An intelligent toilet control method, device, equipment and storage medium

Abstract

The present invention discloses an intelligent toilet control method, device, equipment and storage medium. The point cloud data collected by the lidar is obtained, and the user is tracked based on the point cloud data. When the user is at a first preset distance from the lidar, the posture of the user is determined based on the point cloud data. If the posture of the user is facing the intelligent toilet, the toilet lid and the toilet seat ring are controlled to open. If the posture of the user is facing away from the intelligent toilet, the toilet lid is controlled to open. When it is detected that the user is at a second preset distance away from the lidar, the toilet lid and the toilet seat ring are controlled to close, or the toilet lid is controlled to close, and the flush valve is controlled to actuate for flushing. Based on the different postures of male and female users when using the toilet, when the posture of the user is facing the intelligent toilet, the toilet lid and the toilet seat ring are controlled to open, which is convenient for male users and improves the usage efficiency. When the user finishes using the intelligent toilet, the toilet lid is automatically closed and flushed, and the toilet lid always remains closed, maintaining the hygiene of the bathroom.

Description

Technical Field

[0001] The present invention relates to intelligent control technology, and in particular to an intelligent toilet control method, device, equipment and storage medium. Background Art

[0002] As people's quality of life improves, users have more and more requirements for the functional types of smart home devices. As a smart home device that users frequently use in daily life, the diversity of functions and comfort of smart toilets have attracted more and more attention from users. Smart toilets in related technologies have many special functions: such as buttocks cleaning, lower body cleaning, mobile cleaning, seat ring insulation, warm air drying, automatic deodorization, silent seating, etc., which can meet the different needs of users and give users a rich experience.

[0003] Smart toilets are usually equipped with a sensing unit that detects foot signals. When foot signals are detected, the toilet lid is controlled to be flipped up. Due to the different postures of men and women when using toilets, male users face the toilet when urinating, and need to flip up the toilet lid and toilet gasket at the same time, while female users face their backs to the toilet when using the toilet, and only need to flip up the toilet lid. Since the current control method can only flip up the toilet lid when someone is there, this causes inconvenience to male users, who need to manually flip up the toilet gasket. Summary of the invention

[0004] The present invention provides an intelligent toilet control method, device, equipment and storage medium to facilitate male users to use and improve use efficiency.

[0005] In a first aspect, the present invention provides a smart toilet control method, comprising:

[0006] Acquire point cloud data collected by a laser radar, where the laser radar is set on the smart toilet;

[0007] tracking a user based on the point cloud data;

[0008] When the user is at a first preset distance from the laser radar, determining the user's posture based on the point cloud data;

[0009] If the user is facing the smart toilet, the toilet lid and toilet gasket are controlled to be opened;

[0010] If the user is facing away from the smart toilet, controlling the toilet lid to be opened;

[0011] When it is detected that the user is away from the laser radar by a second preset distance, the toilet lid and the toilet gasket are controlled to be closed, or the toilet lid is controlled to be closed and the flush valve is controlled to flush, and the second preset distance is greater than the first preset distance.

[0012] Optionally, tracking the user based on the point cloud data includes:

[0013] Performing clustering processing on the point cloud data to obtain a voxel representing the user;

[0014] Matching the voxel representing the user in the current frame of point cloud data with the voxel representing the user in the previous frame of point cloud data;

[0015] If the matching result is successful, it is determined that the voxels representing the user in two adjacent frames of point cloud data represent the same user.

[0016] Optionally, matching the voxel representing the user in the current frame of point cloud data with the voxel representing the user in the previous frame of point cloud data includes:

[0017] Vectorizing the voxel representing the user in the current frame of point cloud data and the voxel representing the user in the previous frame of point cloud data respectively to obtain a first vector and a second vector;

[0018] Calculating the similarity between the first vector and the second vector;

[0019] If the similarity is greater than a preset value, it is confirmed that the matching is successful.

