WO2009148018A1 - 電動歯ブラシ - Google Patents
電動歯ブラシ Download PDFInfo
- Publication number
- WO2009148018A1 WO2009148018A1 PCT/JP2009/059986 JP2009059986W WO2009148018A1 WO 2009148018 A1 WO2009148018 A1 WO 2009148018A1 JP 2009059986 W JP2009059986 W JP 2009059986W WO 2009148018 A1 WO2009148018 A1 WO 2009148018A1
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- WIPO (PCT)
- Prior art keywords
- brush
- angle
- electric toothbrush
- posture
- brushing
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
- A61C17/16—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
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- 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
- 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
- A61C17/3481—Vibrating brush body, e.g. by using eccentric weights
Definitions
- the present invention relates to an electric toothbrush.
- An electric toothbrush that brushes teeth (removes food residues and plaque) by applying a brush that moves at high speed to the teeth is known.
- the brushing effect obtained differs depending on the angle at which the brush is applied to the teeth. For example, if the brush is applied at 90 degrees with respect to the tooth axis, the highest plaque removal force can be exerted on the tooth surface. Also, if the brush is applied at 45 degrees to the tooth axis, the tip of the brush can easily enter between teeth and periodontal pockets (between teeth and gums), effectively removing food residues and Be able to scrape plaque.
- Patent Document 1 discloses the idea of detecting the direction around the axis of the toothbrush body in four or eight stages and estimating the brushing site from the detection result. Specifically, a plurality of fan-shaped sections are provided in the circumferential direction inside the main body, and the direction of the toothbrush main body is estimated by detecting which section the conductive sphere is in from the change in electrical resistance. is doing. However, it is difficult to reduce the size of such a mechanism, and the feasibility is poor.
- An object of the present invention is to provide a technique for easily realizing an appropriate brush angle in an electric toothbrush.
- the present invention adopts the following configuration.
- the electric toothbrush of the present invention includes an electric toothbrush body having a grip portion, a brush member having a brush, a driving means for moving the brush, and the brush member for changing the direction of the brush.
- a rotation means that rotates relative to the body; an attitude detection means that detects an attitude of the electric toothbrush main body; and a brush angle that is an angle of the brush with respect to the tooth axis based on the detected attitude.
- Control means for controlling the rotating means so as to have a value.
- control means is detected with a part estimation means for estimating a brushing part brushed from a plurality of parts defined by dividing the dentition surface based on the detected posture.
- Brush angle estimating means for estimating a brush angle that is an angle of the brush with respect to a tooth axis based on a posture, and an optimal brush angle value preset for each brushing part and the estimated brush angle
- the rotation means is preferably controlled so that the brush angle becomes the optimum value.
- control means controls the driving means so as to change the movement direction or the movement frequency of the brush according to the detected posture.
- the driving means is a rotary motor
- the direction of movement and the frequency of movement of the brush can be changed by switching the direction of rotation of the rotary motor or changing the number of rotations.
- the posture detection means detects the posture based on the output of the acceleration sensor.
- a uniaxial acceleration sensor can be used, and preferably a multiaxial (biaxial, triaxial, or more) acceleration sensor can be used.
- notifying means for notifying that the brush angle is the optimum value thereby, usability can be improved.
- a notification method light, sound, voice, vibration, or the like can be used.
- the optimum value can be changed.
- the brush angle is set to 90 degrees, and when it is desired to effectively polish between teeth and gums such as periodontal pockets, the brush angle is set to 45 degrees. It can be used flexibly.
- control means controls the rotating means so that the brush member is at a preset initial position after the electric toothbrush is used or at the start of use.
- the orientation of the brush automatically returns to the initial position until the next start of brushing. Therefore, it is possible to reach the optimum brush angle more quickly at the start of tooth brushing.
- FIG. 1 is a block diagram of the electric toothbrush of the first embodiment.
- FIG. 2 is a cross-sectional view showing the internal configuration of the electric toothbrush of the first embodiment.
- FIG. 3 is a perspective view showing the appearance of the electric toothbrush.
- 4A and 4B are diagrams illustrating the configuration of the brush angle control actuator.
- FIG. 5 is a diagram showing the classification of the brushing part.
- FIG. 6 is a flowchart showing a main routine of the operation of the electric toothbrush.
- FIG. 7 is a flowchart of the posture detection process.
- FIG. 8 is a flowchart of the brushing site estimation process (upper jaw).
- FIG. 9 is a flowchart of the brushing site estimation process (mandible).
- FIG. 10 is a diagram illustrating an example of acceleration sensor outputs Ax, Ay, and Az for each brushing region of the upper jaw.
- FIG. 11 is a diagram illustrating an example of acceleration sensor outputs Ax, Ay, and Az for each lower brushing region.
- FIG. 12 is a diagram illustrating the definition of the posture angle of the electric toothbrush.
- FIG. 13 is a diagram showing a change in the waveform of the sensor output accompanying a change in the brush angle.
- FIG. 14 is a diagram for explaining the brush angle.
- FIG. 15 is a cross-sectional view showing the internal configuration of the electric toothbrush of the second embodiment.
- FIG. 16 is a cross-sectional view showing the internal configuration of the electric toothbrush of the third embodiment.
- FIG. 17 is a diagram illustrating a configuration of an electrical connection portion using a rectifying brush.
- FIG. 18 is a diagram showing a configuration of an electrical connection portion using a coil.
