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WO2019033870A1 - 一种自动控制式电动牙刷 - Google Patents

一种自动控制式电动牙刷 Download PDF

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Publication number
WO2019033870A1
WO2019033870A1 PCT/CN2018/094808 CN2018094808W WO2019033870A1 WO 2019033870 A1 WO2019033870 A1 WO 2019033870A1 CN 2018094808 W CN2018094808 W CN 2018094808W WO 2019033870 A1 WO2019033870 A1 WO 2019033870A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
toothbrush
angle
type electric
coordinate data
Prior art date
Application number
PCT/CN2018/094808
Other languages
English (en)
French (fr)
Inventor
刘善林
Original Assignee
深圳市乐易电器科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市乐易电器科技有限公司 filed Critical 深圳市乐易电器科技有限公司
Priority to EP18845605.7A priority Critical patent/EP3626205B1/en
Priority to US16/621,690 priority patent/US11337786B2/en
Priority to JP2019572008A priority patent/JP2020524588A/ja
Publication of WO2019033870A1 publication Critical patent/WO2019033870A1/zh

Links

Classifications

    • 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
    • A61C17/221—Control arrangements therefor
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/02—Brushes with driven brush bodies or carriers power-driven carriers
    • A46B13/026—Brushes which automatically reverse direction of rotation, e.g. using gravity switches
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B15/00—Other brushes; Brushes with additional arrangements
    • A46B15/0002—Arrangements for enhancing monitoring or controlling the brushing process
    • A46B15/0004—Arrangements for enhancing monitoring or controlling the brushing process with a controlling means
    • A46B15/0006—Arrangements for enhancing monitoring or controlling the brushing process with a controlling means with a controlling brush technique device, e.g. stroke movement measuring device
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B9/00—Arrangements of the bristles in the brush body
    • A46B9/02—Position or arrangement of bristles in relation to surface of the brush body, e.g. inclined, in rows, in groups
    • A46B9/04—Arranged like in or for toothbrushes
    • 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
    • A61C17/24—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like rotating continuously
    • A61C17/26—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like rotating continuously driven by electric motor
    • 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
    • A61C17/32—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating
    • A61C17/34—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor
    • A61C17/3409—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like reciprocating or oscillating driven by electric motor characterized by the movement of the brush body
    • A61C17/3418—Rotation around the axis of the toothbrush handle

Definitions

  • the invention relates to the field of daily electronic products, in particular to an automatic control type electric toothbrush.
  • the technical problem to be solved by the present invention is to provide an automatic control type electric toothbrush for the above-mentioned drawbacks of the prior art.
  • the technical solution adopted by the present invention to solve the technical problem is to construct an automatic control type electric toothbrush, comprising a toothbrush head and a toothbrush handle connected by a driving shaft, the toothbrush handle is provided with an attitude sensor, a control module and a driving mechanism.
  • the control module can control the driving mechanism to drive the driving shaft to rotate the toothbrush head clockwise or counterclockwise according to the attitude data acquired by the attitude sensor, so that the toothbrush head rotates from the root to the crown.
  • a protective cover is disposed at a position corresponding to the end of the toothbrush handle and a toothbrush head, and a side wall of the protective cover is provided with a bristles extending from the toothbrush head
  • the opening of the coordinate system of the attitude sensor is parallel to the toothbrush handle, the Y axis is perpendicular to the middle facet of the protective cover, and the Z axis is perpendicular to the plane of the X axis and the Y axis.
  • the posture data includes XYZ coordinate data
  • the control module may perform the following processing according to the XYZ coordinate data: calculating a pitch angle and a roll angle according to the XYZ coordinate data; The pitch and roll angles control the direction of motor rotation.
  • the calculating the pitch angle and the roll angle according to the XYZ coordinate data specifically includes: calculating the basis based on the Y coordinate data and the Z coordinate data based on the formula atan2 (accY, accZ)
  • the pitch angle is calculated; based on the X coordinate data, the Y coordinate data, and the Z coordinate data, the roll angle is calculated based on the formula atan (-accX / sqrt(accY * accY + accZ * accZ)).
