Intelligent toilet with automatic urine collection function based on infrared array sensor

Abstract

The application discloses an intelligent closestool with urine automatic collection function based on an infrared array sensor, which comprises a closestool body, a first infrared array sensor, a second infrared array sensor, a third infrared array sensor, an identity information input device, a urine collection device and a control device arranged on the closestool body; and the control device comprises a human body recognition module, a urine presence / absence recognition module, a urine positioning module and a urine collection control module. The intelligent closestool with urine automatic collection function based on the infrared array sensor can automatically recognize whether there is a person in front of the closestool body, whether urine enters the closestool body and a urine dropping position, and can collect urine through the urine collection device, so that accurate detection and automatic collection of the urine position are realized, the defects of manual urine collection can be overcome, and the infrared array sensor of the application displays temperature distribution data, so that the privacy of a user can be protected.

Description

Technical Field

[0001] This invention relates to the field of smart toilets, and in particular to a smart toilet with an automatic urine collection function based on an infrared array sensor. Background Technology

[0002] Currently, most urine sample collection processes require manual operation by users. This not only raises hygiene concerns and causes users to instinctively resist the process, but also makes it impossible for humans to collect all samples, resulting in insufficient sample volume or even waste. Therefore, automated urine sample collection devices are particularly necessary.

[0003] In recent years, many smart toilets have incorporated urine collection functions. For example, patent CN 105842013 B describes a collection device that uses a fixed collection rod. While this solves the problem of cross-contamination of urine, the lack of a urine position sensing structure easily leads to waste of urine samples. Patents CN 113188592 A and CN207317886 U both use video to record urine position, but this poses a risk of exposing user privacy. Patent CN113374042 A uses radar to locate urine trajectories, but the toilet structure is designed as a long ellipse with a depth of about 50 cm, and it is a semi-enclosed space. The radar signal is prone to echo interference, resulting in large ranging errors in this narrow space. At the same time, the radar signal is also easily interfered with by other non-urine signals, which may lead to inaccurate positioning.

[0004] Therefore, a more reliable solution is needed now. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a smart toilet with automatic urine collection function based on an infrared array sensor, which addresses the shortcomings of the prior art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a smart toilet with automatic urine collection function based on infrared array sensors, comprising: a toilet body and a first infrared array sensor, a second infrared array sensor, a third infrared array sensor, an identity information input device, a urine collection device, and a control device disposed on the toilet body.

[0007] The control device includes a human body recognition module, a urine presence / absence recognition module, a urine positioning module, and a urine collection control module.

[0008] The third infrared array sensor detects temperature distribution information within the field of view. The human body recognition module determines whether a human body is present within the field of view based on the detection results of the third infrared array sensor. The urine presence / absence recognition module uses the detection results of the first and second infrared array sensors to determine whether urine has entered the field of view based on the variance characteristics of the detection data. The urine positioning module calculates the location of the urine droplet based on the detection results of the first and second infrared array sensors. The urine collection control module controls the urine collection device to automatically collect urine based on the results of the urine positioning module.

[0009] Preferably, the first infrared array sensor is placed on the left or right side of the toilet body, and the second infrared array sensor is placed on the front or rear of the toilet body; the first infrared array sensor and the second infrared array sensor are set at the same horizontal height.

[0010] Preferably, both the first infrared array sensor and the second infrared array sensor are infrared temperature sensors with 8*8, 16*16, or 32*32 arrays.

[0011] Preferably, the identity information input device is a fingerprint sensor, voiceprint sensor, palmprint sensor, or barcode scanner, used to uniquely identify and input user identity information.

[0012] Preferably, the method by which the human body recognition module determines whether a human body is present within its field of view is as follows:

[0013] 1-1) Establish a database of positive and negative samples of human bodies within the field of view of the third infrared array sensor as a reference database;

[0014] 1-2) When the third infrared array sensor detects new data, calculate the Euclidean distance between the current data point and the sample database, and then use the K-NN algorithm based on the result of the Euclidean distance to determine whether a human body exists.

[0015] Preferably, the third infrared array sensor is an 8×8 array infrared temperature sensor, and steps 1-2) specifically include:

[0016] 1-2-1) Let T be the temperature distribution matrix of the new data detected by the third infrared array sensor:

[0017]

[0018] 1-2-2) The l-th data set in the reference database is T l :

[0019]

[0020] 1-2-3) The Euclidean distance between the current data point and the reference database is calculated as follows:

[0021]

[0022] By taking the K samples with the smallest Euclidean distance and selecting the type with the most categories as the result of sample discrimination, it can be determined whether there is a human body in the current infrared array data.

