Performance test system for intelligent closestool cleaner

Abstract

The invention discloses an intelligent closestool cleaner performance test system, an intelligent closestool cleaner comprises a spray rod and a nozzle, the nozzle is arranged on the spray rod, and the intelligent closestool cleaner performance test system comprises a controller, an industrial personal computer, a manipulator, an image acquisition module, a cleaning water consumption measuring module, a cleaning force measuring module, a cleaning area measuring module and a nozzle self-cleaning force measuring module; the nozzle stretching time measuring module is used for measuring the stretching time and the retracting time of the nozzle; the cleaning water consumption measuring module is used for measuring the water consumption of one-time cleaning of the closestool cleaner; the cleaning force measuring module is used for measuring the cleaning force of the closestool cleaner; the cleaning area measuring module is used for measuring the cleaning area of the closestool cleaner; according to the full-process test, image recording, test process semi-automation, test result program judgment and test report automatic generation are carried out. Inaccuracy of test data caused by human factors in the test process is reduced, the whole test process is traceable in the whole process, and the test efficiency is greatly improved.

Description

Intelligent Toilet Washer Performance Testing System Technical Field

[0001] This invention belongs to the field of smart toilet technology and relates to a performance testing system for smart toilet cleaners. Background Technology

[0002] Before a smart toilet leaves the factory, the manufacturer needs to test each functional module inside the toilet to determine its performance under different usage environments. However, current testing is mostly done manually, which has several drawbacks: low efficiency, lack of traceability, and the influence of human factors on the accuracy of the results. Therefore, providing a solution to these technical problems is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0003] In order to overcome at least one deficiency of the prior art, the present invention provides a performance testing system for intelligent toilet cleaners.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a performance testing system for an intelligent toilet washer. The intelligent toilet washer includes a spray bar and a nozzle, with the nozzle mounted on the spray bar. The system includes a controller, an industrial computer, a robotic arm, an image acquisition module, a water consumption measurement module, a cleaning force measurement module, a cleaning area measurement module, and a nozzle self-cleaning force measurement module. The nozzle extension / retraction time measurement module measures the nozzle extension and retraction time. The water consumption measurement module measures the water consumption per wash. The cleaning force measurement module measures the cleaning force of the toilet washer. The cleaning area measurement module measures the cleaning area of ​​the toilet washer. The nozzle self-cleaning force measurement module measures the nozzle self-cleaning force.

[0005] Furthermore, the image acquisition module uses a camera, the robotic arm is fixed with a mounting plate, the camera is mounted on the mounting plate so that the camera moves with the robotic arm, the mounting plate has a fixing structure, and the fixing structure is compatible with the fixing connection of various devices.

[0006] Furthermore, the intelligent toilet washer performance testing system is used for performance testing, specifically including the following steps: Step 1: The nozzle extension and retraction time measurement module measures the nozzle extension time and retraction time, and determines whether the measured nozzle extension and retraction times meet the set standard time. If yes, proceed to Step 2; otherwise, the washer is considered unqualified. Step 2: The cleaning water consumption measurement module measures the water consumption of the toilet washer in one cleaning cycle, and determines whether the measured water consumption in one cleaning cycle meets the set standard water consumption in one cleaning cycle. If yes, proceed to Step 3; otherwise, the washer is considered unqualified. Step 3: The cleaning force measurement module measures the water consumption of the toilet washer in one cleaning cycle. Toilet cleaner cleaning force; determine if the measured cleaning force meets the set standard cleaning force. If yes, proceed to step 4; otherwise, the cleaner is considered unqualified. Step 4: Cleaning area measurement module measures the cleaning area of ​​the toilet cleaner; determine if the measured cleaning area meets the set standard cleaning area. If yes, proceed to step 5; otherwise, the cleaner is considered unqualified. Step 5: Nozzle self-cleaning force measurement module measures the nozzle self-cleaning force; determine if the measured nozzle self-cleaning force meets the set standard nozzle self-cleaning force. If yes, the cleaner is considered qualified; otherwise, the cleaner is considered unqualified. Step 6: The industrial control computer generates a test report based on the measurement results.

[0007] Furthermore, the nozzle extension / retraction time measurement module, for testing mechanical buttons, uses the following method: Step A1: At the start of the nozzle extension test, the key pen is triggered and a timer is started. The controller detects the mechanical button trigger and stops the timer; this time period is the pre-press time, denoted as t3; Step A2: The controller controls the key pen to trigger the nozzle extension, and simultaneously triggers the camera; Step A3: The camera acquires images of the nozzle's location at a set frequency. The industrial control computer measures the nozzle extension distance using each frame of the camera image. The test stops when the extension distance remains constant; Step A4: Extract the extension measurement... The first frame image of the test is marked with system time t11. The image of the nozzle fully extended is extracted as the last frame image, and its system time t21 is marked. Step A5: Based on t11, t21, and t3, calculate the nozzle extension time Ts1; Ts1 = t21 - t11 + t3. Step A6: Compare the tested nozzle extension time Ts1 with the set standard nozzle extension time Tsb, and determine whether Ts1 is not greater than Tsb. If so, the nozzle extension time is considered to meet the requirements, and the nozzle retraction time test is performed, proceeding to step A7; otherwise, the test is stopped. The nozzle extension time does not meet the requirements, the washer is unqualified, and the process ends; Step A7: When the nozzle retrieval test begins, the key pen is triggered and a timer is started. The controller detects the mechanical key trigger and stops the timer. This time period is the back-rocking time, denoted as t4; Step A8: The controller controls the key pen to trigger nozzle retrieval, and simultaneously triggers the camera to work; Step A9: The camera acquires images of the nozzle's location at a set frequency. The industrial control computer measures the nozzle retrieval distance using each frame of the camera image. The test stops after the nozzle is completely retrieval; Step A10: Extract the first frame image of the retrieval test. Mark the system time t51 of the first frame image, extract the image of the nozzle fully recovered as the last frame image, and mark the system time t61 of the last frame image; Step A11: Based on t4, t51 and t61, calculate the nozzle recovery time Th1, Th1=t61-t51+t4; Step A12: Compare the tested nozzle recovery time Th with the set standard nozzle recovery time Thb, and determine whether Th1 is not greater than Thb. If so, the nozzle recovery time is considered to meet the requirements. If not, the nozzle recovery time is determined to be non-compliant, the cleaner is unqualified, and the process ends.