  • the controlling the rotation direction of the motor according to the pitch angle and the roll angle includes:
  • the motor is controlled to rotate forward, and the motor rotates to drive the drive shaft to drive the brush head clockwise rotation;
  • the motor is reversed, and the motor reversely drives the drive shaft to drive the toothbrush head against The hour hand rotates.
  • the preset angle is 5°.
  • the attitude sensor integrates a three-axis accelerometer and a three-axis gyroscope
  • the driving mechanism includes a motor
  • the control module includes a power supply circuit, an MCU, and a motor driving circuit.
  • the attitude sensor and the motor are respectively connected to the MCU, and the motor drive circuit is respectively connected to the motor and the MCU, and the power supply circuit is respectively connected with the attitude sensor, the motor, the motor drive circuit, and the MCU.
  • the motor drive circuit comprises an LG9110 drive chip
  • the power supply circuit comprises an LN1134 power chip
  • the attitude sensor uses an MPU6050 sensor chip
  • the MCU uses an STM8S103 control chip.
  • the automatic control type electric toothbrush embodying the present invention has the following beneficial effects: the automatic control type electric toothbrush of the present invention can control the driving mechanism to drive the brush head to rotate clockwise or counterclockwise around the driving shaft according to the attitude data acquired by the attitude sensor. Therefore, the toothbrush head is rotated from the root to the crown, and the purpose of automatic tooth brushing is achieved, which can protect the gums, and the automatic processing does not require manual control by the user, thereby improving the user experience.
  • Figure 1 is a schematic structural view of an electric toothbrush of the present invention
  • FIG. 2 is a circuit block diagram of the electric toothbrush of the present invention.
  • Figure 3 is a schematic diagram of the establishment of a coordinate system
  • Figure 4 is a comparison view of the left and right lower teeth of the brush
  • Figure 5 is a comparison view of the upper and lower teeth on the left and right sides of the brush
  • Figure 6 is a circuit diagram of one embodiment of the electric toothbrush of the present invention.
  • the general idea of the present invention is to design an automatic control type electric toothbrush comprising a toothbrush head and a toothbrush handle connected by a drive shaft, the toothbrush handle being provided with an attitude sensor, a control module and a driving mechanism, the control module being The attitude data acquired by the attitude sensor controls the drive mechanism to drive the brush head to rotate clockwise or counterclockwise about the drive shaft to effect rotation of the brush head from the root to the crown.
  • an electric toothbrush of the present invention includes a toothbrush head 20 and a toothbrush handle 10 coupled by a drive shaft 12.
  • the toothbrush head 20 includes a main shaft that is drivingly coupled to the drive shaft 12 and coaxially disposed on the main shaft 21.
  • the end of the toothbrush handle 10 is provided with a protective cover 30 at a position corresponding to the toothbrush head.
  • the side wall of the protective cover 30 is provided with an opening for the bristles of the toothbrush head 20 to protrude.
  • the end of the protective cover 30 remote from the toothbrush handle 10 is provided with a limiting hole 31, and the end of the main shaft of the toothbrush head 20 is rotatably received in the limiting hole 31.
  • the toothbrush handle 10 is provided with an attitude sensor, a control module and a driving mechanism.
  • the attitude sensor integrates a three-axis accelerometer and a three-axis gyroscope.
  • the driving mechanism includes a motor, and the control module includes a power circuit.
  • the MCU and the motor drive circuit are respectively connected to the MCU, and the motor drive circuit is respectively connected to the motor and the MCU, and the power circuit is connected to the attitude sensor, the motor, the motor drive circuit and the MCU.
  • the motor drive circuit is used to drive the motor under the control of the MCU.
  • the power circuit is used to power the entire toothbrush.
  • the attitude sensor can acquire acceleration data and gyroscope data in real time.
  • the acceleration data is the output data of three accelerometers, ie XYZ coordinate data.
  • the MCU can calculate the pitch angle and the roll angle according to the XYZ coordinate data acquired by the attitude sensor, and then complement the pitch angle and the roll angle through the gyroscope data, and then control the motor according to the pitch angle and the roll angle obtained after the processing.