[0023] Preferably, the method by which the urine presence / absence recognition module determines whether urine has entered the field of view is as follows:

[0024] 2-1) Let T be the temperature distribution matrix of the k-th frame identified by the first infrared array sensor or the second infrared array sensor. k :

[0025]

[0026] 2-2) Store the temperature distribution matrix of k consecutive δ frames from (k-δ) frames to the current frame. For each pixel in the current frame, calculate the variance.

[0027]

[0028] in For pixel a mnk The average temperature value within δ frames, where m represents the column number and n represents the row number;

[0029] The final variance v of this data frame is:

[0030]

[0031] 2-3) The variance feature v of each frame of data from the first infrared array sensor and the second infrared array sensor is obtained through the above steps. This feature reflects the degree of temperature change within the sensor's field of view. When the variance features v of both the first and second infrared array sensors are greater than the threshold v, th If so, it can be determined that urine has entered the field of vision.

[0032] Preferably, the urine collection device includes a urine collection inlet container, a drive mechanism for driving the urine collection inlet container to move in two dimensions in the forward, backward, left and right directions, a collection pump connected to the urine collection inlet container, and a urine collection box connected to the collection pump.

[0033] Preferably, the method by which the urine positioning module calculates the location of the urine droplet is as follows:

[0034] 3-1) The first infrared array sensor has m1 columns and n1 rows of pixels, and the second infrared array sensor has m2 columns and n2 rows of pixels. Since the first infrared array sensor and the second infrared array sensor are installed at the same horizontal height, the data in the same row of the first infrared array sensor and the second infrared array sensor are located on the same plane of the urine path.

[0035] 3-2) The urine collection inlet container is moved to the first calibration point a(x1, y1) by the urine collection control module. The calibration item at 37°C is placed at the first calibration point. At the same time, the coordinates c(m0, n0) of the calibration item in the image displayed by the first infrared array sensor and the coordinates d(m1, n1) of the calibration item in the image displayed by the second infrared array sensor are obtained. Similarly, the second calibration point b(x2, y2) is obtained, as well as the coordinates e(m2, n2) of the calibration item at the second calibration point in the image displayed by the first infrared array sensor and the coordinates f(m3, n3) of the calibration item in the image displayed by the second infrared array sensor.

[0036] When urine drips, the coordinates of the droplet in the images displayed by the first infrared array sensor and the second infrared array sensor are e(α1, β1) and f(α2, β2), respectively. The coordinates O(i, j) of the urine droplet point can be calculated using the following formula:

[0037]

[0038] Preferably, the smart toilet also includes a voice prompt module;

[0039] The steps involved in urine collection by this smart toilet include:

[0040] S1. Determine whether there is a human body in the field of vision using the human body recognition module. If a human body is detected, proceed to the next step.

[0041] S2. The voice prompt module prompts the user to input personal identity information using the identity information input device. After receiving the personal identity information input, the identity information input device proceeds to the next step. If the identity information input device does not receive personal identity information input within time T1, the user is prompted to input personal identity information again.

[0042] S3. The urine presence or absence recognition module determines whether urine has entered the field of view. If the determination result is "yes", proceed to the next step. If the determination result is "no" within T2 time, return to step S2.

[0043] S4. The urine positioning module calculates the location of the urine droplet;

[0044] S5. The urine collection control module controls the urine collection inlet container to adjust its position to the urine dripping point according to the result of the urine positioning module, so as to automatically collect urine.

[0045] The beneficial effects of this invention are:

[0046] The smart toilet with automatic urine collection function based on infrared array sensor provided by this invention can automatically identify whether there is a person in front of the toilet body, whether urine enters the toilet body, and the location of urine dripping. It can collect urine through urine collection device, realizing accurate detection and automatic collection of urine location, overcoming the defects of manual urine collection. In addition, the infrared array sensor of this invention displays temperature distribution data, which can protect the user's privacy. Attached Figure Description

[0047] Figure 1 This is a front view of the smart toilet with automatic urine collection function based on an infrared array sensor according to the present invention.

[0048] Figure 2 This is a side view of the smart toilet with automatic urine collection function based on an infrared array sensor according to the present invention.

[0049] Figure 3 An image of the first infrared array sensor of the present invention;

[0050] Figure 4 An image of the second infrared array sensor of the present invention;

[0051] Figure 5 An image of the third infrared array sensor of the present invention;

[0052] Figure 6 This is a flowchart of the human body recognition module of the present invention;

[0053] Figure 7 This is a flowchart of the algorithm for the urine localization module of the present invention;

[0054] Figure 8 This is a flowchart illustrating the urine collection process for the smart toilet of the present invention.