[0008] Furthermore, the nozzle extension time measurement module, for a touch button as the test object, uses the following method: Step B1: The controller powers on the stylus to trigger nozzle extension, and simultaneously triggers the camera; Step B2: The camera acquires images of the nozzle's location at a set frequency, and the industrial computer measures the nozzle extension distance using each frame of the camera image. The test stops when the extension distance remains constant; Step B3: The first frame of the extension test image is extracted, and the system time t12 of the first frame image is marked. The image of the nozzle fully extended is extracted as the last frame image, and the system time t22 of the last frame image is marked; Step B4: Based on t12 and t22, the nozzle extension time Ts2 is calculated; Ts2 = t22 - t12; Step B5: The measured nozzle extension time Ts2 is compared with the set standard nozzle extension time Tsb. It is determined whether Ts2 is not greater than Tsb. If so, the nozzle extension time is considered to meet the requirements, and the nozzle retraction time test is performed, proceeding to Step B6; otherwise, the nozzle extension time is determined to be within acceptable limits. If the time does not meet the requirements, the cleaner is unqualified, and the process ends; Step B6: The controller powers on the stylus to trigger nozzle retraction, and simultaneously triggers the camera to operate; Step B7: The camera acquires images of the nozzle's location at a set frequency. The industrial computer measures the nozzle retraction distance using each frame of the camera image. The test stops after the nozzle is completely retracted; Step B8: Extract the first frame image of the retraction test and mark its system time t52. Extract the image of the nozzle being completely retracted as the last frame image and mark its system time t62; Step B9: Based on t52 and t62, calculate the nozzle retraction time Th2, Th2 = t62 - t52; Step B10: Compare the tested nozzle retraction time Th2 with the set standard nozzle retraction time Thb. Determine if Th2 is not greater than Thb. If so, the nozzle retraction time is considered to meet the requirements, and the other parameter test procedures are executed; otherwise, the nozzle retraction time is determined to be unqualified, the cleaner is unqualified, and the process ends.

[0009] Furthermore, the cleaning water consumption measurement module includes a collection device, a measuring cup, and a weighing system. The collection device and measuring cup are each equipped with a solenoid valve. The controller controls the solenoid valve to discharge the water collected in the collection device into the measuring cup, and the controller also controls the solenoid valve to discharge the water in the measuring cup into the drainage device. The method for measuring the water consumption of a toilet cleaner in one cleaning cycle includes: Step C1: Installing the collection device on a robotic arm, the robotic arm placing the collection device into the toilet, and the spray nozzle extending into the collection device; Step C2: The cleaning start nozzle sprays water onto the collection device, which collects the cleaning water until the spraying is complete; Step C3: The machine... The robotic arm removes the collection device and drains the water from it into a measuring cup; Step C4: The weighing system weighs the water in the measuring cup to obtain the water consumption for one cleaning cycle of the toilet cleaner; Step C5: The controller drains the water from the measuring cup into the drainage device, and then performs the next water consumption test; Step C6: The tested water consumption for one cleaning cycle is compared with the set standard water consumption for one cleaning cycle to determine whether the tested water consumption for one cleaning cycle is not greater than the standard water consumption for one cleaning cycle. If so, the water consumption for one cleaning cycle of the toilet cleaner is considered to meet the requirements; if not, the water consumption for one cleaning cycle of the toilet cleaner is considered to be non-compliant, and the cleaner is deemed unqualified.