  • the direction of rotation is such that the drive shaft 12 is driven to rotate the brush head 20 clockwise or counterclockwise to rotate the toothbrush head 20 from the root to the crown.
  • the Y axis is the forward axis
  • the X axis is the right axis
  • the Z axis is the upward axis.
  • Rotation around the forward axis is the roll angle
  • the rotation about the right axis is the pitch angle
  • the rotation around the axis is the heading angle.
  • the toothbrush head is taken as the origin
  • the X axis is parallel to the toothbrush handle
  • the Y axis is perpendicular to the middle facet of the protective cover
  • the Z axis is perpendicular to the plane of the X axis and the Y axis.
  • calculating the pitch angle and the roll angle according to the XYZ coordinate data specifically includes: based on the Y coordinate data and the Z coordinate data, based on the formula atan2 (accY, accZ) calculates the pitch angle; based on the X coordinate data, the Y coordinate data, and the Z coordinate data, based on the formula atan(-accX / Sqrt(accY * accY + accZ * accZ)) calculates the roll angle.
  • the following four cases of brushing the outside of the teeth are considered: the outer side of the left lower teeth, the outer side of the right lower teeth, the outer side of the left upper teeth, and the outer side of the right upper teeth.
  • the end is to rotate the brush head from the root to the crown.
  • the direction of rotation of the brush head should be reversed.
  • the rotational direction of the toothbrush head It should also be the opposite.
  • the direction of rotation of the toothbrush head is the same, and the outer direction of the right lower teeth and the outer side of the left upper teeth are the same in the direction in which the toothbrush head rotates.
  • the brush head is selected: clockwise and counterclockwise.
  • clockwise rotation When we brush the outer side of the left lower teeth, the rotation of the brush head from the root to the crown is defined as clockwise rotation.
  • the brush head rotates clockwise.
  • the toothbrush head rotates counterclockwise. So as long as the toothbrush can automatically determine which brushing situation is currently specific, you can know how to control the motor to rotate.
  • the upper diagrams in Figures 4 and 5 show the teeth on the left side of the brush
  • the lower diagrams in Figures 4 and 5 show the teeth on the right side of the brush, whether it is the left or right side of the teeth, and the direction of the elevation angle is the same. Therefore, ⁇ 1 and ⁇ 2 are both positive, and ⁇ 3 and ⁇ 4 are both negative.
  • the Y axis is inverted by 180, so the direction of the roll angle of the left and right lower teeth is opposite, ⁇ 1 is positive and ⁇ 2 is negative.
  • the Y axis also undergoes 180 reversal, so the direction of the roll angle of the left and right upper teeth is opposite, ⁇ 3 is positive and ⁇ 4 is negative. Therefore, according to the direction of the pitch angle and the roll angle, it is possible to determine which brushing situation is specific, and then control the rotation of the motor according to the specific brushing situation.
  • the upper figure shows the teeth on the left side of the brush
  • the lower figure shows the teeth on the right side of the brush.
  • the direction of the elevation angle is the same, and ⁇ 3 and ⁇ 4 are both negative.
  • the Y-axis is inverted by 180, so the direction of the roll angle is opposite ⁇ 3 is positive and ⁇ 4 is negative. Therefore, according to the pitch angle and the roll angle, it is possible to determine which brushing situation is specific, and then control the rotation of the motor according to the specific brushing situation.
  • the inside of the other teeth the inside of the left lower teeth, the inner side of the right lower teeth, the inner side of the left upper teeth, and the inner side of the right upper teeth. Since the inner side of the right lower teeth and the outer side of the left lower teeth are the same, the directions of the pitch angle and the roll angle (that is, the positive and negative angles) are the same, and the requirements for the rotation direction of the brush head are the same, so the right side of the brush is The control process of the inner side of the tooth and the outer side of the left lower teeth is the same. Similarly, the control process of the inner side of the left lower teeth and the outer side of the right lower teeth is the same. The inner side and the left side of the right upper teeth of the brush are the same. The control process of the lateral side of the upper teeth is the same, and the control process of the inner side of the upper left upper teeth and the outer side of the right upper teeth is the same.