[0055] Explanation of reference numerals in the attached figures:

[0056] 1—Urine path; 2—First infrared array sensor; 3—Second infrared array sensor; 4—Third infrared array sensor; 5—Toilet tank; 6—Toilet seat; 7—Toilet lid; 8—Identity information input device; 9—Urine collection inlet container; 10—Drive mechanism; 11—Collection pump; 12—Urine collection box; 13—Liquid pipe; 14—Control device; 21—Image from the first infrared array sensor; 31—Image from the second infrared array sensor; 51—Reference level of the urine collection inlet container. Detailed Implementation

[0057] The present invention will be further described in detail below with reference to embodiments, so that those skilled in the art can implement it based on the description.

[0058] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0059] Example 1

[0060] Reference Figure 1-2 This embodiment of a smart toilet with automatic urine collection function based on infrared array sensors includes: a toilet body and a first infrared array sensor 1, a second infrared array sensor 3, a third infrared array sensor 4, an identity information input device 8, a urine collection device, and a control device 14 disposed on the toilet body.

[0061] The control device 14 includes a human body recognition module, a urine presence / absence recognition module, a urine positioning module, and a urine collection control module;

[0062] The third infrared array sensor 4 detects temperature distribution information within the field of view. The human body recognition module determines whether there is a human body within the field of view based on the detection results of the third infrared array sensor 4. The urine presence / absence recognition module uses the detection results of the first infrared array sensor 1 and the second infrared array sensor 3 to determine whether urine has entered the field of view based on the variance characteristics of the detection data. The urine positioning module calculates the location of the urine droplet based on the detection results of the first infrared array sensor 1 and the second infrared array sensor 3. The urine collection control module controls the urine collection device to automatically collect urine based on the results of the urine positioning module.

[0063] The first infrared array sensor 1 is placed on the left or right side of the toilet body, and the second infrared array sensor 3 is placed on the front or rear of the toilet body; the first infrared array sensor 1 and the second infrared array sensor 3 are set at the same horizontal height.

[0064] In this embodiment, the first infrared array sensor 1, the second infrared array sensor 3, and the third infrared array sensor 4 are all infrared temperature sensors with array resolutions of 8*8, 16*16, 32*32, or higher. This embodiment uses an 8*8 array infrared temperature sensor for illustration. (Refer to...) Figure 3-5 The images are, in order, from the first infrared array sensor 1, the second infrared array sensor 3, and the third infrared array sensor 4.

[0065] Among them, the identity information input device 8 is a fingerprint sensor, voiceprint sensor, palmprint sensor or barcode scanner, etc., used to uniquely identify and input user identity information.

[0066] The urine collection device includes a urine collection inlet container 9, a drive mechanism 10 for driving the urine collection inlet container 9 to move in two dimensions in the forward, backward, left, and right directions, a collection pump 11 connected to the urine collection inlet container 9, a urine collection box 12 connected to the collection pump 11, and a liquid passage pipe 13. The collection pump 11 is used to drive and transport urine. In one embodiment, the collection pump 11 is a plunger pump.

[0067] The drive mechanism 10 can extend and retract forward or backward, or move left or right, to move the urine collection inlet container 9 to the target position. In a preferred embodiment, the drive mechanism 10 can be driven by a synchronous belt or lead screw, and powered by a stepper motor.

[0068] In this embodiment, the toilet body is a smart toilet, which includes a toilet tank 5, a toilet seat 6, and a toilet lid 7.

[0069] The urine collection inlet container 9 can be located at various positions inside the toilet body, such as the front or rear. In one embodiment, when located at the front, the length of the drive mechanism 10 extending and retracting can be reduced.

[0070] In a preferred embodiment, the urine collection device further includes a cleaning line for cleaning residual urine in the liquid path to prevent sample contamination.

[0071] In a preferred embodiment, the smart toilet further includes a voice prompt module;

[0072] Reference Figure 6 In this embodiment, the method by which the human body recognition module determines whether a human body exists within its field of vision is as follows:

[0073] 1-1) A database of positive and negative samples of human bodies within the field of view of the third infrared array sensor 4 is pre-established as a reference database;

[0074] 1-2) When the third infrared array sensor 4 detects new data (refer to...) Figure 5The third infrared array sensor 4 has m3 columns and n3 rows of pixels. It calculates the Euclidean distance between the current data point and the sample database, and then uses the K-NN algorithm based on the Euclidean distance result to determine whether a human body is present. Specifically, this includes:

[0075] 1-2-1) Let T be the temperature distribution matrix of the new data detected by the third infrared array sensor 4:

[0076]

[0077] 1-2-2) The l-th data set in the reference database is T l :

[0078]

[0079] 1-2-3) The Euclidean distance between the current data point and the reference database is calculated as follows:

[0080]

[0081] By taking the K samples with the smallest Euclidean distance and selecting the type with the most categories as the result of sample discrimination, it can be determined whether there is a human body in the current infrared array data.

