Apparatus and method for performing a localization of a movable treatment device

1. An apparatus ( 10 ) for performing a localization of a movable treatment device ( 11 ) relative to a target surface ( 12 ), the movable treatment device ( 11 ) comprising an inertial sensor ( 13 ) and being configured to treat the target surface ( 12 ), the apparatus ( 10 ) comprising:

a motion pattern recognition device ( 14 ) configured to discriminate between two or more motion patterns ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) contained in a set ( 15 ) of motion patterns of the movable treatment device ( 11 ), and

an interface ( 16 ) for providing at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) from the inertial sensor ( 13 ) to the motion pattern recognition device ( 14 ), the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) representing a movement of the movable treatment device ( 11 ),

wherein the motion pattern recognition device ( 14 ) comprises a neural network ( 18 ) configured to receive the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) and to map the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) to at least one motion pattern ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) contained in the set ( 15 ) of motion patterns, wherein said motion patterns ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) are each associated ( 20 1 , 20 2 , 20 3 , . . . , 20 n ) with one or more different zones ( 21 1 , 21 2 , 21 3 , . . . , 21 n ) of the target surface ( 12 ) so that the mapping of the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) with the at least one motion pattern ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) indicates an estimation of the location of the movable treatment device ( 11 ) with respect to the one or more zones ( 21 1 , 21 2 , 21 3 , . . . , 21 n ) of the target surface ( 12 ),

wherein the neural network ( 18 ) comprises a first layer ( 71 ), wherein said first layer ( 71 ) comprises a neural unit ( 60 ), wherein at a first time instant t the at least one inertial sensor data ( 172 ) is input into the neural unit ( 60 ) of the first layer ( 71 ), and wherein at a subsequent second time instant t+ 1 a second inertial sensor data ( 173 ) and at least one output ht ( 46 ) of the previous first time instant t are input into the neural unit ( 60 ) of the first layer ( 71 ).

2. The apparatus ( 10 ) of claim 1 , wherein the movable treatment device ( 11 ) is an oral care device and the target surface ( 12 ) is a dentition, wherein the dentition ( 12 ) is separated into different dental zones ( 1 a - 9 a ), and wherein the mapping of the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) with the at least one motion pattern ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) indicates an estimation of the location of the oral care device ( 11 ) with respect to the one or more dental zones ( 1 a - 9 a ) of the dentition ( 12 ).

3. The apparatus ( 10 ) of claim 2 , wherein the dentition ( 12 ) is separated into nine dental zones ( 1 a - 9 a ), wherein a first dental zone ( 1 a ) corresponds to the buccal side of the left side of the upper and lower jaw of the dentition ( 12 ), a second dental zone ( 2 a ) corresponds to the occlusal side of the left and right side of the upper jaw of the dentition ( 12 ), a third dental zone ( 3 a ) corresponds to the occlusal side of the left and right side of the lower jaw of the dentition ( 12 ), a fourth dental zone ( 4 a ) corresponds to the lingual side of the left side of the upper and lower jaw of the dentition ( 12 ), a fifth dental zone ( 5 a ) corresponds to the buccal side of the right side of the upper and lower jaw of the dentition ( 12 ), a sixth dental zone ( 6 a ) corresponds to the lingual side of the left side of the upper and lower jaw of the dentition ( 12 ), a seventh dental zone ( 7 a ) corresponds to the labial side of the upper and lower jaw of the dentition ( 12 ), an eighth dental zone ( 8 a ) corresponds to the palatal side of the upper jaw of the dentition ( 12 ), and a ninth dental zone ( 9 a ) corresponds to the oral side of the front lower jaw of the dentition ( 12 ).

4. The apparatus ( 10 ) of claim 2 , wherein at least one predetermined motion pattern ( 15 NB ) contained in the set ( 15 ) of motion patterns is associated with a zone ( 21 NB ) outside the target surface ( 12 ), and wherein the mapping of the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) with the at least one predetermined motion pattern ( 15 NB ) indicates that the movable treatment device ( 11 ) is located in said zone ( 21 NB ) outside the target surface ( 12 ).

5. The apparatus ( 10 ) of claim 1 , wherein the movable treatment device ( 11 ) is a personal appliance and the target surface ( 12 ) is a body portion to be treated by the movable treatment device ( 11 ).

6. The apparatus ( 10 ) of claim 1 , wherein the neural network ( 18 ) is a Recurrent Neural Network—RNN.

7. The apparatus ( 10 ) of claim 1 , wherein the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) comprises at least three inertial sensor data portions of the group comprising a linear velocity in x, y and z direction, an angular velocity with respect to the x, y and z axes, a linear acceleration in x, y and z direction, and an angular acceleration with respect to the x, y and z axes.

8. The apparatus ( 10 ) of claim 1 , wherein an output y(t) of the neural network ( 18 ) comprises one or more probability values for the estimation of the location of the movable treatment device ( 11 ) with respect to the one or more zones ( 21 1 , 21 2 , 21 3 , . . . , 21 n ) of the target surface ( 12 ).

9. The apparatus ( 10 ) of claim 1 , wherein the motion pattern recognition device ( 14 ) is configured to determine from the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) a mutual movement of the movable treatment device ( 11 ) and the target surface ( 12 ), and to remove the determined movement of the target surface ( 12 ) from the determined movement of the movable treatment device ( 11 ).