  • controlling the rotation direction of the motor according to the pitch angle and the roll angle includes: if the pitch angle and the roll angle are both positive or negative, and the absolute values of the pitch angle and the roll angle are greater than the preset angle. , the motor is controlled to rotate forward, and the motor drives the drive shaft to drive the brush head to rotate clockwise; if one of the pitch angle and the roll angle is positive, the absolute values of the pitch angle and the roll angle are greater than The preset angle controls the motor to reverse, and the motor reversely drives the drive shaft to drive the toothbrush head to rotate counterclockwise.
  • the preset angle is set according to experience, and the setting of the preset angle is mainly to ensure that the toothbrush handle 10 is higher than the toothbrush head 20 when brushing the lower teeth, and the toothbrush handle 10 is lower than the toothbrush when the upper teeth are brushed.
  • the head 20, for example in one embodiment, has a preset angle of 5°.
  • the motor drive circuit includes an LG9110 driver chip U2, and the power circuit includes an LN1134 power chip U1, which can convert the lithium battery 3.7V to 3.3V to supply power to the entire system, reducing the influence of voltage fluctuations and improving data. Precision.
  • the attitude sensor uses the MPU6050 sensor chip M1, the MCU uses the STM8S103 control chip U3, and the U3 is an 8-bit MCU microcontroller.
  • P1 is connected to the power supply
  • P2 is connected to the motor
  • P3 is used for downloading the program
  • P4 is the control button of the toothbrush. When the button is pressed, the 13 pin of U3 is pulled low.
  • LG9110 driver chip U2 6, 7 feet are connected with STM8S103 control chip U3 1, 20 feet, LG9110 driver chip U2 1, 4 feet connected to the motor, MPU6050 sensor chip M1 23, 24 feet and STM8S103 control chip U3's 12, 11 pin connection, MPU6050 sensor chip M1's 13 pin, STM8S103 control chip U3's 9 pin are connected with LN1134 power chip U1 3 or 4 pin, LG9110 driver chip U2 2, 3 pin and LN1134 power chip U1's 3-pin connection.
  • STM8S103 writes SLEEP instruction to MPU6050, and executes HALT instruction to enter shutdown mode, reduce power consumption, and wait for the next button to wake up.
  • the MCU reads the attitude data of M1 through the IIC bus, including acceleration data and gyroscope data.
  • the acceleration data includes the output data of three accelerometers, ie XYZ coordinate data, via atan2(accY, accZ) and atan(-accX / sqrt(accY * accY + accZ * accZ))
  • the two formulas are calculated to obtain the elevation angle and the roll angle, and then complementarily filtered by the gyroscope data to obtain the final pitch angle and roll angle, and finally by determining the pitch
  • the positive and negative angles and sizes of the angle and roll angle are used to control the motor.
  • the automatic control type electric toothbrush embodying the present invention has the following beneficial effects: the automatic control type electric toothbrush of the present invention can control the driving mechanism to drive the toothbrush head around the drive shaft according to the attitude data acquired by the attitude sensor.