- FIG. 19 is a diagram for explaining the trajectory of the brush.
- FIG. 20 is a diagram illustrating the relationship between the brush angle and the movement of the brush.
- FIG. 21 is a flowchart of the operation mode switching process according to the fifth embodiment.
- FIG. 22 is a diagram illustrating posture detection according to the sixth embodiment.
- FIG. 23 is a diagram for explaining automatic return processing according to the seventh embodiment.
- FIG. 1 is a block diagram of the electric toothbrush of the first embodiment
- FIG. 2 is a cross-sectional view showing the internal configuration of the electric toothbrush of the first embodiment
- FIG. 3 is a perspective view showing the appearance of the electric toothbrush.
- the electric toothbrush includes an electric toothbrush main body 1 (hereinafter also simply referred to as “main body 1”) composed of an outer casing 1a and an inner casing 1b, and a brush member 2 attached to the inner casing 1b of the main body 1. It is equipped with.
- main body 1 composed of an outer casing 1a and an inner casing 1b
- brush member 2 attached to the inner casing 1b of the main body 1. It is equipped with.
- the outer casing 1a of the main body 1 is made of a resin case having a generally cylindrical shape.
- the outer casing 1a is provided with an elastomer grip 14 for a user to grip with his / her hands when brushing teeth, a switch S for turning on / off the power, switching modes, and the like.
- the drive circuit 12 includes a CPU (input / output processing unit) 120 that executes various calculations and controls, a memory 121 that stores programs and various setting values, a timer 122, and the like.
- An acceleration sensor 15 is provided inside the main body 1.
- a multi-axis acceleration sensor may be used, or a single-axis acceleration sensor may be used.
- the x axis is parallel to the brush surface
- the y axis is coincident with the longitudinal direction of the main body 1
- the z axis is perpendicular to the brush surface. It is good to install like this.
- “Brush surface” refers to a virtual plane that is substantially orthogonal to the hair (fiber) of the brush and is located at the tip of the hair.
- a uniaxial acceleration sensor it may be installed so as to detect acceleration in the z-axis direction or the x-axis direction in FIG.
- an x, y, z triaxial acceleration sensor is used.
- the output of the acceleration sensor 15 is input to the CPU 120 and used to detect the three-dimensional posture of the brush.
- the acceleration sensor 15 a piezoresistive type, a capacitance type, or a heat detection type MEMS sensor can be preferably used. This is because the MEMS sensor is very small and can be easily incorporated into the body 1.
- the form of the acceleration sensor 15 is not limited to this, and an electrodynamic sensor, a strain gauge sensor, a piezoelectric sensor, or the like may be used.
- a band pass filter low pass filter for removing dynamic acceleration components and noise may be provided. Further, noise may be reduced by smoothing the output waveform of the acceleration sensor.
- the inner casing 1b of the main body 1 is a component that is attached to the outer casing 1a so as to be movable relative to the outer casing 1a. It has.
- the brush member 2 is mounted so as to cover the stem 3.
- a brush 20 is implanted at the tip of the brush member 2. Since the brush member 2 is a consumable part, it is configured to be detachable from the stem 3 (inner housing 1b) so that it can be replaced with a new one.
- the stem 3 is a cylindrical member made of a resin material with a closed tip (brush side end) and has a bearing 32 at the tip inside the tube.
- the tip of the eccentric shaft 30 connected to the rotating shaft 11 of the motor 10 is inserted into the bearing 32 of the stem 3.
- the eccentric shaft 30 has a weight 31 in the vicinity of the bearing 32, and the center of gravity of the eccentric shaft 30 is deviated from the center of rotation.
- the CPU 120 supplies a drive signal (for example, a pulse width modulation signal) corresponding to the operation mode to the motor 10 and rotates the rotating shaft 11 of the motor 10, the eccentric shaft 30 also rotates as the rotating shaft 11 rotates.
- the eccentric shaft 30 moves so as to turn around the center of rotation because the center of gravity is displaced.
- the tip of the eccentric shaft 30 repeats minute collisions with the inner wall of the bearing 32, and the brush 20 is vibrated (moved) at high speed. That is, the motor 10 plays a role of driving means for vibrating (moving) the brush, and the eccentric shaft 30 plays a role of a motion transmission mechanism (motion converting mechanism) that converts the output (rotation) of the motor 10 into vibration of the brush 20. Take on.
- the electric toothbrush of the present embodiment includes an actuator (rotating means) 40 that rotates the brush member 2 relative to the outer casing 1a of the main body 1 in order to change the orientation of the brush 20 around the y-axis.
- an actuator (rotating means) 40 that rotates the brush member 2 relative to the outer casing 1a of the main body 1 in order to change the orientation of the brush 20 around the y-axis.
- FIG. 4A and 4B show the configuration of the actuator 40.
- FIG. 4A is a cross-sectional view taken along the line XX of FIG. 4B.
- the actuator 40 is composed of a rotary motor having a stator 41 and a rotor 42.
- the stator 41 is fixed to the outer casing 1 a of the main body 1, and the rotor 42 is fixed to the motor housing 43 of the motor 10.
- the rotor 42 rotates by an angle corresponding to the control signal.
- the rotation angle of the rotor 42 is assumed to be within a range of ⁇ 180 degrees to +180 degrees.