10. An apparatus ( 10 ) for performing a localization of a movable treatment device ( 11 ) relative to a target surface ( 12 ), the movable treatment device ( 11 ) comprising an inertial sensor ( 13 ) and being configured to treat the target surface ( 12 ), the apparatus ( 10 ) comprising:

a motion pattern recognition device ( 14 ) configured to discriminate between two or more motion patterns ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) contained in a set ( 15 ) of motion patterns of the movable treatment device ( 11 ), and

an interface ( 16 ) for providing at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) from the inertial sensor ( 13 ) to the motion pattern recognition device ( 14 ), the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) representing a movement of the movable treatment device ( 11 ),

wherein the motion pattern recognition device ( 14 ) comprises a neural network ( 18 ) configured to receive the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) and to map the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) to at least one motion pattern ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) contained in the set ( 15 ) of motion patterns, wherein said motion patterns ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) are each associated ( 20 1 , 20 2 , 20 3 , . . . , 20 n ) with one or more different zones ( 21 1 , 21 2 , 21 3 , . . . , 21 n ) of the target surface ( 12 ) so that the mapping of the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) with the at least one motion pattern ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) indicates an estimation of the location of the movable treatment device ( 11 ) with respect to the one or more zones ( 21 1 , 21 2 , 21 3 , . . . , 21 n ) of the target surface ( 12 ),

wherein the neural network ( 18 ) comprises at least a first layer ( 71 ) and a second layer ( 72 ), wherein the first layer ( 71 ) comprises a first neural unit ( 60 ) and wherein the second layer ( 72 ) comprises a second neural unit ( 70 ), wherein at a first time instant t the at least one inertial sensor data ( 17 2 ) is input into the first neural unit ( 60 ) of the first layer ( 71 ), and wherein at least one output h t ( 46 ) of the first neural unit ( 60 ) is input into the second neural unit ( 70 ) of the second layer ( 72 ).

11. An apparatus ( 10 ) for performing a localization of a movable treatment device ( 11 ) relative to a target surface ( 12 ), the movable treatment device ( 11 ) comprising an inertial sensor ( 13 ) and being configured to treat the target surface ( 12 ), the apparatus ( 10 ) comprising:

a motion pattern recognition device ( 14 ) configured to discriminate between two or more motion patterns ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) contained in a set ( 15 ) of motion patterns of the movable treatment device ( 11 ), and

an interface ( 16 ) for providing at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) from the inertial sensor ( 13 ) to the motion pattern recognition device ( 14 ), the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) representing a movement of the movable treatment device ( 11 ),

wherein the motion pattern recognition device ( 14 ) comprises a neural network ( 18 ) configured to receive the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) and to map the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) to at least one motion pattern ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) contained in the set ( 15 ) of motion patterns, wherein said motion patterns ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) are each associated ( 20 1 , 20 2 , 20 3 , . . . , 20 n ) with one or more different zones ( 21 1 , 21 2 , 21 3 , . . . , 21 n ) of the target surface ( 12 ) so that the mapping of the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) with the at least one motion pattern ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) indicates an estimation of the location of the movable treatment device ( 11 ) with respect to the one or more zones ( 21 1 , 21 2 , 21 3 , . . . , 21 n )of the target surface ( 12 ),

wherein the neural network ( 18 ) comprises at least a first layer ( 71 ) and a second layer ( 72 ), wherein the first layer ( 71 ) comprises a first neural unit ( 60 ) and wherein the second layer ( 72 ) comprises a second neural unit ( 70 ), wherein at a first time instant t the at least one inertial sensor data ( 172 ) is input into the first neural unit ( 60 ) of the first layer ( 71 ), and wherein at least one output h t ( 46 ) of the first neural unit ( 60 ) is input into the neural unit ( 70 ) of the second layer ( 72 ), and wherein at a subsequent second time instant t+1 a second inertial sensor data ( 17 3 ) and at least one output h t ( 46 ) of the first neural unit ( 60 ) at the first time instant tis input into the first neural unit ( 60 ) at the subsequent second time instant t+1.

12. An apparatus ( 10 ) for performing a localization of a movable treatment device ( 11 ) relative to a target surface ( 12 ), the movable treatment device ( 11 ) comprising an inertial sensor ( 13 ) and being configured to treat the target surface ( 12 ), the apparatus ( 10 ) comprising:

a motion pattern recognition device ( 14 ) configured to discriminate between two or more motion patterns ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) contained in a set ( 15 ) of motion patterns of the movable treatment device ( 11 ), and

an interface ( 16 ) for providing at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) from the inertial sensor ( 13 ) to the motion pattern recognition device ( 14 ), the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) representing a movement of the movable treatment device ( 11 ),

wherein the motion pattern recognition device ( 14 ) comprises a neural network ( 18 ) configured to receive the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) and to map the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) to at least one motion pattern ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) contained in the set ( 15 ) of motion patterns, wherein said motion patterns ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) are each associated ( 20 1 , 20 2 , 20 3 , . . . , 20 n ) with one or more different zones ( 21 1 , 21 2 , 21 3 , . . . , 21 n ) of the target surface ( 12 ) so that the mapping of the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) with the at least one motion pattern ( 15 1 , 15 2 , 15 3 , . . . , 15 n ) indicates an estimation of the location of the movable treatment device ( 11 ) with respect to the one or more zones ( 21 1 , 21 2 , 21 3 , . . . , 21 n ) of the target surface ( 12 ),

wherein the at least one inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) comprises one or more inertial sensor data portions, and wherein an input to the neural unit ( 60 ) at a first time instant t is a respective inertial sensor data ( 17 1 , 17 2 , 17 3 , . . . , 17 n ) comprising the one or more inertial sensor data portions retrieved during said first time instant t.