[0010] Furthermore, the cleaning force measurement module includes a pressure sensor, which is mounted on the mounting plate of the robotic arm. The pressure sensor is perpendicular to the nozzle and connected to the controller to send cleaning force data. The controller then transmits the collected data to the industrial computer in real time. The method for measuring the cleaning force of the toilet cleaner using the cleaning force measurement module is as follows: Step D1: The pressure sensor is mounted on the robotic arm, which moves it to a position opposite to the nozzle; Step D2: The cleaner is turned on, and the controller senses the pressure change detected by the pressure sensor and starts timing, recording the pressure change data until the cleaning is completed and the timing stops; Step D3: The time and pressure data are mapped one-to-one, and the pressure data before T0 seconds is removed to generate a time-pressure set; Step D4: The larger pressure data between adjacent Td seconds in the time-pressure set is extracted and sequentially labeled as X1, X2, X3…X n Step D5: Calculate the pressure difference ΔX between adjacent pressures. 1， ΔX 2， ΔX3…ΔX n-1 ;ΔX1=X2-X1...ΔX n-1 =X n -X n-1 Step D6: Calculate the average difference S between adjacent pressure values; S = (|ΔX1| + |ΔX2| ... |ΔX n-1|) / (n-1); Step D7: Set the pressure selection standard P, remove adjacent pressure differences greater than P, and generate set Q1; P=Sxm; where m is a coefficient, m is 1.2; S is the average difference; Step D8: Select any adjacent pressure difference ΔX in set Q. y-1 and X y If ΔX y-1 >0, remove X y If ΔX y-1 <0, remove X y-1 Update to set Q2; Step D9: Sort the adjacent pressure differences in set Q2 from largest to smallest, and select the top N adjacent pressure differences; Step D10: Calculate the average pressure Pav of the top N adjacent pressure differences, and use this average pressure Pav as the test cleaning force; Step D11: Compare the test cleaning force with the set standard cleaning force to determine whether the test cleaning force is not greater than the standard cleaning force. If so, the toilet cleaner's cleaning force is considered to meet the requirements; if not, the toilet cleaner's standard cleaning force is considered to not meet the requirements, and the cleaner is unqualified.

[0011] Furthermore, the cleaning area measurement module includes a transparent plastic plate facing the camera. The camera captures images of the transparent plastic plate and determines the cleaning range based on the colors in the images to calculate the cleaning area. The method for measuring the cleaning area of ​​the toilet cleaner using the cleaning area measurement module is as follows: Step E1: Install the transparent plastic plate within the camera's field of view, and move the camera perpendicular to the transparent plastic plate using a robotic arm; Step E2: Start the cleaner, and the controller triggers the camera to continuously capture images of the transparent plastic plate at a set frequency; Step E3: Fuse and overlay each frame of image and calculate the actual cleaning area S0 using pixels; Step E4: Compare the tested cleaning area with the set standard cleaning area to determine if the tested cleaning area is not greater than the standard cleaning area. If so, the toilet cleaner's cleaning area is considered to meet the requirements; otherwise, the toilet cleaner's cleaning area is considered to be non-compliant, and the cleaner is deemed unqualified.

[0012] Furthermore, the method for measuring the self-cleaning force of the nozzle by the nozzle self-cleaning force measuring module is as follows: Step F1: Trigger the extension of the spray bar, wipe the nozzle and spray bar dry, and draw a line on the spray bar using a water-soluble marker; Step F2: The robot arm controls the camera to take pictures around the spray bar and record the original image, triggering the nozzle retraction to restore it to its original state; Step F3: The controller allows the nozzle to cycle and clean twice in an on / off mode; Trigger the nozzle extension and start the cleaning operation, the nozzle works continuously for 5 seconds, then stops for 5 seconds, and repeats once more to achieve two cycles of cleaning.

[0013] Step F4: After the test, the robotic arm controls the camera to take pictures around the spray bar and record the cleaning images. Compare the original images with the cleaning images to confirm whether there are any residual lines. If so, it is considered that the self-cleaning power of the toilet cleaner nozzle does not meet the requirements and the cleaner is unqualified. If not, it is considered that the self-cleaning power of the toilet cleaner nozzle meets the requirements. Further, in step F1, the method of marking the spray bar with the marker pen is to draw three circles around the spray bar at the three positioning lines that are divided into four equal parts along the length of the spray bar, and draw the fourth line from the front end of the spray bar along the length direction to the end.

[0014] In summary, the advantages of this invention are: the entire testing process is recorded via images, the testing process is semi-automated, test results are determined programmatically, and test reports are automatically generated. This reduces human error that could lead to inaccurate test data, and the entire testing process is fully traceable, significantly improving testing efficiency. Attached Figure Description

[0015] Figure 1 is a schematic diagram of the cleaning force measurement module in the performance testing system of the present invention.

[0016] Figure 2 is a schematic diagram of the nozzle self-cleaning force measurement module in the performance testing system of the present invention.

[0017] Figure 3 is a modular schematic diagram of the performance testing system of the present invention.

[0018] Figure 4 is a flowchart of the cleaning area measurement process of the present invention. Detailed Implementation

[0019] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0020] Due to installation errors and other reasons, the parallel relationship referred to in the embodiments of the present invention may actually be an approximate parallel relationship, and the perpendicular relationship may actually be an approximate perpendicular relationship.

[0021] Example: As shown in Figures 1-4, the intelligent toilet washer performance testing system includes a spray bar 3 and a nozzle. The nozzle is mounted on the spray bar 3, which is retractable and installable on the intelligent toilet. The performance testing system includes a controller, an industrial computer, a robotic arm 1, an image acquisition module 2, a water consumption measurement module, a cleaning force measurement module, a cleaning area measurement module, and a nozzle self-cleaning force measurement module. The controller controls the operation of the robotic arm 1, the image acquisition module 2, the water consumption measurement module, the cleaning force measurement module, the cleaning area measurement module, and the nozzle self-cleaning force measurement module. The image acquisition module 2 transmits the acquired images to the industrial computer. Processing; Nozzle extension and retraction time measurement module: used to measure the nozzle extension time and retraction time; Cleaning water consumption measurement module: used to measure the water consumption of the toilet cleaner in one cleaning cycle; Cleaning force measurement module: used to measure the cleaning pressure of the toilet cleaner; Cleaning area measurement module: used to measure the cleaning area of ​​the toilet cleaner; Spray head self-cleaning force measurement module: used to measure the self-cleaning force of the spray head; Robotic arm 1 is equipped with a multi-degree-of-freedom robotic arm, which has multiple degrees of freedom (such as 7 axes or higher), and can achieve flexible movement in all directions. The multi-degree-of-freedom robotic arm includes a high torque density motor and a precision harmonic reducer, which ensures high speed, high precision and stability during the movement process.