- brush direction means the normal direction of the brush surface, that is, the direction of the brush tip
- change the brush direction means the rotation angle of the brush direction around the y-axis.
- a known rotary motor such as a stepping motor can be preferably used.
- a cylindrical linear motor having an arcuate stator can also be used as long as a rotational output can be obtained.
- the electric toothbrush of the present embodiment includes two types of actuators: the motor 10 for moving (vibrating) the brush 20 and the actuator 40 for controlling the direction (brush angle) of the brush 20.
- the motor 10 may be referred to as a brush drive actuator
- the actuator 40 may be referred to as a brush angle control actuator.
- the electric toothbrush of the present embodiment estimates the brushing part based on the posture of the brush detected by the acceleration sensor 15, and controls the actuator 40 so that the brush angle becomes an optimum value according to the brushing part.
- the upper and lower dentitions are divided into “maxillary anterior cheek side”, “maxillary anterior tongue side”, “maxillary left cheek side”, “maxillary left lingual side”, “maxillary left chewing side”.
- the region is divided into 16 parts: “tongue side”, “mandibular left occlusal surface”, “mandibular right cheek side”, “mandibular right lingual side”, and “mandibular right occlusal surface”.
- the division of the dentition is not limited to this, and may be a broader division or a finer division.
- FIG. 6 is a flowchart of the main routine
- FIGS. 7 to 9 are flowcharts showing details of each process of the main routine. Note that the processing described below is processing executed by the CPU 120 serving as control means according to a program unless otherwise specified.
- the CPU 120 controls the motor 10 to start driving the brush 20 (S10).
- the processing of S20 to S60 described below is repeatedly executed at regular intervals.
- the power of the electric toothbrush is turned off or the continuous operation time counted by the timer reaches a predetermined time (for example, 2 minutes)
- the loop of S20 to S60 ends (continuation ?; NO)
- the CPU 120 determines that the brush 20 Is stopped (S70).
- FIG. 7 is a flowchart of the posture detection process (S20).
- CPU 120 obtains the respective outputs Ax, Ay, Az of x, y, z from the acceleration sensor 15 (S100).
- Ax represents an acceleration component in the x direction
- Ay represents an acceleration component in the y direction
- Az represents an acceleration component in the z direction.
- A (Ax, Ay, Az) is called an attitude vector.
- FIGS. 10 and 11 are diagrams illustrating examples of acceleration sensor outputs Ax, Ay, and Az for each brushing part.
- the CPU 120 determines whether the upper jaw or the lower jaw based on the output Az of the acceleration sensor in the z direction (S700).
- the determination is focused on the fact that the brush surface is upward rather than downward, and when brushing the lower jaw dentition, the brush surface is not lower than downward.
- Az>0 the lower jaw (S801) is determined, and when Az ⁇ 0, the upper jaw (S701) is determined.
- the CPU 120 determines whether or not it is an anterior tooth based on the output Ay of the acceleration sensor in the y direction (S702).
- Ay threshold value a
- the CPU 120 determines whether it is the cheek side or the tongue side based on the output Ax of the acceleration sensor in the x direction (S704). This determination is focused on the fact that the direction of the brush is reversed between the cheek side and the tongue side. When Ax> 0, it is determined as “upper front cheek side” (S705), and when Ax ⁇ 0, it is determined as “upper front tongue side” (S706).
- the CPU 120 determines whether or not it is a meshing surface based on the output Ax of the acceleration sensor in the x direction (S707).
- the determination is focused on the fact that the brush surface is substantially horizontal and the output of Ax is very small.
- threshold value b> Ax> threshold value c it is determined that “the upper jaw left engagement surface or the upper jaw right engagement surface” (S708).
- the upper jaw left engagement surface and the upper jaw right engagement surface are not particularly distinguished. This is because in the case of the meshing surface, there is little need to change the brushing operation on the left and right.
- the CPU 120 determines whether Ax is greater than 0 or not (S709). This determination is focused on the fact that the direction of the brush is reversed between the cheek side and the tongue side. When Ax> 0, it is determined as “upper right cheek side or upper left tongue side” (S710), and when Ax ⁇ 0, it is determined as “upper left cheek side or upper maxillary right tongue side” (S711). In the first embodiment, the right upper cheek side and the upper left lingual side are not particularly distinguished. This is because there is little need to change the brush angle between the two parts. The same applies to the maxillary left cheek side and the maxillary right lingual side.
- the CPU 120 determines whether or not it is an anterior tooth based on the output Ay of the acceleration sensor in the y direction (S802).
- Ay ⁇ threshold d it is determined as a lower anterior tooth (S803).
- the CPU 120 determines whether it is the cheek side or the tongue side based on the output Ax of the acceleration sensor in the x direction (S804). This determination is focused on the fact that the direction of the brush is reversed between the cheek side and the tongue side. When Ax ⁇ 0, it is determined as “mandibular anterior cheek side” (S805), and when Ax ⁇ 0, it is determined as “mandibular anterior tongue side” (S806).
- the CPU 120 determines whether or not it is a meshing surface based on the output Ax of the acceleration sensor in the x direction (S807).
- the determination is focused on the fact that the brush surface is substantially horizontal and the output of Ax is very small.
- threshold e> Ax> threshold f it is determined that “the lower jaw left occlusal surface or the lower jaw right occlusal surface” (S808).