[0020] Optionally, when the user is at a first preset distance from the lidar, determining the pose of the user based on the point cloud data includes:

[0021] For each frame of point cloud data, calculating the clustering center of all the point clouds in the voxel representing the user;

[0022] Calculating the distance between the clustering center and the lidar;

[0023] Taking the frame of point cloud data whose distance between the clustering center and the lidar is equal to the first preset distance as the target frame of point cloud data;

[0024] Detecting key points representing the pose of the user from the target frame of point cloud data;

[0025] Determining the pose of the user based on the key points.

[0026] Optionally, detecting key points representing the pose of the user from the target frame of point cloud data includes:

[0027] Using a key point detection algorithm to detect key points including the eyes and nose of the user from the voxel representing the user in the target frame of point cloud data.

[0028] Optionally, determining the pose of the user based on the key points includes:

[0029] When key points representing the user's eyes and nose are detected, determine that the user's posture is facing the intelligent toilet;

[0030] When key points representing the user's eyes and nose are not detected, determine that the user's posture is facing away from the intelligent toilet.

[0031] Optionally, the key point detection algorithm includes the ISS3D algorithm, Harris3D algorithm, NARF algorithm, and SIFT3D algorithm.

[0032] In a second aspect, the present invention also provides an intelligent toilet control device, including:

[0033] A point cloud data acquisition module, configured to acquire point cloud data collected by a lidar, where the lidar is disposed on the intelligent toilet;

[0034] A user tracking module, configured to track a user based on the point cloud data;

[0035] A posture determination module, configured to determine the user's posture based on the point cloud data when the user is at a first preset distance from the lidar;

[0036] A first control module, configured to control the toilet lid and the toilet seat to be lifted if the user's posture is facing the intelligent toilet;

[0037] A second control module, configured to control the toilet lid to be lifted if the user's posture is facing away from the intelligent toilet;

[0038] A third control module, configured to control the toilet lid and the toilet seat to be closed, or control the toilet lid to be closed, and control the flushing valve to act for flushing when it is detected that the user is at a second preset distance away from the lidar, where the second preset distance is greater than the first preset distance.

[0039] In a third aspect, the present invention also provides an electronic device, including:

[0040] One or more processors;

[0041] A storage device, configured to store one or more programs;

[0042] When the one or more programs are executed by the one or more processors, the one or more processors implement the intelligent toilet control method provided in the first aspect of the present invention.

[0043] In a fourth aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, such that the one or more processors implement the intelligent toilet control method provided in the first aspect of the present invention.

[0044] The intelligent toilet control method provided by the present invention acquires the point cloud data collected by a lidar, tracks the user based on the point cloud data, determines the user's posture based on the point cloud data when the user is at a first preset distance from the lidar. If the user's posture is facing the intelligent toilet, the toilet lid and the toilet seat are controlled to open. If the user's posture is facing away from the intelligent toilet, the toilet lid is controlled to open. When it is detected that the user is at a second preset distance away from the lidar, the toilet lid and the toilet seat are controlled to close, or the toilet lid is controlled to close and the flush valve is controlled to act for flushing. Based on the different postures of male and female users when using the toilet, when the user's posture is facing the intelligent toilet, the toilet lid and the toilet seat are controlled to open, which is convenient for male users and improves the usage efficiency. In addition, tracking the user based on the point cloud data avoids the situation of losing the user and resulting in the failure of subsequent control of the toilet lid and the toilet seat, improving the control stability. When the user finishes using the intelligent toilet, the toilet lid is automatically closed and flushed, keeping the toilet lid closed when not in use, avoiding the splashing of liquid in the toilet or the overflow of odors to pollute the bathroom, and maintaining the hygiene of the bathroom.

[0045] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Brief Description of the Drawings

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0047] Figure 1 It is a flowchart of an intelligent toilet control method provided by an embodiment of the present invention;

[0048] Figure 2 It is a schematic structural diagram of an intelligent toilet control device provided by an embodiment of the present invention;

[0049] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed Embodiments

[0050] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0052] It should be emphasized that the acquisition, storage, use, processing, etc. of data in the technical solution of the present invention all comply with the relevant regulations of national laws and regulations.

