集装置3的成像区域与出水嘴2将要冲洗的区域一致，所述出水嘴2的冲洗区域始终出现在图像采集装置3的成像区域内，最优的，所述出水嘴2和所述出水嘴2的冲洗区域始终出现在图像采集装置3的成像区域内。这样当检测到符合条件的异物面积，且冲牙器的出水嘴2正对所述牙齿区域时，控制器4通过马达控制冲牙器的出水嘴2执行冲洗。
具体的，所述图像采集装置3的镜面与出水嘴2的出水口的高度L差满足：a<L<b；所述出水嘴2的出水口与图像采集装置3中轴线的垂直距离L2满足：0≤ L2≤tan(α°/2)*L；其中α表示内窥镜的分散角度。
进一步的，为了方便用户收纳出水嘴2和图像采集装置3，所述出水嘴2和图像采集装置3分别与本体1形成可拆卸连接。其中出水嘴2和本体1直接插接连接，而图像采集装置3的底部设置有与本体1底部形成机械连接+电连接的连接件，这样图像采集装置3就可以从本体1内取电并且固定在本体1上。这种连接件可以是磁吸+导电弹片31的模式，属于现有技术，在此不再赘述。作为本实施例的简单替换，图像采集装置3也可以固定在本体1上不可拆卸。
本实施例中，为了方便用户收纳拆下的出水嘴2和图像采集装置3，所述本体1具有收纳容置所述图像采集装置3和出水嘴2的腔室。这样用户无需准备额外的收纳盒，外出旅行的时候携带非常方便。
此外，所述冲牙器为便携式冲牙器，因此所述本体1内置有水箱17，所述本体1的底部具有打开或关闭所述水箱17的盖板171。这样所有需要的元器件都可以集成在本体1上，收纳体积很小，进一步方便用户外出携带。
此外，所述本体1上设置有照明开关12和拍照开关13；
用户使用时，按压所述照明开关12控制所述图像采集装置3启动或关闭；在图像采集装置3启动后按压所述拍照开关13拍摄图像采集装置3的当前成像区域。
所述照明开关和拍照开关可以是按键也可以是触摸开关。
为了让用户能够直观知晓当前的冲洗档位，所述本体1上还设置有用于指示当前出水档位的指示灯。指示灯的数量与冲洗档位一致，冲洗档位增加或者减少时，指示灯点亮的数量也相应地增加或者减少。
为了方便用户观察自己的口腔，还包括安装于智能终端上的APP，所述APP与图像采集装置3之间建立无线连接，将图像采集装置3的成像区域实时显示在APP上，或将图像采集装置3拍摄的口腔照片显示在APP上。这样用户就可以在冲牙的时候实时观察自己的口腔，或者将自己的口腔拍照留存后仔细观察。
进一步参考图8和图9，为了完成出水功能，本体1内部还设置了电机14用以驱动活塞组件15，电机14驱动活塞组件5往复运动从而将水箱17中的水抽放置本体1内部的管道151内，管道151通过鸭嘴阀16连通水嘴，这样可以避免水嘴中的水倒流。而水箱17通过止逆阀18连通管道151，同样是避免管道中的水倒流回水箱17中。
为了完成图像采集装置3成像功能，本体1内还设置有图像采集装置3电路板，以及与图像采集装置3的弹性弹片31电连接的导电触点19，导电触点19通过导线连接电路板。而图像采集装置3朝向口腔的一端还设置有防水镜片32，用于保护图像采集装置3的镜头。同时，在图像采集装置3没有安装在本体1上时，本体1上安装了一防水盖33将所述导电触点19遮盖。
所述照明开关12和拍照开关13连接至图像采集装置3电路板，所述图像采集装置3电路板与所述控制器4相连接，将采集到的口腔图片发送至所述控制器4。
为了完成冲洗功能，本体1内还设置有冲牙器电路板，所述冲牙器电路板与所述控制器4相连接。所述控制器4通过所述冲牙器电路板控制所述出水嘴2执行冲洗或停止冲洗。
进一步参考图10和图11，本实施例中，本体1的外壁还与所述水箱17的内壁滑动连接，使得水箱17在伸长位置和收缩位置之间移动。为了实现水箱17内的水可以被本体1内的活塞组件15抽取。水箱17内设置了伸缩管171，伸缩管171的上端与本体1内的管道保持连通，下端随着水箱的伸长或者收缩而相应地伸出或收缩。由于水箱17和本体1滑动连接，这样在收纳的时候可以将水箱17滑动至收缩位置减小收纳体积，而在使用时将水箱17滑动至伸长位置增加水箱17的有效容积。
参见图12所示，本发明的冲牙器的控制原理如下：与所述控制器4、图像采集装置3和泵组5相连接的电源模块6为所述控制器4、图像采集装置3和泵组5分别供电；与所述控制器4相连接的控制开关7控制所述控制器4启动工作；所述图像采集装置3与所述控制器4相连接以将采集到的口腔图片发送给所述控制器4；所述控制器4对所述口腔图片进行识别，当所述控制器4识别出符合条件的口腔图片时，对相连接的所述泵组5进行控制；所述泵组5控制所述水箱17的水从所述出水嘴2喷出，进行牙齿冲洗。
可以理解的是，尽管上述说明是以控制器自动控制为例，但“基于获取的口腔图片控制冲牙器的出水嘴出水或不出水”实际也可以通过手动控制，或者自动控制和手动控制功能同时存在。当自动控制和手动控制同时存在时，如果所述控制开关7打开，优先使用自动控制，如果所述控制开关7关闭，则使用手动控制。使用手动控制时，可在冲牙器本体上设置一手动控制开关，同时设置一提示装置， 当根据获取的口腔图片识别出需要进行牙齿冲洗或需要调节出水流量时，可以通过提示装置进行提示，使用者根据提示进行控制或调节。
本发明冲牙器实施例中，还包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现所述冲牙器控制方法的步骤。
具体的，所述处理器被配置为：
通过安装在冲牙器上的图像采集装置获取口腔图片；