- the lower jaw left engagement surface and the lower jaw right engagement surface are not particularly distinguished. This is because in the case of the meshing surface, there is little need to change the brushing operation on the left and right.
- the CPU 120 determines whether the cheek side or the tongue side depending on whether Ax is greater than 0 (S809). This determination is focused on the fact that the direction of the brush is reversed between the cheek side and the tongue side. When Ax> 0, it is determined as “mandibular right cheek side or mandibular left lingual side” (S810), and when Ax ⁇ 0, it is determined as “mandibular left cheek side or mandibular right lingual side” (S811). In the first embodiment, there is no particular distinction between the lower jaw right cheek side and the lower jaw left tongue side. This is because there is little need to change the brush angle between the two parts. The same applies to the lower jaw left cheek side or the lower jaw right tongue side.
- the current brushing site is “maxillary front cheek side” (S705), “maxillary anterior tongue side” (S706), “maxillary meshing surface” (S708), “maxillary right cheek side or maxillary left tongue.
- the above determination algorithm is merely an example, and any determination algorithm may be used as long as the brushing part can be specified from the outputs Ax, Ay, and Az of the acceleration sensor.
- secondary variables obtained by appropriately combining Ax, Ay, Az may be used for determination.
- the secondary variable can be arbitrarily set, for example, Ay / Az, Ax ⁇ Ax + Ay ⁇ Ay, Az ⁇ Ax, and the like.
- the brushing part may be determined after converting the acceleration information Ax, Ay, Az of each axis into angle information (attitude angles) ⁇ , ⁇ , ⁇ as shown in FIG. In the example of FIG.
- the x-axis angle with respect to the gravitational acceleration direction is defined as a roll angle ⁇
- the y-axis angle with respect to the gravitational acceleration direction is defined as a pitch angle ⁇
- the z-axis angle with respect to the gravitational acceleration direction is defined as a yaw angle ⁇ .
- S40-S60 Brush angle control
- the CPU 120 estimates the current brush angle value based on the posture (output of the acceleration sensor) detected in S200.
- the brush angle is the contact angle of the brush with respect to the tooth axis (axis along the tooth head and root).
- the brush angle is calculated when it is assumed that the rotation angle of the inner casing 1b by the actuator 40 is 0 degree and the tooth axis coincides with the direction of gravity.
- the brush angle is represented in the range of 0 to 90 degrees.
- the brush angle can be estimated from, for example, the acceleration component Az in the z direction. As shown in FIG. 13, when the brush angle is about 90 degrees, Az is almost 0, and as the brush angle becomes smaller, the value of Az increases. Thus, the value of Az changes significantly according to the brush angle. Because it does. Since the acceleration component Ax in the x direction also changes according to the brush angle, the brush angle is estimated from Ax instead of Az, or the brush angle is calculated from both Ax and Az (the direction of the combined vector of Ax and Az). It is also preferable to estimate.
- the brush angle may be calculated as a continuous amount, or may be calculated as a discrete value such as 0 degrees to 10 degrees, 10 degrees to 20 degrees, and so on.
- the upper part of FIG. 14 shows a state where the brush angle is 0 degrees
- the middle part shows a state where the brush angle is 45 degrees
- the lower part shows a state where the brush angle is 90 degrees.
- the brush angle is preferably about 0 degrees.
- the brush angle is 90 degrees, the highest plaque removal force can be exerted on the tooth surface.
- the optimal brush angle can be determined depending on the brushing part or the desired brushing effect.
- the optimal brush angle values for the “maxillary meshing surface” and “mandibular meshing surface” are 0 degrees, “maxillary right cheek side”, “maxillary left tongue side”, “maxillary left cheek side”, “maxillary right side”
- the optimum brush angle values for the front tongue side, the lower jaw front cheek side, and the lower jaw front tongue side were set to 90 degrees. These set values are stored in the memory 121.
- the optimum value of the brush angle shown here is only an example, and the optimum value may be set in any way, and it is also preferable that the user can change the optimum value to a desired value.
- a plurality of setting values are prepared in advance such as “plaque removal mode” and “periodontal pocket mode”, and when the user selects the plaque removal mode, “45”
- the optimum value of “degree” may be automatically set, and when the periodontal pocket mode is selected, the optimum value of “90 degrees” may be automatically set at the brushing portion other than the meshing surface.
- the CPU 120 compares the current brush angle value obtained in S40 with the optimum brush angle value in the brushing part obtained in S30, and determines whether or not the brush angle is appropriate. If the optimum value is defined as one value such as “45 degrees”, the difference between the current value and the optimum value may be evaluated. If the optimum value is defined in the range such as “40 degrees to 50 degrees”, it may be evaluated whether or not the current value is within the range.
- the CPU 120 adjusts the brush angle (S60). Specifically, the CPU 120 obtains a difference between the optimum value and the current value, sends a control signal corresponding to the difference (angle) to the actuator 40, and rotates the brush member 2. Thereby, the direction of the brush 20 is controlled so that the brush angle becomes an optimum value.
- the brush member 2 is automatically rotated according to the posture of the electric toothbrush and the brush angle is controlled to the optimum value, so that an appropriate brush angle can be easily set during brushing. Therefore, a good cleaning effect can be obtained.
- FIG. 15 shows the configuration of the electric toothbrush of the second embodiment of the present invention.
- the difference from the first embodiment is that a bearing 44 is provided between the outer casing 1a and the inner casing 1b.