[0082] In this embodiment, the method by which the urine presence / absence recognition module determines whether urine has entered the field of view is as follows:

[0083] 2-1) Let T be the temperature distribution matrix of the k-th frame identified by the first infrared array sensor 1 or the second infrared array sensor 3. k :

[0084]

[0085] 2-2) Store the temperature distribution matrix of k consecutive δ frames from (k-δ) frames to the current frame. For each pixel in the current frame, calculate the variance.

[0086]

[0087] in For pixel a mnk The average temperature value within δ frames, where m represents the column number and n represents the row number;

[0088] The final variance v of this data frame is:

[0089]

[0090] 2-3) The variance feature v of each frame of data from the first infrared array sensor 1 and the second infrared array sensor 3 is obtained through the above steps. This feature reflects the degree of temperature change within the sensor's field of view. When the variance features v of both the first infrared array sensor 1 and the second infrared array sensor 3 are greater than the threshold v th If so, it can be determined that urine has entered the field of vision.

[0091] Reference Figure 7 (Where 0 represents the urine droplet point, 21 represents the image from the first infrared array sensor, 31 represents the image from the second infrared array sensor, and 51 represents the reference horizontal plane of the urine collection inlet container).

[0092] In this embodiment, the method by which the urine positioning module calculates the location of the urine droplet is as follows:

[0093] 3-1) The first infrared array sensor 1 has m1 columns and n1 rows of pixels, and the second infrared array sensor 3 has m2 columns and n2 rows of pixels. Since the first infrared array sensor 1 and the second infrared array sensor 3 are installed at the same horizontal height, the data in the same row of the first infrared array sensor 1 and the second infrared array sensor 3 are located on the same plane of the urine path.

[0094] 3-2) The urine collection inlet container 9 is moved to the first calibration point a(x1, y1) by the urine collection control module. The calibration item with a temperature of 37℃ is placed at the first calibration point. At the same time, the coordinates c(m0, n0) of the calibration item in the image displayed by the first infrared array sensor 1 and the coordinates d(m1, n1) of the calibration item in the image displayed by the second infrared array sensor 3 are obtained. Similarly, the second calibration point b(x2, y2) is obtained, as well as the coordinates e(m2, n2) of the calibration item at the second calibration point in the image displayed by the first infrared array sensor 1 and the coordinates f(m3, n3) of the calibration item in the image displayed by the second infrared array sensor 3.

[0095] When urine drips, the coordinates of the droplet in the images displayed in the first infrared array sensor 1 and the second infrared array sensor 3 are e(α1, β1) and f(α2, β2), respectively. The coordinates O(i, j) of the urine droplet point can be calculated using the following formula:

[0096]

[0097] Referring to 8, in this embodiment, the steps for the smart toilet to collect urine include:

[0098] S1. Determine whether there is a human body in the field of view through the human body recognition module. If a human body is detected, proceed to the next step.

[0099] S2. The voice prompt module prompts the user to input personal identity information using the identity information input device 8. After receiving the personal identity information input, the identity information input device 8 proceeds to the next step. If the identity information input device 8 does not receive the personal identity information input within the time T1, the user is prompted to input personal identity information again.

[0100] S3. The urine presence or absence recognition module determines whether urine has entered the field of view. If the result is "yes", proceed to the next step. If the result is "no" within T2 time, return to step S2.

[0101] S4. The urine positioning module calculates the location of the urine droplet;

[0102] S5. The urine collection control module controls the urine collection inlet container 9 to adjust its position to the urine dripping point based on the result of the urine positioning module, so as to automatically collect urine.

[0103] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details.