  • the hour hand or the counterclockwise rotation realizes the rotation of the toothbrush head from the root to the crown, thereby achieving the purpose of automatic tooth brushing, which can protect the gums, and the automatic processing does not require manual control by the user, thereby improving the user experience.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Dentistry (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Brushes (AREA)

Abstract

一种自动控制式电动牙刷，包括通过驱动轴(12)连接的牙刷头(20)和牙刷柄(10)，所述牙刷柄(10)设置有姿态传感器、控制模块、驱动机构，所述控制模块可根据姿态传感器获取的姿态数据控制驱动机构驱动所述驱动轴(12)带动所述牙刷头(20)顺时针或者逆时针旋转，以使牙刷头(20)自牙根向牙冠方向旋转。所述电动牙刷可实现自动顺齿刷牙的目的，可保护牙龈，自动化处理无需用户手动控制，提高了用户体验。

Description

一种自动控制式电动牙刷 技术领域
本发明涉及日用电子产品领域，尤其涉及一种自动控制式电动牙刷。
 背景技术
目前，人们使用的电动牙刷，大多采用高频往复转动和上下振动的方式刷牙，如果使用不当会造成牙龈损伤。现有技术中的电动牙刷具有转动方向不可控制的缺陷，或者需要认为手动控制转动方向的缺陷，不能自动化智能化，用户体验极大降低。
 技术问题
本发明要解决的技术问题在于，针对现有技术的上述缺陷，提供一种自动控制式电动牙刷。
 技术解决方案
本发明解决其技术问题所采用的技术方案是：构造一种自动控制式电动牙刷，包括通过驱动轴连接的牙刷头和牙刷柄，所述牙刷柄设置有姿态传感器、控制模块、驱动机构，所述控制模块可根据姿态传感器获取的姿态数据控制驱动机构驱动所述驱动轴带动所述牙刷头顺时针或者逆时针旋转，以使牙刷头自牙根向牙冠方向旋转。
在本发明所述的自动控制式电动牙刷中，所述牙刷柄的端部与牙刷头对应的位置设置有一保护罩，所述保护罩的侧壁上设置有供所述牙刷头的刷毛伸出的开口，所述姿态传感器的坐标系的X轴与牙刷柄平行， Y轴与保护罩的中分面垂直，Z轴与X轴、Y轴所在平面垂直。
在本发明所述的自动控制式电动牙刷中，所述姿态数据包括XYZ坐标数据，所述控制模块可根据所述XYZ坐标数据执行以下处理：根据XYZ坐标数据计算俯仰角和横滚角；根据俯仰角和横滚角控制电机转动方向。
在本发明所述的自动控制式电动牙刷中，所述的根据XYZ坐标数据计算俯仰角和横滚角具体包括：根据Y坐标数据和Z坐标数据，基于算式atan2(accY, accZ)计算得到所述俯仰角；根据X坐标数据、Y坐标数据和Z坐标数据，基于算式 atan(-accX / sqrt(accY * accY + accZ * accZ))计算得到所述横滚角。
在本发明所述的自动控制式电动牙刷中，所述的根据俯仰角和横滚角控制电机转动方向具体包括：
如果俯仰角和横滚角均为正或者均为负，且俯仰角和横滚角的绝对值均大于预设角度，则控制电机正转，电机正转驱动所述驱动轴带动所述牙刷头顺时针旋转；
如果俯仰角和横滚角中一个为正一个为负，且俯仰角和横滚角绝对值均大于预设角度，则控制电机反转，电机反转驱动所述驱动轴带动所述牙刷头逆时针旋转。
在本发明所述的自动控制式电动牙刷中，预设角度为5°。
在本发明所述的自动控制式电动牙刷中，所述姿态传感器集成三轴加速度计与三轴陀螺仪，所述驱动机构包括电机，所述控制模块包括电源电路、MCU、电机驱动电路，所述姿态传感器、电机分别与MCU连接，电机驱动电路分别与所述电机和MCU连接，电源电路与姿态传感器、电机、电机驱动电路、MCU分别连接。