- the positional stability of the inner casing 1b is improved.
- the axial length of the actuator 40 can be shortened, which contributes to the miniaturization of the electric toothbrush body 1.
- FIG. 16 shows the configuration of the electric toothbrush of the third embodiment of the present invention.
- power is supplied to the motor 10 via the lead wire
- the drive circuit 12 is connected to the motor 10 via the electrical connection portion 45. The difference is that the power supply is performed.
- the electrical connection portion 45 of the present embodiment has a circuit configuration for ensuring electrical connection between the power supply line on the drive circuit side and the electrode of the motor 10 regardless of the rotation angle of the actuator 40.
- this configuration can be suitably used when the actuator 40 needs to be rotated 360 degrees or more.
- FIG. 17 schematically shows a circuit configuration using a rectifying brush as an example of the electrical connection portion 45.
- the drive circuit 12 side so that the current I in a fixed direction flows to the motor 10 regardless of the contact position of the rectifying brush (regardless of the positional relationship between the inner casing 1b and the outer casing 1a). Power can be supplied to the motor 10.
- FIG. 18 schematically shows a circuit configuration using coils as an example of the electrical connection portion 45. With such a circuit configuration, it is possible to supply electrodes from the drive circuit 12 side to the motor 10 by electromagnetic induction.
- reports that a brush angle is an optimal value is provided. Specifically, when it is determined in S50 of FIG. 6 that the brush angle is appropriate, the CPU 120 causes a light emitting unit (such as an LED) provided in the outer casing 1a to emit light. The user can easily grasp that the brush angle is the optimum value by looking at the lighting state of the light emitting unit.
- a light emitting unit such as an LED
- the brush angle adjustment by the actuator 40 is not necessary (the posture of the main body 1 is correct) and the brush angle is adjusted by the actuator 40 (the posture of the main body 1 is incorrect). Therefore, the user can learn the correct posture.
- the notification method can use sound, vibration, voice, etc. in addition to light.
- sound the volume and pattern of the sound can be changed according to the difference.
- vibration the strength and length of vibration can be changed according to the difference.
- voice for example, it is possible to notify contents such as “tilt about 30 degrees more”, “tilt a little more”, “optimum brush angle”.
- the brush portion has at least two resonance points (resonance frequencies).
- the direction of resonance at each resonance point is different. Specifically, as shown in FIG. 19, the amplitude in the x-axis direction parallel to the brush surface increases at the resonance point on the low frequency side (first resonance: about 12,500 spm). At the resonance point on the low frequency side (second resonance: about 38000 spm), the amplitude in the z-axis direction perpendicular to the brush surface increases. Outside of resonance (eg, about 26500 spm), the brush follows a trajectory that is oblique (about 45 degrees) with respect to the x-axis (z-axis). Note that “spm” is a unit representing the number of swings per minute.
- the reason why a plurality of resonances with different directions appear is largely due to the structure of the electric toothbrush and its driving principle.
- the inventors of the present invention repeat the experiment while changing the configuration of the eccentric shaft and the brush, whereby the first resonance point mainly depends on the motion transmission mechanism, and the second resonance point mainly depends on the brush.
- the knowledge that it is a characteristic has been acquired.
- the frequency and amplitude of the first resonance point can be adjusted by changing the structure and shape of the motion transmission mechanism (simply the position, size, weight, etc. of the weight of the eccentric shaft), and the structure of the brush It was found that the frequency and amplitude of the second resonance point can be adjusted by changing the shape.
- FIG. 20 shows a state where the brush angle is 45 degrees
- the lower part of FIG. 20 shows a state where the brush angle is 90 degrees
- the left side of FIG. 20 shows the motor in the normal rotation state
- the right side shows the motor in the reverse state.
- Each arrow represents the movement of the brush (the direction with the largest amplitude).
- the brush moves sideways (x-axis direction) in the first resonance
- the brush moves vertically (z-axis direction) in the second resonance
- the brush moves diagonally outside the resonance.
- the moving direction of the brush is oblique (for example, 45 degrees) with respect to the tooth axis. Therefore, in the example of FIG. 20, it can be seen that when the brush angle is 45 degrees, the movement of the second resonance is optimal. On the other hand, when the brush angle is 90 degrees, it is understood that the movement outside the resonance of the motor normal rotation is optimal on the right tongue side of the lower jaw, and the movement outside the resonance of the motor reverse rotation is optimal on the right jaw side of the lower jaw. In addition, according to the same way of thinking, it is possible to determine the optimum operation mode (motor rotation direction and brush frequency) for each combination of the brushing part and the brush angle.
- the optimum operation mode motor rotation direction and brush frequency
- FIG. 21 is a flowchart of the operation mode switching process of the present embodiment. This process is executed, for example, after S60 in FIG.
- the CPU 120 compares the brushing part obtained in S30 and the brush angle (or the optimum value of the brush angle) obtained in S40 with the brushing part and the brush angle at the time of the previous process, so that the brushing part or the brush angle is obtained. It is checked whether or not has changed (S1800).
- the brushing part and the brush angle at the time of the previous processing are stored in the memory.