基于获取的口腔图片控制冲牙器的出水嘴出水。
本实施例中，所述存储器和处理器可以集成在所述控制器上，由所述控制器进行实现。
一实施例中，还包括安装于智能终端上的APP，所述APP与图像采集装置3之间建立无线连接，将图像采集装置3的成像区域实时显示在APP上，或将图像采集装置3拍摄的口腔照片显示在APP上。
一实施例中，所述图像采集装置3与本体1的连接位置位于所述出水嘴2朝向射流的那一侧；所述图像采集装置3的镜面低于出水嘴的出水面。
一实施例中，所述图像采集装置3与本体1的连接位置位于所述出水嘴2背向射流的那一侧；所述图像采集装置3的镜面高于出水嘴的出水面。
以上所述，仅为本发明较佳的具体实施方式；但本发明的保护范围并不局限于此。任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其改进构思加以等同替换或改变，都应涵盖在本发明的保护范围内。
工业实用性
本发明一种冲牙器控制方法、控制系统及冲牙器，控制方法包括：通过安装在冲牙器上的图像采集装置获取口腔图片；基于获取的口腔图片控制冲牙器的出水嘴出水及出水流量、出水力度。本发明能够基于识别的出的牙齿区域进行自动冲洗，保证了冲洗效果，并提升了用户的舒适感和满意度。

Claims (28)

  1. 一种冲牙器控制方法，其特征在于，包括：
    通过安装在冲牙器上的图像采集装置获取口腔图片；
    基于获取的口腔图片控制冲牙器的出水嘴出水。
  2. 根据权利要求1所述的冲牙器控制方法，其特征在于，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
    基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
  3. 根据权利要求1所述的冲牙器控制方法，其特征在于，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
    基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中的异物面积大于等于判断阈值，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
  4. 根据权利要求1所述的冲牙器控制方法，其特征在于，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
    基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
  5. 根据权利要求1所述的冲牙器控制方法，其特征在于，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
    基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述牙齿区域中的异物面积大于等于判断阈值，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水；
    或者，包括：
    基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述冲牙器 的出水嘴正对所述牙齿区域，进一步检测所述牙齿区域中的异物面积是否大于等于判断阈值，如果大于，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
  6. 根据权利要求1所述的冲牙器控制方法，其特征在于，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
    基于获取的口腔图片控制冲牙器的出水嘴的出水流量变化：变大、变小或不变。
  7. 根据权利要求6所述的冲牙器控制方法，其特征在于，所述基于获取的口腔图片控制冲牙器的出水嘴的出水流量，包括：
    基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水流量变大、变小或不变。
  8. 根据权利要求1所述的冲牙器控制方法，其特征在于，所述基于获取的口腔图片控制冲牙器的出水嘴出水，包括：
    基于获取的口腔图片控制冲牙器的出水嘴的出水力度变化：变大、变小或不变。
  9. 根据权利要求8所述的冲牙器控制方法，其特征在于，所述基于获取的口腔图片控制冲牙器的出水嘴的出水力度，包括：
    基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水力度变大、变小或不变。
  10. 根据权利要求2至9中任一项所述的冲牙器控制方法，其特征在于，所述基于获取的口腔图片，识别牙齿区域的方法，包括：
    对图像采集装置获取的口腔图片f0进行傅里叶变换，获得变换后的图片F0；
    对所述图片F0进行图片增强，获得包括高频分量的牙齿边缘图片F0’；
    通过第一带通滤波器对所述牙齿边缘图片F0’进行处理，获得滤波后的图片F0”；
    对所述图片F0”进行傅里叶逆变换，获得变换后的图片f0’；
    遍历所述图片f0’，获得标注有牙齿区域的图片f1。
  11. 根据权利要求10所述的冲牙器控制方法，其特征在于，基于牙齿区域，识别异物面积的方法，还包括：