在本发明所述的自动控制式电动牙刷中， 所述电机驱动电路包括LG9110驱动芯片，所述电源电路包括LN1134电源芯片，所述姿态传感器采用MPU6050传感器芯片，MCU采用 STM8S103控制芯片。
 有益效果
实施本发明的自动控制式电动牙刷，具有以下有益效果：本发明的自动控制式电动牙刷可根据姿态传感器获取的姿态数据控制驱动机构驱动所述牙刷头绕所述驱动轴顺时针或者逆时针旋转，从而实现牙刷头自牙根向牙冠方向旋转，实现自动顺齿刷牙的目的，可保护牙龈，自动化处理无需用户手动控制，提高了用户体验。
 附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图：
图1是本发明的电动牙刷的结构示意图；
图2是本发明的电动牙刷的电路原理框图；
图3是坐标系建立示意图；
图4是刷左右两侧下牙的对比图；
图5是刷左右两侧上牙的对比图；
图6是本发明的电动牙刷的一个具体实施例的电路图。
 本发明的实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的典型实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
在本发明总的思路是：设计一种自动控制式电动牙刷，包括通过驱动轴连接的牙刷头和牙刷柄，所述牙刷柄设置有姿态传感器、控制模块、驱动机构，所述控制模块可根据姿态传感器获取的姿态数据控制驱动机构驱动所述牙刷头绕所述驱动轴顺时针或者逆时针旋转以实现牙刷头自牙根向牙冠方向旋转。
为了更好的理解上述技术方案，下面将结合说明书附图以及具体的实施方式对上述技术方案进行详细的说明，应当理解本发明实施例以及实施例中的具体特征是对本申请技术方案的详细的说明，而不是对本申请技术方案的限定，在不冲突的情况下，本发明实施例以及实施例中的技术特征可以相互组合。
参考图1，本发明的电动牙刷，包括通过驱动轴12连接的牙刷头20和牙刷柄10。具体的，牙刷头20 包括与驱动轴12 传动连接且共轴向的主轴、同轴套设于主轴21 上的刷毛。所述牙刷柄10的端部与牙刷头对应的位置设置有一保护罩30，保护罩30的侧壁上设置有供牙刷头20 的刷毛伸出的开口。该保护罩30的远离牙刷柄10 的一端设置有限位孔31，牙刷头20的主轴的端部可旋转地收容于限位孔31中。
参考图2，其中，牙刷柄10内设置有姿态传感器、控制模块、驱动机构，所述姿态传感器集成三轴加速度计与三轴陀螺仪，所述驱动机构包括电机，所述控制模块包括电源电路、MCU、电机驱动电路，所述姿态传感器、电机分别与MCU连接，电机驱动电路分别与所述电机和MCU连接，电源电路与姿态传感器、电机、电机驱动电路、MCU分别连接。
其中，电机驱动电路用于在MCU的控制下驱动电机。电源电路用于给整个牙刷供电。姿态传感器可实时获取加速度数据和陀螺仪数据。加速度数据是三个加速度计的输出数据，即XYZ坐标数据。所述MCU可根据姿态传感器获取的XYZ坐标数据计算俯仰角和横滚角，然后通过陀螺仪数据对俯仰角和横滚角进行互补滤波，再根据处理后得到的俯仰角和横滚角控制电机转动方向，从而驱动所述驱动轴12带动所述牙刷头20顺时针或者逆时针旋转，以使牙刷头20自牙根向牙冠方向旋转。
姿态传感器所基于的XYZ坐标中，Y轴为向前的轴，X轴为向右的轴，Z轴为向上的轴。绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角。具体的，参考图3，本实施例中，以牙刷头为原点，X轴与牙刷柄平行， Y轴与保护罩的中分面垂直，Z轴与X轴、Y轴所在平面垂直。
其中，所述的根据XYZ坐标数据计算俯仰角和横滚角具体包括：根据Y坐标数据和Z坐标数据，基于算式atan2(accY, accZ)计算得到所述俯仰角；根据X坐标数据、Y坐标数据和Z坐标数据，基于算式 atan(-accX / sqrt(accY * accY + accZ * accZ))计算得到所述横滚角。