- the CPU 120 determines that the current brushing part is “the lower jaw left cheek side, the lower jaw right tongue side, the upper jaw left tongue side, the upper jaw right cheek side” and the first group; It is determined which one of the second groups “the lower jaw right cheek side, the lower jaw left tongue side, the upper jaw right tongue side, the upper jaw left cheek side” corresponds (S1801). In the case of the first group, the CPU 120 sets the rotation direction of the motor to normal rotation (S1802). In the case of the second group, the CPU 120 reverses the rotation direction of the motor (S1803).
- the CPU 12 controls the vibration frequency of the brush to the second resonance (high speed) when the brush angle is 45 degrees (S1804, S1805), and sets the vibration frequency of the brush outside the resonance (medium speed) when the brush angle is 90 degrees. (S1806).
- both the movement direction and the movement frequency of the brush are controlled.
- a configuration in which only one of them is controlled is also preferable.
- the brushing strength can be reduced by lowering the motion frequency, and conversely, for regions where a high brushing effect is desired, the brushing strength can be increased by increasing the motion frequency. .
- the vibration mechanism of the toothbrush is symmetric with respect to the yz plane, when the rotation direction of the motor is reversed, the brush draws a symmetrical trajectory with respect to the yz plane. Therefore, the rotation direction of the motor may be switched according to the brushing site so that the brush tip moves in a direction to scrape plaque from the periodontal pocket.
- the sixth embodiment employs a configuration in which a brushing part and a brush angle are estimated by a uniaxial acceleration sensor.
- the upper part of FIG. 22 shows a state where the tooth surface on the cheek side or the lingual side is brushed.
- the brush angle (yaw angle ⁇ ) is about 90 degrees
- the x-axis direction component of gravity acceleration is about 1 g or ⁇ 1 g (positive or negative corresponds to the left and right of the dentition)
- the lower part of FIG. 22 shows a state where the meshing surface is brushed.
- the brush angle (yaw angle ⁇ ) is approximately 0 degrees
- the x-axis direction component of gravitational acceleration is approximately 0
- the z-axis direction component of gravitational acceleration is approximately 1 g or ⁇ 1 g (positive or negative is the dentition) Corresponding to the top and bottom).
- the x-axis acceleration sensor or the z-axis acceleration sensor can be used to determine whether the tooth surface is a cheek or lingual side or a meshing surface. Is also possible.
- the brush angle can be calculated from the x-axis or z-axis acceleration sensor output. The processing after the brushing part and the brush angle are estimated is the same as in the above-described embodiment.
- the electric toothbrush of 7th Embodiment has an automatic return function which returns a brush member to an initial position after use of an electric toothbrush.
- Other configurations are the same as those of the above-described embodiment.
- Such an automatic return function automatically returns the brush orientation to the initial position by the start of the next tooth brushing even when brushing is finished with the brush orientation deviating from the initial position. Therefore, it is possible to reach the optimum brush angle more quickly at the start of next brushing.
- the brush member is initialized after a predetermined time (for example, 1 minute) has elapsed since the power was turned off. It is also preferable to return to the position.
- the automatic restoration process is executed after the use of the electric toothbrush.
- the electric toothbrush for example, when the power is turned on or the electric toothbrush is removed from the charger 100. Even if the automatic return process is executed, the same effect can be obtained.
- the amount of movement of the brush and the relative posture from the output of the acceleration sensor and the gyroscope.
- the posture at the time of turning on the power may be set to the reference position, or a mechanism for allowing the user to input the reference position (the position to start polishing) (for example, holding the toothbrush body horizontally)
- a switch may be provided in a state where the brush is applied to the front cheek side of the upper jaw).
- the movement amount (movement distance) can be calculated by second-order integration of dynamic acceleration components in the x-axis direction, y-axis direction, and z-axis direction obtained from the acceleration sensor output.
- the coordinate system xyz of the toothbrush is converted into a coordinate system XYZ (the reference position may be the origin) with the gravitational acceleration direction as the Z axis.
- the relative position with respect to the reference position can be determined by calculating and accumulating the movement distances of X, Y, and Z for each clock. If the relative position with respect to the reference position is known, the brushing site can be identified more accurately and in detail than in the above-described embodiment.
- the posture of the brush changes by 180 degrees depending on whether the left or right hand holds the toothbrush body, so the user can register the dominant hand (the hand holding the toothbrush) and brushing according to the registered dominant hand
- the part determination algorithm may be changed, or the operation mode (motor rotation direction, brush movement) may be changed.
- the inside of the oral cavity may be photographed with a small camera provided at the tip of the brush member 2, and the image information may be used for detecting the posture of the brush.
- a temperature sensor or an optical sensor can be provided at the tip of the brush member 2, and the detection results can be used for brush posture detection.