    将标注有牙齿区域的图片f1映射到通过图像采集装置获取的口腔图片f0；
    截取所述口腔图片f0的牙齿部分，获得图片f2；
    对所述图片f2进行傅里叶变换，获得图片F2；
    通过第二高通滤波器对所述图片F2进行处理，获得滤波后的图片F2’；
    所述图片F2’进行傅里叶反变换，获得图片f2’；
    对所述图片f2’进行二值化处理，将异物标注为黑点，获得图片f2”；
    所述图片f2”，统计出异物面积。
  12. 根据权利要求1所述的冲牙器控制方法，其特征在于，所述出水嘴喷出的射流所覆盖的区域与所述图像采集装置的成像区域至少部分重合。
  13. 根据权利要求1或10所述的冲牙器控制方法，其特征在于，所述图像采集装置包括可见光成像设备、红外热成像设备或紫外成像设备；所述图像采集装置与所述冲牙器形成可拆卸连接或不可拆卸连接。
  14. 一种冲牙器控制系统，其特征在于，包括：
    口腔图片获取模块，用于通过安装在冲牙器上的图像采集装置获取口腔图片；
    控制模块，用于基于获取的口腔图片控制冲牙器的出水嘴出水。
  15. 根据权利要求14所述的冲牙器控制系统，其特征在于，所述控制模块，用于基于获取的口腔图片进行牙齿区域识别：如果识别到牙齿区域，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
  16. 根据权利要求14所述的冲牙器控制系统，其特征在于，所述控制模块，用于基于获取的口腔图片进行牙齿区域识别：如果识别到牙齿区域，且所述牙齿区域中的异物面积大于等于判断阈值，则控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水。
  17. 根据权利要求14所述的冲牙器控制系统，其特征在于，所述控制模块，用于基于获取的口腔图片进行牙齿区域识别：如果识别到牙齿区域，进一步检测 所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
  18. 根据权利要求14所述的冲牙器控制系统，其特征在于，所述控制模块，用于基于获取的口腔图片进行牙齿区域识别：如果识别到牙齿区域且所述牙齿区域中的异物面积大于等于判断阈值，进一步检测所述冲牙器的出水嘴是否正对所述牙齿区域，如果正对，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水；
    或者，用于：
    基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域且所述冲牙器的出水嘴正对所述牙齿区域，进一步检测所述牙齿区域中的异物面积是否大于等于判断阈值，如果大于，控制冲牙器的出水嘴出水；否则，控制冲牙器的出水嘴不出水，或者，控制冲牙器的出水嘴转动至正对所述牙齿区域后出水。
  19. 根据权利要求14所述的冲牙器控制系统，其特征在于，所述控制模块，用于基于获取的口腔图片控制冲牙器的出水嘴的出水流量：变大、变小或不变。
  20. 根据权利要求19所述的冲牙器控制系统，其特征在于，所述控制模块，用于基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水流量：变大、变小或不变。
  21. 根据权利要求14所述的冲牙器控制系统，其特征在于，所述控制模块，用于基于获取的口腔图片控制冲牙器的出水嘴的出水力度：变大、变小或不变。
  22. 根据权利要求21所述的冲牙器控制系统，其特征在于，所述控制模块，用于基于获取的口腔图片进行牙齿区域识别，如果识别到牙齿区域，且所述牙齿区域中包含异物，则根据异物面积控制冲牙器的出水嘴的出水力度：变大、变小或不变。
  23. 根据权利要求14所述的冲牙器控制系统，其特征在于，所述出水嘴喷出的射流所覆盖的区域与所述图像采集装置的成像区域至少部分重合。
  24. 根据权利要求14至24所述的冲牙器控制系统，其特征在于，所述图像采集装置包括可见光成像设备、红外热成像设备或紫外成像设备；所述图像采集装置与所述冲牙器形成可拆卸连接或不可拆卸连接。
  25. 一种冲牙器，包括本体、出水嘴和图像采集装置；所述出水嘴与图像采集装置安装在本体上，且出水嘴喷出的射流所覆盖的区域与图像采集装置的成像区域至少部分重合；
    还包括：如权利要求14至24中任意一项所述的冲牙器控制系统。
  26. 一种冲牙器，包括本体、出水嘴和图像采集装置，所述出水嘴与图像采集装置安装在本体上，且出水嘴喷出的射流所覆盖的区域与图像采集装置的成像区域至少部分重合；
    还包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现如权利要求1至13中任意一项所述方法的步骤。
  27. 根据权利要求25或26所述的冲牙器，其特征在于，所述图像采集装置与本体的连接位置位于所述出水嘴朝向射流的那一侧；所述图像采集装置的镜面低于出水嘴的出水面。
  28. 根据权利要求25或26所述的冲牙器，其特征在于，所述图像采集装置与本体的连接位置位于所述出水嘴背向射流的那一侧；所述图像采集装置的镜面高于出水嘴的出水面。
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