[0022] In this embodiment, the image acquisition module 2 uses a camera, and a mounting plate 11 is fixedly mounted on the free end of the robotic arm 1. The camera is mounted on the mounting plate 11 so that the camera moves with the robotic arm 1. The mounting plate 11 has a fixing structure that is compatible with the fixing connection of various devices to achieve different tests.

[0023] The smart toilet washer can be triggered by touch buttons or mechanical buttons. Different triggering methods correspond to different test objects. In this embodiment, a stylus is used to correspond to the touch buttons, and a button pen is used to correspond to the mechanical buttons.

[0024] The intelligent toilet washer performance testing system is used for performance testing, specifically including the following steps: Step 1: The nozzle extension and retraction time measurement module measures the nozzle extension and retraction time, and determines whether the measured nozzle extension and retraction times meet the set standard times. If yes, proceed to Step 2; otherwise, the washer is considered unqualified. Step 2: The cleaning water consumption measurement module measures the water consumption of the toilet washer in one cleaning cycle, and determines whether the measured water consumption in one cleaning cycle meets the set standard water consumption in one cleaning cycle. If yes, proceed to Step 3; otherwise, the washer is considered unqualified. Step 3: The cleaning force measurement module measures the cleaning force of the toilet. The cleaning force of the toilet cleaner is measured. If the measured cleaning force meets the set standard cleaning force, proceed to step 4; otherwise, the cleaner is considered unqualified. Step 4: The cleaning area measurement module measures the cleaning area of ​​the toilet cleaner. If the measured cleaning area meets the set standard cleaning area, proceed to step 5; otherwise, the cleaner is considered unqualified. Step 5: The nozzle self-cleaning force measurement module measures the nozzle self-cleaning force. If the measured nozzle self-cleaning force meets the set standard nozzle self-cleaning force, the cleaner is considered qualified; otherwise, the cleaner is considered unqualified. Step 6: The industrial control computer generates a test report based on the measurement results.

[0025] The nozzle extension time measurement module, for testing mechanical buttons, uses the following method: Step A1: At the start of the nozzle extension test, the key pen is triggered and a timer begins. The controller detects the mechanical button trigger and stops the timer; this time period is the pre-touch time, denoted as t3. Step A2: The controller controls the key pen to trigger the nozzle extension, and simultaneously triggers the camera. Step A3: The camera acquires images of the nozzle's location at a set frequency. The industrial computer measures the nozzle extension distance using each frame of the camera image. The test stops when the extension distance remains constant. Step A4: The first frame of the extension test image is extracted and marked as... The system time t11 of one frame image is used to extract the image of the nozzle fully extended as the last frame image, and the system time t21 of the last frame image is marked; Step A5: Based on t11, t21, and t3, calculate the nozzle extension time Ts1; Ts1 = t21 - t11 + t3; Step A6: Compare the tested nozzle extension time Ts1 with the set standard nozzle extension time Tsb, and determine whether Ts1 is not greater than Tsb. If so, the nozzle extension time is considered to meet the requirements, and the nozzle retraction time is tested, and step A7 is executed; if not, the nozzle extension time is determined to not meet the requirements, and the nozzle is cleared. If the washer fails, the process ends; Step A7: At the start of the nozzle retrieval test, the key pen is triggered and a timer begins. The controller detects the mechanical key trigger and stops the timer. This time period is the back-rocking time, denoted as t4; generally, t4 = t3; Step A8: The controller controls the key pen to trigger nozzle retrieval, and simultaneously triggers the camera to operate; Step A9: The camera acquires images of the nozzle's location at a set frequency. The industrial control computer measures the nozzle retrieval distance using each frame of the camera image. The test stops after the nozzle is completely retrieved; Step A10: Extract the first frame image of the retrieval test and mark the first frame image. The system time of the image is t51. The image of the nozzle fully recovered is extracted as the last frame image, and the system time of the last frame image is marked as t61. Step A11: Based on t4, t51, and t61, calculate the nozzle recovery time Th1, Th1 = t61 - t51 + t4. Step A12: Compare the tested nozzle recovery time Th with the set standard nozzle recovery time Thb, and determine whether Th1 is not greater than Thb. If so, the nozzle recovery time is considered to meet the requirements, and other parameter testing procedures are executed. If not, the nozzle recovery time is determined to be non-compliant, the cleaner is unqualified, and the process ends.