Abstract
Description
(電動歯ブラシの構成)
図1、図2、図3を参照して、電動歯ブラシの構成を説明する。図1は第1実施形態の電動歯ブラシのブロック図であり、図2は第1実施形態の電動歯ブラシの内部構成を示す断面図であり、図3は電動歯ブラシの外観を示す斜視図である。
本体1の内部には、加速度センサ15が設けられている。加速度センサ15としては多軸の加速度センサを用いてもよいし、1軸の加速度センサを用いてもよい。3軸加速度センサの場合は、図3に示すように、x軸がブラシ面に対して平行になり、y軸が本体1の長手方向に一致し、z軸がブラシ面に対して垂直になるように設置するとよい。「ブラシ面」とは、ブラシの毛(繊維)と略直交し、かつ、毛の先端部分に位置する仮想的な平面をいう。1軸加速度センサの場合は、図3のz軸方向もしくはx軸方向の加速度を検出するように設置するとよい。なお本実施形態では、x,y,zの3軸加速度センサを用いる。加速度センサ15の出力はCPU120に入力され、ブラシの三次元姿勢を検出するために利用される。
本体1の内筐体1bは、外筐体1aに対して相対動自在に取り付けられた部品であり、外筐体1aの先端側(ブラシ側)の開口部から突き出るように設けられたステム3を備えている。上記のブラシ部材2は、このステム3を覆うように装着される。ブラシ部材2の先端には、ブラシ20が植毛されている。ブラシ部材2は消耗部品ゆえ、新品に交換できるよう、ステム3(内筐体1b)に対して着脱自在な構成となっている。
本実施形態の電動歯ブラシは、ブラシ20のy軸周りの向きを変更するために、ブラシ部材2を本体1の外筐体1aに対して相対的に回転移動させるアクチュエータ(回転手段)40を備えている。図4A及び図4Bにアクチュエータ40の構成を示す。図4Aは図4BのX-X断面図である。
歯の種類(上顎/下顎、臼歯/切歯など)や部分(舌側/頬側、歯面/噛み合わせ面、歯周ポケットなど)によって、食物残渣や歯垢の付き方が異なり、部位ごとに効果的なブラシ角に違いがある。また、同じ種類の歯であっても歯列の右と左ではブラシの当て方が反対になる。
S20において、CPU120は、加速度センサ15の出力に基づき電動歯ブラシ本体の姿勢を検出する。図7は姿勢検出処理(S20)のフローチャートである。
図8、図9はブラッシング部位推定処理(S30)のフローチャートである。また図10、図11は、ブラッシング部位ごとの加速度センサ出力Ax、Ay、Azの一例を示す図である。
CPU120は、y方向の加速度センサの出力Ayに基づいて前歯か否かを判定する(S702)。前歯をブラッシングするときは歯ブラシ本体1が比較的水平になるが、臼歯をブラッシングするときは唇との干渉があるため歯ブラシ本体1が斜めにならざるをえないことに着目した判定である。Ay≦閾値aの場合は上顎前歯と判定される(S703)。
CPU120は、y方向の加速度センサの出力Ayに基づいて前歯か否かを判定する(S802)。前歯をブラッシングするときは歯ブラシ本体1が比較的水平になるが、臼歯をブラッシングするときは唇との干渉があるため歯ブラシ本体1が斜めにならざるをえないことに着目した判定である。Ay≦閾値dの場合は下顎前歯と判定される(S803)。
S40において、CPU120は、S200で検出された姿勢(加速度センサの出力)に基づいて現在のブラシ角の値を推定する。ブラシ角とは、歯軸(歯の頭と根に沿った軸)に対するブラシの当たり角のことである。ただし、S40の推定処理では、アクチュエータ40による内筐体1bの回転角が0度であり且つ歯軸が重力方向に一致すると仮定した場合のブラシ角を算出する。なお、ここでは0度から90度の範囲でブラシ角を表すものとする。
図15は、本発明の第2実施形態の電動歯ブラシの構成を示している。第1実施形態と異なる点は、外筐体1aと内筐体1bの間に、軸受44が設けられている点である。この構成によれば、内筐体1bの位置安定性が向上する。また内筐体1bの位置が安定することから、アクチュエータ40の軸方向の長さを短くすることができ、電動歯ブラシ本体1の小型化にも寄与する。
図16は、本発明の第3実施形態の電動歯ブラシの構成を示している。第1及び第2実施形態では、リード線を介してモータ10への電力供給が行われていたのに対し、第3実施形態では、電気的接続部45を介して駆動回路12からモータ10への電力供給が行われている点が異なる。
第4実施形態では、ブラシ角が最適値であることを報知する機能を設ける。具体的には、図6のS50でブラシ角が適切であると判定された場合に、CPU120が、外筐体1aに設けられた発光部(LEDなど)を発光させる。使用者は、発光部の点灯状態をみることで、ブラシ角が最適値であることを容易に把握できる。
第5実施形態では、検出された姿勢に応じて、ブラシ角だけでなく、ブラシの運動方向(具体的にはモータ10の回転方向)、ブラシの運動周波数(具体的にはモータ10の回転数)を変更する。その他の構成については上述した実施形態のものと同様であるため、以下、本実施形態に特有の構成を中心に説明を行う。
この電動歯ブラシでは、上述のように、偏心軸の旋回運動を利用してブラシの振動を発生させており、ブラシ20はモータ10の回転軸に垂直な面内を楕円状の軌道を描いて振動する。本発明者らは、振動数(モータ回転数)を変化させながらブラシの振動を観察し分析することによって、この電動歯ブラシが次のような振動特性を有することを見出した。
(2)各共振点における共振の方向が異なる。具体的には、図19に示すように、振動数が低い側の共振点(第1共振:約12500spm)ではブラシ面に平行なx軸方向の振幅が増大する。振動数が低い側の共振点(第2共振:約38000spm)ではブラシ面に垂直なz軸方向の振幅が増大する。共振外(たとえば約26500spm)では、ブラシはx軸(z軸)に対して斜め(約45度)の軌道を描く。なお、「spm」は一分間あたりのスイング回数を表す単位である。
第6実施形態は、1軸の加速度センサによりブラッシング部位およびブラシ角の推定を行う構成を採用する。
第7実施形態の電動歯ブラシは、電動歯ブラシの使用後にブラシ部材を初期位置に復帰させる自動復帰機能を有している。その他の構成は上述した実施形態のものと同様である。