[0053] Figure 1 The figure is a flowchart of an intelligent toilet control method provided by an embodiment of the present invention. This embodiment is applicable to the situation where the toilet lid and toilet seat ring are automatically flipped up adaptively according to the different postures of men and women using the toilet. This method can be executed by the intelligent toilet control device provided by the embodiment of the present invention. The device can be implemented in software and / or hardware, and is usually configured in an electronic device, such as Figure 1 As shown, the method specifically includes the following steps:

[0054] S101. Obtain the point cloud data collected by the lidar, and the lidar is arranged on the intelligent toilet.

[0055] In the embodiment of the present invention, the intelligent toilet is equipped with a lidar. Exemplarily, the lidar is a multi-line lidar. The multi-line lidar has multiple transmitters and receivers in the vertical direction, and can simultaneously emit and receive multiple laser beams. Through the rotation of the motor, multiple laser beams hit the surface of the object at the same time to scan the object. The more lines there are, the more complete the surface contour of the object is.

[0056] In an embodiment of the present invention, when someone enters the bathroom, the lidar can be controlled to start, and the point cloud data collected by the lidar can be obtained. Exemplarily, in some embodiments of the present invention, the obstacle detection function of the lidar can be directly utilized. When it is detected that a user enters the bathroom, the lidar is started, and the point cloud data collected by the lidar is obtained. In other embodiments of the present invention, the lidar can be linked with other intelligent devices in the home. For example, an intelligent induction light can be set at the door of the bathroom. When it is detected that a user approaches, the intelligent induction light is lit. At the same time, the lidar is controlled to start, and the point cloud data collected by the lidar is obtained.

[0057] S102. Track the user based on the point cloud data.

[0058] After the user enters the bathroom, the point cloud data collected by the lidar is obtained in real time and continuously, and the user is tracked based on the point cloud data to ensure that the same user is included in multiple consecutive frames of point cloud data collected by the lidar, avoiding the situation where the user is lost and subsequent control of the toilet lid and toilet seat fails.

[0059] In some embodiments of the present invention, in order to avoid the situation where a certain frame or several frames are missed and the user is lost, a point cloud data queue can be set. The point cloud data queue can store multiple consecutive frames of point cloud data, and the point cloud data in the queue is updated in real time. That is, when the current frame of point cloud data is stored in the queue, if the data in the queue is full, the frame of point cloud data collected earliest in the time line is deleted. As long as there is no situation where several consecutive frames (for example, two consecutive frames) of point cloud data in the point cloud data queue cannot detect the user, it can be considered a missed detection, and the subsequent steps can be continued normally. If there is a situation where several consecutive frames (for example, two consecutive frames) of point cloud data in the point cloud data queue cannot detect the user, it can be considered that the user has left the detection range, and the process ends.

[0060] In some embodiments of the present invention, step S102 includes the following sub-steps:

[0061] 1. Perform clustering processing on the point cloud data to obtain a voxel representing the user.

[0062] In an embodiment of the present invention, a clustering algorithm is used to perform clustering processing on the point clouds in each frame of point cloud data, and a voxel representing the user is separated from all the point clouds.

[0063] Exemplarily, in some embodiments of the present invention, the K-means clustering algorithm is used to perform clustering processing on the point cloud data. Specifically, the entire point cloud dataset is divided into k point cloud clusters with a certain unified feature, and k points are randomly selected from the obtained laser point cloud dataset as the center points of the point cloud clusters. Then, for each point cloud, the actual distances from the above k points are calculated respectively, and it is clustered into the point cloud cluster according to the principle of the smallest distance value. After that, the centroid coordinates of the clustered point cloud clusters are calculated, and the center points of the point cloud clusters are updated. Repeat the above steps until the center points of the point cloud clusters no longer change, that is, stop the K-means clustering process, so as to obtain the voxels representing the user.

[0064] 2. Match the voxels representing the user in the current frame of point cloud data with the voxels representing the user in the previous frame of point cloud data.