[0026] The nozzle extension / retraction time measurement module, for touch-sensitive buttons, uses the following testing method: Step B1: The controller powers on the stylus to trigger nozzle extension, and simultaneously triggers the camera. Step B2: The camera acquires images of the nozzle's location at a set frequency. The industrial computer measures the nozzle extension distance for each frame, stopping the test once the extension distance remains constant. Step B3: The first frame of the extension test is extracted, and its system time t12 is marked. The image of the nozzle fully extended is extracted as the last frame, and its system time t22 is marked. Step B4: Based on t12 and t22, the nozzle extension time Ts2 is calculated; Ts2 = t22 - t12. Step B5: The measured nozzle extension time Ts2 is compared with the set standard nozzle extension time Tsb. If Ts2 is not greater than Tsb, the nozzle extension time is considered to meet the requirements, and the nozzle retraction time is tested, proceeding to step B6. If not, the nozzle extension time is deemed not to meet the requirements. If the test meets the requirements, the cleaner is considered unqualified, and the process ends. Step B6: The controller powers on the stylus to trigger nozzle retraction, and simultaneously triggers the camera to operate. Step B7: The camera acquires images of the nozzle's location at a set frequency. The industrial computer measures the nozzle retraction distance using each frame of the camera image. The test stops once the nozzle is fully retracted. Step B8: Extract the first frame image of the retraction test and mark its system time t52. Extract the image of the nozzle fully retracted as the last frame image and mark its system time t62. Step B9: Based on t52 and t62, calculate the nozzle retraction time Th2, where Th2 = t62 - t52. Step B10: Compare the tested nozzle retraction time Th2 with the set standard nozzle retraction time Thb. Determine if Th2 is not greater than Thb. If so, the nozzle retraction time is considered compliant, and the other parameter testing process is executed. If not, the nozzle retraction time is deemed non-compliant, the cleaner is considered unqualified, and the process ends.

[0027] The cleaning water consumption measurement module includes a collection device, a measuring cup, and a weighing system. The collection device and the measuring cup are each equipped with a solenoid valve. The controller controls the solenoid valve to discharge the water collected in the collection device into the measuring cup, and the controller controls the solenoid valve to discharge the water in the measuring cup into the drainage device.

[0028] The method for measuring the water consumption of a toilet cleaner in one cleaning cycle using the cleaning water consumption measurement module includes the following steps: Step C1: The collection device is installed on the robotic arm 1, which places the collection device into the toilet bowl, and the spray bar 3 extends into the collection device; the robotic arm 1 is equipped with a fixing structure that is compatible with the installation of the collection device; Step C2: The cleaning start nozzle sprays water onto the collection device, which collects the cleaning water until the spraying is complete; Step C3: The robotic arm 1 removes the collection device and discharges the water from it into a measuring cup; Step C4: The weighing system weighs the water in the measuring cup to obtain the water consumption of the toilet cleaner in one cleaning cycle; Step C5: The controller discharges the water in the measuring cup into the drainage device, and after completion, the water consumption test for the next cleaning cycle is performed; Step C6: The tested water consumption for one cleaning cycle is compared with the set standard water consumption for one cleaning cycle to determine whether the tested water consumption for one cleaning cycle is not greater than the standard water consumption for one cleaning cycle. If so, the water consumption for one cleaning cycle of the toilet cleaner is considered to meet the requirements; if not, the water consumption for one cleaning cycle of the toilet cleaner is considered to be non-compliant, and the cleaner is deemed unqualified.

[0029] The cleaning force measurement module includes a pressure sensor, which is mounted on the mounting plate 11 of the robotic arm 1 via a fixed structure. The pressure sensor is perpendicular to the nozzle, meaning the water sprayed from the nozzle can directly hit the pressure sensor for easy detection of the cleaning force. The pressure sensor is connected to the controller via an RS485 bus to send cleaning force data, and the controller transmits the collected data to the industrial control computer in real time. The method for measuring the cleaning force of the toilet cleaner by the cleaning force measurement module is as follows: Step D1: The pressure sensor is mounted on the robotic arm 1, and the robotic arm 1 moves it to a position opposite to the nozzle; Step D2: The cleaner is turned on, and the controller senses the pressure change detected by the pressure sensor and starts timing, recording the pressure change data until the cleaning is completed and the timing stops; Step D3: The time and pressure data are mapped one-to-one, and the pressure data before T0 seconds is removed to generate a time-pressure set; the water flow before T0 seconds is unstable, and the obtained pressure data is also unstable, so it is not included in the subsequent pressure calculation; in this embodiment, T0 is 30 seconds; Step D4: The larger value of the pressure data between adjacent Td seconds in the time-pressure set is extracted and sequentially labeled as X1, X2, X3…X n In this embodiment, Td is 2; n is the total number of extracted pressure data; Step D5: Calculate the pressure difference ΔX between adjacent values. 1， ΔX 2， ΔX3…ΔX n-1 ;ΔX1=X2-X1...ΔX n-1 =X n -X n-1 Step D6: Calculate the average difference S between adjacent pressure values; S = (|ΔX1| + |ΔX2| ... |ΔX n-1|) / (n-1); Step D7: Set the pressure selection standard P, remove adjacent pressure differences greater than P, and generate set Q1; P=Sxm; where m is a coefficient, m is 1.2; S is the average difference; Step D8: Select any adjacent pressure difference ΔX in set Q. y-1 and X y If ΔX y-1 >0, remove X y If ΔX y-1 <0, remove X y-1 Update to set Q2; Step D9: Sort the adjacent pressure differences in set Q2 from largest to smallest, and select the top N adjacent pressure differences; Step D10: Calculate the average pressure Pav of the top N adjacent pressure differences, and use this average pressure Pav as the test cleaning force; Step D11: Compare the test cleaning force with the set standard cleaning force to determine whether the test cleaning force is not greater than the standard cleaning force. If so, the toilet cleaner's cleaning force is considered to meet the requirements; if not, the toilet cleaner's standard cleaning force is considered to not meet the requirements, and the cleaner is unqualified.