下面结合图4-5说明如何根据俯仰角和横滚角控制电机转动方向。
下面先考虑刷牙齿外侧的以下四种情形：左侧下牙的外侧、右侧下牙的外侧、左侧上牙的外侧、右侧上牙的外侧。
刷牙时，无论是哪种情形，最终都是为了使牙刷头自牙根向牙冠方向旋转。显然，刷左侧下牙的外侧、右侧下牙的外侧时，牙刷头的旋转方向应该相反，同理，刷左侧上牙的外侧、右侧上牙的外侧时，牙刷头的旋转方向也是应该相反的。而左侧下牙的外侧、右侧上牙的外侧时，牙刷头的旋转方向相同，右侧下牙的外侧、左侧上牙的外侧时，牙刷头的旋转方向相同。
牙刷头选择的方向总共两种：顺时针和逆时针。我们以刷左侧下牙的外侧时，牙刷头自牙根向牙冠方向旋转定义为顺时针旋转，则显然，刷左侧下牙的外侧、右侧上牙的外侧时，牙刷头顺时针旋转，刷右侧下牙的外侧、左侧上牙的外侧时，牙刷头逆时针旋转。所以只要牙刷可以自动判断当前具体为哪种刷牙情形即可知道如何控制电机旋转了。
参考图4、5，图4、5中上图表示刷左侧牙齿，图4、5下图表示刷右侧牙齿，不管是左侧还是右侧的牙齿，这时俯仰角的方向是一样的，因此α1、α2均为正，α3、α4均为负。而刷上牙左右两侧时，Y 轴发生了180翻转，所以刷左右下牙的横滚角的方向相反，β1为正、β2为负。同理，刷下牙左右两侧时，Y 轴也发生了180翻转，所以刷左右上牙的横滚角的方向相反，β3为正、β4为负。因此，根据俯仰角、横滚角的方向，即可判断具体为哪种刷牙情形，然后根据具体的刷牙情形，控制电机旋转即可。
同理， 参考图5，上图表示刷左侧牙齿，下图表示刷右侧牙齿，不管是左侧还是右侧的牙齿，这时俯仰角的方向是一样的，α3、α4均为负，而Y 轴发生了180翻转，所以横滚角的方向相反β3为正、β4为负。 因此，根据俯仰角、横滚角即可判断具体为哪种刷牙情形，然后根据具体的刷牙情形，控制电机旋转即可。
下面考虑关于另外四种刷牙齿内侧的情形：左侧下牙的内侧、右侧下牙的内侧、左侧上牙的内侧、右侧上牙的内侧。由于刷右侧下牙的内侧与左侧下牙的外侧时，俯仰角和横滚角的方向（即角度的正负）一致，且对牙刷头的旋转方向的要求一致，所以刷右侧下牙的内侧与左侧下牙的外侧的控制过程是一样的，同理，刷左侧下牙的内侧与右侧下牙的外侧的控制过程是一样的，刷右侧上牙的内侧与左侧上牙的外侧的控制过程是一样的，刷左侧上牙的内侧与右侧上牙的外侧的控制过程是一样的。
所以，根据以上分析，根据俯仰角和横滚角控制电机转动方向具体包括：如果俯仰角和横滚角均为正或者均为负，且俯仰角和横滚角的绝对值均大于预设角度，则控制电机正转，电机正转驱动所述驱动轴带动所述牙刷头顺时针旋转；如果俯仰角和横滚角中一个为正一个为负，且俯仰角和横滚角绝对值均大于预设角度，则控制电机反转，电机反转驱动所述驱动轴带动所述牙刷头逆时针旋转。
其中，预设角度根据经验设定，预设角度的设定，是主要是为了保证，在刷下牙时牙刷柄10要高于牙刷头20，而刷上牙时牙刷柄10要低于牙刷头20，例如在一个具体实施例中个，预设角度为5°。
参考图6，下面介绍一种具体实现电路。
在一个具体实施例中，电机驱动电路包括LG9110驱动芯片U2，所述电源电路包括LN1134电源芯片U1，其可以将锂电池3.7V转换到3.3V为整个系统供电，减少电压波动的影响，提高数据精度。所述姿态传感器采用MPU6050传感器芯片M1，MCU采用 STM8S103控制芯片U3，U3是8位MCU微控制器。图中的P1接电源， P2接电机，P3下载程序用，P4是牙刷的控制按键，按下按键，U3的13脚拉低。
其中，LG9110驱动芯片U2的6、7脚分别与STM8S103控制芯片U3的1、20脚连接，LG9110驱动芯片U2的1、4脚连接电机，MPU6050传感器芯片M1的23、24脚分别与STM8S103控制芯片U3的12、11脚连接，MPU6050传感器芯片M1的13脚、STM8S103控制芯片U3的9脚均与LN1134电源芯片U1的3或者4脚连接，LG9110驱动芯片U2的2、3脚均与LN1134电源芯片U1的3脚连接。
由于MCU的IO口驱动电流不够，仅10mA，故加LG9110驱动芯片，加大驱动电流,可达1A。 关机时，STM8S103向MPU6050写SLEEP指令，并执行HALT指令进入停机模式，降低功耗，等待下次按键唤醒。