[0065] In the embodiments of the present invention, the voxels representing the user in the current frame of point cloud data are matched with the voxels representing the user in the previous frame of point cloud data. In the embodiments of the present invention, there are various matching methods for matching the voxels representing the user in the current frame of point cloud data with the voxels representing the user in the previous frame of point cloud data. For example, by calculating the similarity or by calculating the intersection over union. The embodiments of the present invention do not make limitations here.

[0066] Exemplarily, in some embodiments of the present invention, the point cloud is a point representing a specific position and brightness in space. Therefore, the point cloud in the voxel can be vectorized, so that the voxels representing the user in the current frame of point cloud data and the voxels representing the user in the previous frame of point cloud data are respectively vectorized to obtain a first vector and a second vector. Then, calculate the similarity between the first vector and the second vector. Exemplarily, in some embodiments of the present invention, calculate the Euclidean distance or cosine distance between the first vector and the second vector to characterize the similarity between the two. The smaller the Euclidean distance, the greater the similarity; the greater the cosine distance, the greater the similarity. If the similarity is greater than the preset value, it is confirmed that the matching is successful.

[0067] In some other embodiments of the present invention, considering that the movement range of the user is small, in order to save computing resources and improve processing efficiency, the Hungarian matching algorithm is used to calculate the intersection over union (IoU) of the voxels representing the user in the current frame of point cloud data and the voxels representing the user in the previous frame of point cloud data. If the intersection over union is greater than or equal to the preset value, it is confirmed that the matching is successful.

[0068] 3. If the matching result is successful, it is determined that the voxels representing the user in two adjacent frames of point cloud data represent the same user.

[0069] If the matching result is a successful match, it is determined that the voxels representing the user in two adjacent frames of point cloud data represent the same user, avoiding the situation of losing the user and causing subsequent failures in controlling the toilet lid and toilet seat.

[0070] S103. When the user is at a first preset distance from the lidar, determine the user's posture based on the point cloud data.

[0071] In the embodiments of the present invention, the point cloud represents points at specific positions in space. Therefore, the distance between the user and the lidar can be calculated through the point cloud data. During the process of the user moving towards the intelligent toilet, continuously detect the distance between the user and the lidar. When the user is at the first preset distance from the lidar, determine the user's posture based on the point cloud data. Among them, the user's posture includes facing the intelligent toilet and turning back to the intelligent toilet. Exemplarily, when the user faces the toilet, the lidar can collect the front features of the user, such as facial features. Therefore, the user's posture can be determined based on this.

[0072] Among them, the first preset distance can be the distance between the user and the lidar when the user is about to use the toilet. For example, taking the toilet length of 65 cm as an example, the lidar can be set at the rear edge of the toilet or on the wall. When the user is about to use the toilet, usually 10 cm away from the front edge of the toilet, then the first preset distance can be 75 cm - 80 cm. Of course, in the embodiments of the present invention, the first preset distance can be set by the user according to their usage habits, and the embodiments of the present invention do not limit this here.

[0073] In some embodiments of the present invention, step S103 includes the following sub-steps:

[0074] 1. For each frame of point cloud data, calculate the clustering center of all the point clouds in the voxels representing the user.

[0075] In the embodiments of the present invention, for each frame of point cloud data, use a clustering algorithm to calculate the clustering center of all the point clouds in the voxels representing the user. The clustering algorithm can be the K-means algorithm, the DBSCAN algorithm, or the Euclidean clustering algorithm, etc. The embodiments of the present invention do not limit this here.

[0076] 2. Calculate the distance between the clustering center and the lidar.

[0077] In the embodiments of the present invention, calculate the distance from the clustering center of the voxel to the lidar as the distance from the user to the lidar.

[0078] 3. Use a frame of point cloud data whose distance between the clustering center and the lidar is equal to the first preset distance as the target frame of point cloud data.

[0079] During the process of the user moving towards the smart toilet, continuously detect the distance between the clustering center of all the point clouds in the voxels representing the user in each frame of point cloud data and the lidar. When this distance is equal to the first preset distance, take this frame of point cloud data as the target frame of point cloud data.

[0080] 4. Detect the key points representing the user's posture from the target frame of point cloud data.