[0030] The cleaning area measurement module includes a transparent plastic plate on which the toilet is mounted and faces the camera. The cleaning water is red to facilitate camera recognition and processing. Water is sprayed onto the transparent plastic plate through nozzles, and the camera captures an image of the transparent plastic plate. The cleaning range is determined by the color in the image to calculate the cleaning area.

[0031] The method for measuring the cleaning area of ​​a toilet cleaner using the cleaning area measurement module is as follows: Step E1: Install a transparent plastic plate within the camera's field of view, and move the camera perpendicular to the transparent plastic plate using the robotic arm 1; Step E2: Turn on the cleaner, and the controller triggers the camera to continuously capture images of the transparent plastic plate at a set frequency; Step E3: Fuse and overlay each frame of images and calculate the actual cleaning area S0 using pixels; Specific steps include: Step E31: Fuse and overlay each frame of images to form a test image, select a reference object, and acquire the reference object image; Step E32: Read the test image and the reference object image using OpenCV, perform grayscale processing on the images respectively, and perform Gaussian blur filtering for noise reduction; Step E33: Count the number of red pixels N1 in the test image and the number of pixels M in the reference object image; Step E34: Calculate the cleaning area S0 based on N1 and M; S0 = N1 x S1 / M; where S1 is the area of ​​the reference object, which is a known parameter; M is the number of pixels in the reference object; and N1 is the counted number of red pixels.

[0032] Step E4: Compare the tested cleaning area with the set standard cleaning area to determine whether the tested cleaning area is not greater than the standard cleaning area. If so, the toilet cleaner's cleaning area is considered to meet the requirements; otherwise, the toilet cleaner's cleaning area is considered to be non-compliant and the cleaner is unqualified.

[0033] The method for measuring the self-cleaning force of the nozzle by the nozzle self-cleaning force measurement module is as follows: Step F1: Trigger the extension of the spray bar 3, wipe the nozzle and spray bar 3 dry, and draw a line on the spray bar 3 using a water-soluble marker; Step F2: The robot arm controls the camera to take pictures around the spray bar 3 to record the original image, and triggers the nozzle retraction to restore it to its original state; Step F3: The controller allows the nozzle to cycle and clean twice in an on-off mode; Trigger the nozzle extension and start the cleaning operation, the nozzle works continuously for 5 seconds, then stops for 5 seconds, and repeats once more to achieve two cycles of cleaning.

[0034] Step F4: After the test, the robotic arm controls the camera to take pictures around the spray bar 3 to record the cleaning image. Compare the original image with the cleaning image to confirm whether there are any residual lines. If so, it is considered that the self-cleaning power of the toilet cleaner nozzle does not meet the requirements and the cleaner is unqualified. If not, it is considered that the self-cleaning power of the toilet cleaner nozzle meets the requirements.

[0035] In step F1, the marking pen is used to draw lines on the spray bar 3 as follows: As shown in Figure 2, draw 3 circles around the spray bar at the 3 positioning lines that are divided into 4 equal parts along the length direction of the spray bar 3. Draw the 4th line from the front end of the spray bar 3 along the length direction to the end.

[0036] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

Claims

1. A performance testing system for an intelligent toilet washer, wherein the intelligent toilet washer includes a spray bar and a nozzle, the nozzle being disposed on the spray bar, characterized in that: It includes a controller, industrial computer, robotic arm, image acquisition module, cleaning water consumption measurement module, cleaning force measurement module, cleaning area measurement module, and nozzle self-cleaning force measurement module; nozzle extension and retraction time measurement module: used to measure the nozzle extension time and retraction time; cleaning water consumption measurement module: used to measure the water consumption of the toilet cleaner in one cleaning cycle; cleaning force measurement module: used to measure the cleaning force of the toilet cleaner; cleaning area measurement module: used to measure the cleaning area of ​​the toilet cleaner; nozzle self-cleaning force measurement module: used to measure the self-cleaning force of the nozzle.

2. The intelligent toilet washer performance testing system according to claim 1, characterized in that: The image acquisition module uses a camera, and the robotic arm is fixed to a mounting plate. The camera is mounted on the mounting plate so that the camera moves with the robotic arm. The mounting plate has a fixing structure that is compatible with the fixing connection of various devices.

3. The intelligent toilet washer performance testing system according to claim 1, characterized in that: The intelligent toilet washer performance testing system is used for performance testing, specifically including the following steps: Step 1: The nozzle extension and retraction time measurement module measures the nozzle extension time and retraction time, and determines whether the measured nozzle extension and retraction times meet the set standard time. If yes, proceed to Step 2; otherwise, the washer is considered unqualified. Step 2: The cleaning water consumption measurement module measures the water consumption of the toilet washer in one cleaning cycle, and determines whether the measured water consumption in one cleaning cycle meets the set standard water consumption in one cleaning cycle. If yes, proceed to Step 3; otherwise, the washer is considered unqualified. Step 3: The cleaning force measurement module measures the cleaning power of the toilet... Toilet cleaner cleaning force: Determine if the measured cleaning force meets the set standard cleaning force. If yes, proceed to step 4; otherwise, the cleaner is considered unqualified. Step 4: Cleaning area measurement module measures the cleaning area of ​​the toilet cleaner. Determine if the measured cleaning area meets the set standard cleaning area. If yes, proceed to step 5; otherwise, the cleaner is considered unqualified. Step 5: Nozzle self-cleaning force measurement module measures the nozzle self-cleaning force. Determine if the measured nozzle self-cleaning force meets the set standard nozzle self-cleaning force. If yes, the cleaner is considered qualified; otherwise, the cleaner is considered unqualified. Step 6: The industrial control computer generates a test report based on the measurement results.