Claims

1. A smart toilet with automatic urine collection function based on an infrared array sensor, characterized in that, include: The toilet body and the first infrared array sensor, the second infrared array sensor, the third infrared array sensor, the identity information input device, the urine collection device, and the control device installed on the toilet body; The control device includes a human body recognition module, a urine presence / absence recognition module, a urine positioning module, and a urine collection control module. The third infrared array sensor detects temperature distribution information within the field of view. The human body recognition module determines whether a human body is present within the field of view based on the detection results of the third infrared array sensor. The urine presence / absence recognition module uses the detection results of the first and second infrared array sensors to determine whether urine has entered the field of view based on the variance characteristics of the detection data. The urine positioning module calculates the location of the urine droplet based on the detection results of the first and second infrared array sensors. The urine collection control module controls the urine collection device to automatically collect urine based on the results of the urine positioning module. The urine collection device includes a urine collection inlet container, a drive mechanism for driving the urine collection inlet container to move in two dimensions in the front-back and left-right directions, a collection pump connected to the urine collection inlet container, and a urine collection box connected to the collection pump. The urine localization module calculates the location of urine droplets as follows: 3-1) The first infrared array sensor has m'1 columns and n'1 rows of pixels, and the second infrared array sensor has m'2 columns and n'2 rows of pixels. Since the first infrared array sensor and the second infrared array sensor are installed at the same horizontal height, the data in the same row of the first infrared array sensor and the second infrared array sensor are located on the same plane of the urine path. 3-2) The urine collection inlet container is moved to the first calibration point a (x1, y1) by the urine collection control module. The calibration item at 37°C is placed at the first calibration point. At the same time, the coordinates c (m0, n0) of the calibration item in the image displayed by the first infrared array sensor and the coordinates d (m1, n1) of the calibration item in the image displayed by the second infrared array sensor are obtained. Similarly, the coordinates e (m2, n2) of the calibration item at the second calibration point and the coordinates f (m3, n3) of the calibration item in the image displayed by the first infrared array sensor and the second infrared array sensor are obtained. When urine drips, the coordinates of the droplet in the images displayed by the first infrared array sensor and the second infrared array sensor are e(α1, β1) and f(α2, β2), respectively. The coordinates O(i, j) of the urine droplet point can be calculated using the following formula: 。 2. The smart toilet with automatic urine collection function based on an infrared array sensor according to claim 1, characterized in that, The first infrared array sensor is placed on the left or right side of the toilet body, and the second infrared array sensor is placed on the front or rear of the toilet body; the first infrared array sensor and the second infrared array sensor are set at the same horizontal height.

3. The smart toilet with automatic urine collection function based on an infrared array sensor according to claim 2, characterized in that, Both the first infrared array sensor and the second infrared array sensor are infrared temperature sensors with 8*8, 16*16 or 32*32 arrays.

4. The smart toilet with automatic urine collection function based on an infrared array sensor according to claim 3, characterized in that, The identity information input device is a fingerprint sensor, voiceprint sensor, palmprint sensor, or barcode scanner, used to uniquely identify and input user identity information.

5. The smart toilet with automatic urine collection function based on an infrared array sensor according to claim 4, characterized in that, The method by which the human body recognition module determines whether a human body is present within its field of view is as follows: 1-1) Establish a database of positive and negative samples of human bodies within the field of view of the third infrared array sensor as a reference database; 1-2) When the third infrared array sensor detects new data, calculate the Euclidean distance between the current data point and the sample database, and then use the K-NN algorithm to determine whether a human body exists based on the result of the Euclidean distance.

6. The smart toilet with automatic urine collection function based on an infrared array sensor according to claim 5, characterized in that, in, The third infrared array sensor is an 8×8 array infrared temperature sensor, and steps 1-2) specifically include: 1-2-1) Let T be the temperature distribution matrix of the new data detected by the third infrared array sensor: ； 1-2-2) Reference database l Group data T l : ; 1-2-3) The Euclidean distance between the current data point and the reference database is calculated as follows: ; The type with the most categories among the K samples with the smallest Euclidean distance is taken as the result of sample discrimination, thereby determining whether there is a human body in the current infrared array data.

7. The smart toilet with automatic urine collection function based on an infrared array sensor according to claim 6, characterized in that, The smart toilet also includes a voice prompt module; The steps involved in urine collection by this smart toilet include: S1. Determine whether there is a human body in the field of vision using the human body recognition module. If a human body is detected, proceed to the next step. S2. The voice prompt module prompts the user to input personal identity information using the identity information input device. After receiving the personal identity information input, the identity information input device proceeds to the next step. If the identity information input device does not receive personal identity information input within T1 time, the user is prompted to input personal identity information again. S3. The urine presence or absence recognition module determines whether urine has entered the field of view. If the determination result is "yes", proceed to the next step. If the determination result is "no" within T2 time, return to step S2. S4. The urine positioning module calculates the location of the urine droplet; S5. The urine collection control module controls the urine collection inlet container to adjust its position to the urine dripping point according to the result of the urine positioning module, so as to automatically collect urine.

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