[0081] In the embodiments of the present invention, detect the key points representing the user's posture from the voxels of the target frame of point cloud data. Exemplarily, use a key point detection algorithm to detect the key points including those representing the user's eyes and nose from the voxels representing the user in the target frame of point cloud data. Exemplarily, the key point detection algorithm can be the ISS3D algorithm, Harris3D algorithm, NARF algorithm, or SIFT3D algorithm, and the embodiments of the present invention do not make limitations here.

[0082] 5. Determine the user's posture based on the key points.

[0083] In the embodiments of the present invention, if the key points representing the user's eyes and nose are detected, it is determined that the user is facing the smart toilet directly; if the key points representing the user's eyes and nose are not detected, it is determined that the user is facing away from the smart toilet.

[0084] S104. If the user's posture is facing the smart toilet directly, control the toilet lid and the toilet seat ring to open.

[0085] In the embodiments of the present invention, if the user's posture detected above is facing the smart toilet directly, indicating that a male intends to urinate at this time, in order to avoid contamination of the toilet seat ring, control the motors of the toilet lid and the toilet seat ring to act and open the toilet lid and the toilet seat ring.

[0086] S105. If the user's posture is facing away from the smart toilet, control the toilet lid to open.

[0087] In the embodiments of the present invention, if the user's posture detected above is facing the smart toilet directly, indicating that a female intends to urinate or defecate at this time, or a male intends to defecate, then only control the motor of the toilet lid to act and open the toilet lid.

[0088] S106. When it is detected that the user is at a second preset distance away from the lidar, control the toilet lid and the toilet seat ring to close, or control the toilet lid to close, and control the flushing valve to act for flushing.

[0089] After the user finishes using the intelligent toilet, the user gets up and leaves. The computer continuously detects the distance between the user and the lidar. When it detects that the user is away from the lidar by a second preset distance, it indicates that the user has left the intelligent toilet. At this time, it controls the toilet lid and the toilet seat to close, or controls the toilet lid to close and controls the flushing valve to actuate for flushing. Exemplarily, in the case of male urination (i.e., the toilet lid and the toilet seat were both open before), it controls the motors of the toilet lid and the toilet seat to actuate to close the toilet lid and the toilet seat. In the case of female urination, defecation, or male defecation (i.e., the toilet lid was open and the toilet seat was closed before), it controls the motor of the toilet lid to actuate to close the toilet lid. Among them, the second preset distance is greater than the first preset distance. Exemplarily, the second preset distance can be a value between 1 meter and 2 meters. In the embodiment of the present invention, when the user finishes using the intelligent toilet, the toilet lid is automatically closed and flushed, keeping the toilet lid closed all the time when not in use, avoiding the splashing of liquid in the toilet or the overflow of odors to pollute the bathroom.

[0090] The intelligent toilet control method provided by the embodiment of the present invention obtains the point cloud data collected by the lidar, tracks the user based on the point cloud data, determines the posture of the user when the user is at a first preset distance from the lidar. If the posture of the user is facing the intelligent toilet, it controls the toilet lid and the toilet seat to open. If the posture of the user is facing away from the intelligent toilet, it controls the toilet lid to open. When it detects that the user is away from the lidar by a second preset distance, it controls the toilet lid and the toilet seat to close, or controls the toilet lid to close and controls the flushing valve to actuate for flushing. Based on the different postures of male and female users when using the toilet, when the posture of the user is facing the intelligent toilet, the toilet lid and the toilet seat are controlled to open, which is convenient for male users to use and improves the usage efficiency. In addition, tracking the user based on the point cloud data avoids the situation of losing the user and causing subsequent failures in controlling the toilet lid and the toilet seat, improving the control stability. When the user finishes using the intelligent toilet, the toilet lid is automatically closed and flushed, keeping the toilet lid closed all the time when not in use, avoiding the splashing of liquid in the toilet or the overflow of odors to pollute the bathroom and keeping the bathroom hygienic.