4. The intelligent toilet washer performance testing system according to claim 3, characterized in that: The nozzle extension / retraction time measurement module, for testing mechanical buttons, uses the following method: Step A1: At the start of the nozzle extension test, the key pen is triggered and a timer is started. The controller detects the mechanical button and stops the timer; this time period is the pre-press time, denoted as t3. Step A2: The controller controls the key pen to trigger the nozzle extension, and simultaneously triggers the camera. Step A3: The camera acquires images of the nozzle's location at a set frequency. The industrial computer measures the nozzle extension distance using each frame of the camera image. The test stops when the extension distance remains constant. Step A4: Extract the first frame of the extension test... The system time t11 of the first frame image is marked, and the image of the nozzle fully extended is extracted as the last frame image, with the system time t21 marked. Step A5: Based on t11, t21, and t3, calculate the nozzle extension time Ts1; Ts1 = t21 - t11 + t3. Step A6: Compare the tested nozzle extension time Ts1 with the set standard nozzle extension time Tsb, and determine whether Ts1 is not greater than Tsb. If so, the nozzle extension time is considered to meet the requirements, and the nozzle retraction time is tested, proceeding to step A7; otherwise, the nozzle retraction time is determined to be within acceptable limits. The extension time does not meet the requirements, the washer is unqualified, and the process ends; Step A7: When the nozzle retrieval test begins, the key pen is triggered and a timer is started. The controller detects the mechanical key trigger and stops the timer. This time period is the back-rocking time, denoted as t4; Step A8: The controller controls the key pen to trigger nozzle retrieval, and at the same time, the controller triggers the camera to work; Step A9: The camera acquires images of the nozzle's location at a set frequency. The industrial control computer measures the nozzle retrieval distance through each frame of the camera image. The test stops after the nozzle is completely retrieval; Step A10: Extract the first frame image of the retrieval test, and mark it... Record the system time t51 of the first frame image, extract the image of the nozzle fully recovered as the last frame image, and mark the system time t61 of the last frame image; Step A11: Based on t4, t51, and t61, calculate the nozzle recovery time Th1, Th1 = t61 - t51 + t4; Step A12: Compare the tested nozzle recovery time Th with the set standard nozzle recovery time Thb, and determine whether Th1 is not greater than Thb. If so, the nozzle recovery time is considered to meet the requirements. If not, the nozzle recovery time is determined to be non-compliant, the cleaner is unqualified, and the process ends.

5. The intelligent toilet washer performance testing system according to claim 1, characterized in that: The nozzle extension / retraction time measurement module, for a touch button as the test object, uses the following method: Step B1: The controller powers on the stylus to trigger nozzle extension, and simultaneously triggers the camera to operate; Step B2: The camera acquires images of the nozzle's location at a set frequency, and the industrial control computer measures the nozzle extension distance using each frame of the camera image. The test stops when the extension distance remains constant; Step B3: The first frame of the extension test image is extracted, and the system time t12 of the first frame image is marked. The image of the nozzle fully extended is extracted as the last frame image, and the system time t22 of the last frame image is marked; Step B4: Based on t12 and t22, the nozzle extension time Ts2 is calculated. Ts2 = t22 - t12; Step B5: Compare the tested nozzle extension time Ts2 with the set standard nozzle extension time Tsb, and determine whether Ts2 is not greater than Tsb. If so, the nozzle extension time is considered to meet the requirements, and the nozzle retraction time test is performed, proceeding to Step B6; if not, the nozzle extension time is determined to be non-compliant, the cleaner is deemed unqualified, and the process ends; Step B6: The controller controls the stylus to power on and trigger nozzle retraction, and simultaneously the controller triggers the camera to work; Step B7: The camera acquires images of the nozzle's location at a set frequency, and the industrial control computer measures the nozzle retraction distance through each frame of the camera image. Measurement stops after the nozzle is completely retracted. Step B8: Extract the first frame image of the retrieval test, mark the system time t52 of the first frame image, extract the image of the nozzle fully retracted as the last frame image, and mark the system time t62 of the last frame image; Step B9: Based on t52 and t62, calculate the nozzle retrieval time Th2, Th2 = t62 - t52; Step B10: Compare the tested nozzle retrieval time Th2 with the set standard nozzle retrieval time Thb, and determine whether Th2 is not greater than Thb. If so, the nozzle retrieval time is considered to meet the requirements, and other parameter test procedures are executed; if not, the nozzle retrieval time is determined to be non-compliant, the cleaner is unqualified, and the process ends.