工作时，MCU通过IIC总线读取M1的姿态数据，包括加速度数据和陀螺仪数据。首先，加速度数据包括三个加速度计的输出数据，即XYZ坐标数据，通过 atan2(accY, accZ)和atan(-accX / sqrt(accY * accY + accZ * accZ)) 两个公式计算后得到俯仰角和横滚角，然后通过陀螺仪数据对其进行互补滤波，得到最终的俯仰角和横滚角，最后通过判断俯仰角和横滚角的正负以及大小，来控制电机。
需要说明的是，本实施例所采用的元器件、芯片及其具体型号仅为一个示意，并不是用于限制本发明，其他具有相同或类似功能的元器件、芯片等同替代都落入本发明的保护范围。
综上所述，实施本发明的自动控制式电动牙刷，具有以下有益效果：本发明的自动控制式电动牙刷可根据姿态传感器获取的姿态数据控制驱动机构驱动所述牙刷头绕所述驱动轴顺时针或者逆时针旋转，从而实现牙刷头自牙根向牙冠方向旋转，实现自动顺齿刷牙的目的，可保护牙龈，自动化处理无需用户手动控制，提高了用户体验。
上面结合附图对本发明的实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权利要求所保护的范围情况下，还可做出很多形式，这些均属于本发明的保护之内。

Claims (8)

  1. 一种自动控制式电动牙刷，其特征在于，包括通过驱动轴连接的牙刷头和牙刷柄，所述牙刷柄设置有姿态传感器、控制模块、驱动机构，所述控制模块可根据姿态传感器获取的姿态数据控制驱动机构驱动所述驱动轴带动所述牙刷头顺时针或者逆时针旋转，以使牙刷头自牙根向牙冠方向旋转。
  2. 根据权利要求1所述的自动控制式电动牙刷，其特征在于，所述牙刷柄的端部与牙刷头对应的位置设置有一保护罩，所述保护罩的侧壁上设置有供所述牙刷头的刷毛伸出的开口，所述姿态传感器的坐标系的X轴与牙刷柄平行， Y轴与保护罩的中分面垂直，Z轴与X轴、Y轴所在平面垂直。
  3. 根据权利要求1所述的自动控制式电动牙刷，其特征在于，所述姿态数据包括XYZ坐标数据，所述控制模块可根据所述XYZ坐标数据执行以下处理：根据XYZ坐标数据计算俯仰角和横滚角；根据俯仰角和横滚角控制电机转动方向。
  4. 根据权利要求3所述的自动控制式电动牙刷，其特征在于，所述的根据XYZ坐标数据计算俯仰角和横滚角具体包括：根据Y坐标数据和Z坐标数据，基于算式atan2(accY, accZ)计算得到所述俯仰角；根据X坐标数据、Y坐标数据和Z坐标数据，基于算式 atan(-accX / sqrt(accY * accY + accZ * accZ))计算得到所述横滚角。
  5. 根据权利要求3所述的自动控制式电动牙刷，其特征在于，所述的根据俯仰角和横滚角控制电机转动方向具体包括：
    如果俯仰角和横滚角均为正或者均为负，且俯仰角和横滚角的绝对值均大于预设角度，则控制电机正转，电机正转驱动所述驱动轴带动所述牙刷头顺时针旋转；
    如果俯仰角和横滚角中一个为正一个为负，且俯仰角和横滚角绝对值均大于预设角度，则控制电机反转，电机反转驱动所述驱动轴带动所述牙刷头逆时针旋转。
  6. 根据权利要求5所述的自动控制式电动牙刷，其特征在于，预设角度为5°。
  7. 根据权利要求1所述的自动控制式电动牙刷，其特征在于，所述姿态传感器集成三轴加速度计与三轴陀螺仪，所述驱动机构包括电机，所述控制模块包括电源电路、MCU、电机驱动电路，所述姿态传感器、电机分别与MCU连接，电机驱动电路分别与所述电机和MCU连接，电源电路与姿态传感器、电机、电机驱动电路、MCU分别连接。
  8. 根据权利要求7所述的自动控制式电动牙刷，其特征在于， 所述电机驱动电路包括LG9110驱动芯片，所述电源电路包括LN1134电源芯片，所述姿态传感器采用MPU6050传感器芯片，MCU采用 STM8S103控制芯片。
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