上述した実施形態の構成は本発明の一具体例を例示したものにすぎない。本発明の範囲は上記実施形態に限られるものではなく、その技術思想の範囲内で種々の変形が可能である。たとえば、上述した各実施形態の構成を互いに組み合わせることも好ましい。また、上記実施形態では、偏心分銅による振動方式の電動歯ブラシを例示したが、本発明は他の運動方式の電動歯ブラシにも適用可能である。例えば、回転往復運動や直線往復運動やブラシ毛回転運動やそれらを切り替えて組み合わせた電動歯ブラシにおいても適用可能である。また、充電式でなく、乾電池式や電源コードを接続して使用するタイプの電動歯ブラシにも本発明を適用可能である。
Claims (7)
- 把持部を有する電動歯ブラシ本体と、
ブラシを有するブラシ部材と、
前記ブラシを運動させる駆動手段と、
前記ブラシの向きを変更するために前記ブラシ部材を前記電動歯ブラシ本体に対して相対的に回転させる回転手段と、
前記電動歯ブラシ本体の姿勢を検出する姿勢検出手段と、
検出された姿勢に基づいて、歯軸に対する前記ブラシの角度であるブラシ角が予め定められた最適値になるように前記回転手段を制御する制御手段と、
を備えることを特徴とする電動歯ブラシ。 - 前記制御手段は、
検出された姿勢に基づいて、歯列表面を区分することで定義される複数の部位の中からブラッシングされているブラッシング部位を推定する部位推定手段と、
検出された姿勢に基づいて、歯軸に対する前記ブラシの角度であるブラシ角を推定するブラシ角推定手段と、
を備え、
前記ブラッシング部位ごとに予め設定されているブラシ角の最適値と前記推定されたブラシ角とを比較して、ブラシ角が前記最適値になるように前記回転手段を制御することを特徴とする請求の範囲第1項に記載の電動歯ブラシ。 - 前記制御手段は、検出された姿勢に応じて、前記ブラシの運動方向又は運動周波数を変更するように前記駆動手段を制御することを特徴とする請求の範囲第1項または第2項に記載の電動歯ブラシ。
- 前記姿勢検出手段は、加速度センサの出力に基づいて姿勢を検出するものであることを特徴とする請求の範囲第1項または第2項に記載の電動歯ブラシ。
- 前記ブラシ角が前記最適値であることを報知する報知手段をさらに備えることを特徴とする請求の範囲第1項または第2項に記載の電動歯ブラシ。
- 前記最適値が変更可能であることを特徴とする請求の範囲第1項または第2項に記載の電動歯ブラシ。
- 前記制御手段は、電動歯ブラシの使用後または使用開始時に、前記ブラシ部材が予め設定された初期位置になるように前記回転手段を制御することを特徴とする請求の範囲第1項または第2項に記載の電動歯ブラシ。
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CN200980120238.5A CN102046041B (zh) | 2008-06-02 | 2009-06-01 | 电动牙刷 |
RU2010153356/12A RU2493760C2 (ru) | 2008-06-02 | 2009-06-01 | Электрическая зубная щетка |
US12/990,308 US8341791B2 (en) | 2008-06-02 | 2009-06-01 | Electric toothbrush |
DE112009001137.3T DE112009001137B4 (de) | 2008-06-02 | 2009-06-01 | Elektrische Zahnbürste |
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- 2009-06-01 CN CN200980120238.5A patent/CN102046041B/zh active Active
- 2009-06-01 DE DE112009001137.3T patent/DE112009001137B4/de active Active
- 2009-06-01 US US12/990,308 patent/US8341791B2/en active Active
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US8479341B2 (en) | 2010-01-08 | 2013-07-09 | Omron Healthcare Co., Ltd. | Electric toothbrush |
WO2011096285A1 (ja) * | 2010-02-02 | 2011-08-11 | オムロンヘルスケア株式会社 | 口腔ケア装置 |
CN102740732A (zh) * | 2010-02-02 | 2012-10-17 | 欧姆龙健康医疗事业株式会社 | 口腔护理装置 |
US8863343B2 (en) | 2010-02-02 | 2014-10-21 | Omron Healthcare Co., Ltd. | Oral care apparatus |
JP2019508183A (ja) * | 2016-03-14 | 2019-03-28 | コリブリー | コンプライアンスの監視のための、視覚的認識を伴う口腔衛生システム |
US11426264B2 (en) | 2016-03-14 | 2022-08-30 | Kolibree | Oral hygiene system with visual recognition for compliance monitoring |
Also Published As
Publication number | Publication date |
---|---|
US8341791B2 (en) | 2013-01-01 |
CN102046041A (zh) | 2011-05-04 |
DE112009001137T5 (de) | 2011-04-07 |
JP2009285416A (ja) | 2009-12-10 |
CN102046041B (zh) | 2014-01-08 |
RU2010153356A (ru) | 2012-07-20 |
US20110041269A1 (en) | 2011-02-24 |
JP5251265B2 (ja) | 2013-07-31 |
RU2493760C2 (ru) | 2013-09-27 |
DE112009001137B4 (de) | 2021-10-14 |
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