6. The intelligent toilet washer performance testing system according to claim 1, characterized in that: The cleaning water consumption measurement module includes a collection device, a measuring cup, and a weighing system. The collection device and measuring cup are each equipped with a solenoid valve. The controller controls the solenoid valves to discharge water collected in the collection device into the measuring cup, and the controller also controls the solenoid valves to discharge water from the measuring cup into the drainage device. The method for measuring the water consumption of a toilet cleaner in one cleaning cycle includes: Step C1: The collection device is installed on the robotic arm, the robotic arm places the collection device into the toilet, and the spray nozzle extends into the collection device; Step C2: The cleaning start nozzle sprays water onto the collection device, the collection device collects the cleaning water until the spraying is complete; Step C3: The robotic arm... Step C4: Remove the collection device and drain the water from it into the measuring cup; Step C5: The weighing system weighs the water in the measuring cup to obtain the water consumption for one cleaning cycle of the toilet cleaner; Step C6: The controller drains the water in the measuring cup into the drainage device, and then performs the next water consumption test; Step C7: Compare the tested water consumption for one cleaning cycle with the set standard water consumption for one cleaning cycle, and determine whether the tested water consumption for one cleaning cycle is not greater than the standard water consumption for one cleaning cycle. If so, the water consumption for one cleaning cycle of the toilet cleaner is considered to meet the requirements; if not, the water consumption for one cleaning cycle of the toilet cleaner is considered to be non-compliant, and the cleaner is deemed unqualified.

7. The intelligent toilet washer performance testing system according to claim 1, characterized in that: The cleaning force measurement module includes a pressure sensor, which is mounted on the mounting plate of the robotic arm. The pressure sensor is set perpendicular to the nozzle and is connected to the controller to send cleaning force data. The controller then transmits the collected data to the industrial computer in real time. The method for measuring the cleaning force of the toilet cleaner by the cleaning force measurement module is as follows: Step D1: The pressure sensor is mounted on the robotic arm, and the robotic arm moves it to a position opposite to the nozzle; Step D2: The cleaner is turned on, and the controller senses the pressure change detected by the pressure sensor, starts timing, and records the pressure change data until the cleaning is completed and stops timing. Step D3: Match the time and pressure data one-to-one, remove pressure data before T0 seconds, and generate a time-pressure set; Step D4: Extract the larger pressure data values ​​between adjacent Td seconds within the time-pressure set, and label them sequentially as X1, X2, X3…X n Step D5: Calculate the pressure difference ΔX between adjacent pressures. 1， ΔX 2， ΔX3…ΔX n-1 ;ΔX1=X2-X1...ΔX n-1 =X n -X n-1 Step D6: Calculate the average difference S between adjacent pressure values; S = (|ΔX1| + |ΔX2| ... |ΔX n-1 |) / (n-1); Step D7: Set the pressure selection standard P, remove adjacent pressure differences greater than P, and generate set Q1; P=Sxm; where m is a coefficient, m is 1.2; S is the average difference; Step D8: Select any adjacent pressure difference ΔX in set Q. y-1 and X y If ΔX y-1 >0, remove X y If ΔX y-1 <0, remove X y-1 Update to set Q2; Step D9: Sort the adjacent pressure differences in set Q2 from largest to smallest, and select the top N adjacent pressure differences; Step D10: Calculate the average pressure Pav of the top N adjacent pressure differences, and use this average pressure Pav as the test cleaning force; Step D11: Compare the test cleaning force with the set standard cleaning force to determine whether the test cleaning force is not greater than the standard cleaning force. If so, the toilet cleaner's cleaning force is considered to meet the requirements; if not, the toilet cleaner's standard cleaning force is considered to not meet the requirements, and the cleaner is unqualified.

8. The intelligent toilet washer performance testing system according to claim 1, characterized in that: The cleaning area measurement module includes a transparent plastic plate facing the camera. The camera captures images of the transparent plastic plate and determines the cleaning range by analyzing the colors in the images to calculate the cleaning area. The method for measuring the cleaning area of ​​the toilet cleaner is as follows: Step E1: Install the transparent plastic plate within the camera's field of view, and move the camera perpendicular to the transparent plastic plate using a robotic arm; Step E2: Start the cleaner, and the controller triggers the camera to continuously capture images of the transparent plastic plate at a set frequency; Step E3: Fuse and overlay each frame of image and calculate the actual cleaning area S0 using pixels; Step E4: Compare the tested cleaning area with the set standard cleaning area to determine if the tested cleaning area is not greater than the standard cleaning area. If so, the toilet cleaner's cleaning area is considered to meet the requirements; otherwise, the toilet cleaner's cleaning area is considered to be non-compliant, and the cleaner is deemed unqualified.

9. The intelligent toilet washer performance testing system according to claim 1, characterized in that: The method for measuring the self-cleaning power of the nozzle by the nozzle self-cleaning power measuring module is as follows: Step F1: Trigger the extension of the spray bar, wipe the nozzle and spray bar dry, and draw a line on the spray bar using a water-soluble marker; Step F2: The robotic arm controls the camera to take pictures around the spray bar and record the original image, triggering the nozzle retraction to return it to its original state; Step F3: The controller cycles the nozzle cleaning twice in an on / off manner; Trigger the nozzle extension and start the cleaning operation, the nozzle works continuously for 5 seconds, then stops for 5 seconds, and repeats once more to achieve two cycles of cleaning; Step F4: After the test, the robotic arm controls the camera to take pictures around the spray bar and record the cleaning image, compare the original image with the cleaning image to confirm whether there is any residual line. If so, the self-cleaning power of the toilet cleaner nozzle is considered to be non-compliant, and the cleaner is considered unqualified; otherwise, the self-cleaning power of the toilet cleaner nozzle is considered to be compliant.

10. The intelligent toilet washer performance testing system according to claim 9, characterized in that: In step F1, the marking pen is used to draw lines on the spray bar by drawing three circles around the spray bar at three positioning lines that are divided into four equal parts along the length of the spray bar, and then drawing a fourth line from the front end of the spray bar along the length of the spray bar to the end.

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