[0091] The embodiment of the present invention also provides an intelligent toilet control device. Figure 2 As shown in Figure 2 the structure schematic diagram of an intelligent toilet control device provided by the embodiment of the present invention, the intelligent toilet control device includes:

[0092] A point cloud data acquisition module 201, configured to acquire the point cloud data collected by the lidar, and the lidar is disposed on the intelligent toilet;

[0093] A user tracking module 202, configured to track the user based on the point cloud data;

[0094] The posture determination module 203 is configured to determine the posture of the user based on the point cloud data when the user is at a first preset distance from the lidar;

[0095] The first control module 204 is configured to control the toilet lid and the toilet seat to open if the posture of the user is facing the smart toilet;

[0096] The second control module 205 is configured to control the toilet lid to open if the posture of the user is facing away from the smart toilet;

[0097] The third control module 206 is configured to control the toilet lid and the toilet seat to close, or control the toilet lid to close and control the flushing valve to actuate for flushing when it is detected that the user is at a second preset distance away from the lidar, where the second preset distance is greater than the first preset distance.

[0098] In some embodiments of the present invention, the user tracking module 202 includes:

[0099] The clustering sub-module is configured to perform clustering processing on the point cloud data to obtain voxels representing the user;

[0100] The matching sub-module is configured to match the voxels representing the user in the current frame of point cloud data with the voxels representing the user in the previous frame of point cloud data;

[0101] The user determination sub-module is configured to determine that the voxels representing the user in two adjacent frames of point cloud data represent the same user if the matching result is a successful match.

[0102] In some embodiments of the present invention, the matching sub-module includes:

[0103] The vectorization unit is configured to vectorize the voxels representing the user in the current frame of point cloud data and the voxels representing the user in the previous frame of point cloud data respectively to obtain a first vector and a second vector;

[0104] The similarity calculation unit is configured to calculate the similarity between the first vector and the second vector;

[0105] The matching confirmation unit is configured to confirm a successful match if the similarity is greater than a preset value.

[0106] In some embodiments of the present invention, the posture determination module 203 includes:

[0107] The clustering center calculation sub-module is configured to calculate the clustering center of all the point clouds in the voxels representing the user for each frame of point cloud data;

[0108] The distance calculation sub-module is configured to calculate the distance between the clustering center and the lidar;

[0109] A target frame determination sub-module, configured to use a frame of point cloud data whose distance from the clustering center to the lidar is equal to a first preset distance as target frame point cloud data;

[0110] A key point detection sub-module, configured to detect key points representing the user's posture from the target frame point cloud data;

[0111] A posture determination sub-module, configured to determine the user's posture based on the key points.

[0112] In some embodiments of the present invention, the key point detection sub-module includes:

[0113] A key point detection unit, configured to use a key point detection algorithm to detect key points including those representing the user's eyes and nose from the voxels representing the user in the target frame point cloud data.

[0114] In some embodiments of the present invention, the posture determination sub-module includes:

[0115] A first posture determination unit, configured to determine that the user's posture is facing the intelligent toilet when key points representing the user's eyes and nose are detected;

[0116] A second posture determination unit, configured to determine that the user's posture is facing away from the intelligent toilet when key points representing the user's eyes and nose are not detected.

[0117] In some embodiments of the present invention, the key point detection algorithm includes the ISS3D algorithm, the Harris3D algorithm, the NARF algorithm, and the SIFT3D algorithm.

[0118] The above intelligent toilet control device can execute the intelligent toilet control method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the intelligent toilet control method.

[0119] Embodiments of the present invention also provide an electronic device, Figure 3 This is a schematic structural diagram of an electronic device provided in an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0120] AsFigure 3 As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0121] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0122] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the intelligent toilet control method.

[0123] In some embodiments, the intelligent toilet control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the intelligent toilet control method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the intelligent toilet control method by any other appropriate means (e.g., by means of firmware).

[0124] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0125] The computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs may be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0126] In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0127] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0129] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of large management difficulty and weak business scalability existing in traditional physical hosts and VPS services.

[0130] An embodiment of the present invention also provides a computer program product, including a computer program which, when executed by a processor, implements the intelligent toilet control method provided in any embodiment of the present application.

[0131] In the process of implementing the computer program product, computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or, alternatively, can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0132] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0133] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent toilet control method, characterized in that, Including: Obtain the point cloud data collected by the lidar, where the lidar is installed on the intelligent toilet; Track the user based on the point cloud data; When the user is at a first preset distance from the lidar, determine the user's posture based on the point cloud data; If the user's posture is facing the intelligent toilet, control the toilet lid and the toilet seat to open; If the user's posture is facing away from the intelligent toilet, control the toilet lid to open; When it is detected that the user is at a second preset distance away from the lidar, control to close the toilet lid and the toilet seat, or control to close the toilet lid and control the flushing valve to actuate for flushing, where the second preset distance is greater than the first preset distance; Tracking the user based on the point cloud data includes: Perform clustering processing on the point cloud data to obtain voxels representing the user; Match the voxels representing the user in the current frame of point cloud data with the voxels representing the user in the previous frame of point cloud data; If the matching result is successful, determine that the voxels representing the user in two adjacent frames of point cloud data represent the same user.

2. The intelligent toilet control method according to claim 1, characterized in that, Matching the voxels representing the user in the current frame of point cloud data with the voxels representing the user in the previous frame of point cloud data includes: Vectorize the voxels representing the user in the current frame of point cloud data and the voxels representing the user in the previous frame of point cloud data respectively to obtain a first vector and a second vector; Calculate the similarity between the first vector and the second vector; If the similarity is greater than a preset value, confirm that the matching is successful.

3. The intelligent toilet control method according to any one of claims 1-2, characterized in that, When the user is at a first preset distance from the lidar, determining the user's posture based on the point cloud data includes: For each frame of point cloud data, calculate the clustering center of all the point clouds in the voxels representing the user; Calculate the distance between the clustering center and the lidar; Use a frame of point cloud data with the distance between the clustering center and the lidar equal to the first preset distance as the target frame of point cloud data; Detect key points representing the user's posture from the target frame of point cloud data; Determine the user's posture based on the key points.

4. The intelligent toilet control method according to claim 3, characterized in that, Detecting key points representing the user's posture from the target frame of point cloud data includes: Use a key point detection algorithm to detect key points including the user's eyes and nose from the voxels representing the user in the target frame of point cloud data.

5. The intelligent toilet control method according to claim 4, characterized in that Determining the user's posture based on the key points includes: When key points representing the user's eyes and nose are detected, determine that the user's posture is facing the intelligent toilet; When key points representing the user's eyes and nose are not detected, determine that the user's posture is facing away from the intelligent toilet.

6. The intelligent toilet control method according to claim 4, wherein The key point detection algorithm includes the ISS3D algorithm, the Harris3D algorithm, the NARF algorithm, and the SIFT3D algorithm.

7. An intelligent toilet control device, characterized in that, Including: A point cloud data acquisition module for acquiring the point cloud data collected by the lidar, where the lidar is installed on the intelligent toilet; A user tracking module for tracking the user based on the point cloud data; A posture determination module for determining the user's posture based on the point cloud data when the user is at a first preset distance from the lidar; The first control module is used to control the toilet lid and the toilet seat cushion to open if the user's posture is facing the intelligent toilet; The second control module is used to control the toilet lid to open if the user's posture is facing away from the intelligent toilet; The third control module is used to control the toilet lid and the toilet seat cushion to close, or control the toilet lid to close and control the flushing valve to act for flushing when it is detected that the user is at a second preset distance away from the lidar, and the second preset distance is greater than the first preset distance; The user tracking module includes: A clustering sub-module for performing clustering processing on the point cloud data to obtain a voxel representing the user; A matching sub-module for matching the voxel representing the user in the current frame of point cloud data with the voxel representing the user in the previous frame of point cloud data; A user determination sub-module for determining that the voxels representing the user in two adjacent frames of point cloud data represent the same user if the matching result is successful.

8. An electronic device, characterized in that, It includes: One or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the intelligent toilet control method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the intelligent toilet control method according to any one of claims 1-6.

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