CN111387865B

CN111387865B - Intelligent closestool control method

Info

Publication number: CN111387865B
Application number: CN202010194876.XA
Authority: CN
Inventors: 胡波清
Original assignee: Guangdong Lanshuihua Intelligent Electronic Co ltd
Current assignee: Guangdong Lanshuihua Intelligent Electronic Co ltd
Priority date: 2020-03-19
Filing date: 2020-03-19
Publication date: 2022-07-15
Anticipated expiration: 2040-03-19
Also published as: CN111387865A

Abstract

The invention relates to an intelligent closestool control method which comprises the steps of firstly, acquiring an actual distance matrix between a user and a preset position in real time; step two, converting the actual distance matrix into a horizontal distance matrix; step three, judging whether a user is in a first trigger area; step four, if the user is in a preset first trigger area, controlling the toilet seat to be preheated; step five, if the horizontal distance between the user and the sensor is kept constant and exceeds a preset time period or the horizontal distance is increased, controlling the toilet seat to stop preheating; step six, if the horizontal distance is continuously reduced, controlling the toilet seat to continue heating; step seven, judging whether the user is in a second trigger area; and step eight, if the user is in a preset second trigger area of the closestool, controlling the upper cover of the closestool to be opened. The invention realizes the accurate control of the heating of the toilet seat and the upper cover for distinguishing whether the human body needs to use the toilet or not for the first time based on the TOF sensor.

Description

Intelligent closestool control method

Technical Field

The invention belongs to the technical field of intelligent toilets, and particularly relates to an intelligent toilet control method.

Background

In the prior art, intelligent control of an intelligent closestool mostly relates to automatic heating of a closestool seat ring, and the adopted technology is generally based on that sensing signals generated when a human body contacts the closestool are correspondingly controlled by an infrared sensor, a pressure sensor and the like; in the prior art, a scheme for intelligently controlling the closestool based on the posture of a human body also exists; however, in the prior art, the intelligent control schemes of the toilet bowl are basically controlled based on the traditional sensing signal detection mode, some toilet bowl intelligent control schemes use a TOF sensor, but only use the TOF sensing detection principle to obtain distance and position information of a human body for relevant control, the simple distance sensing control has low precision, error sensing control is often easy to occur, along with the development of the intelligent level, people have higher and higher requirements on the control precision of intelligent household appliances, especially the intelligent toilet bowl, the control precision of heating a toilet bowl cover and a toilet seat is higher, and the traditional toilet bowl intelligent control scheme only depends on TOF sensing distance measurement and infrared reflection sensing control and cannot realize accurate control on heating of the toilet seat in the intelligent toilet bowl.

Disclosure of Invention

The invention aims to provide an intelligent closestool control method, and aims to solve the technical problem that heating of a closestool seat ring and accurate control of an upper cover in an intelligent closestool cannot be realized in the prior art.

In order to achieve the above object, an embodiment of the present invention provides an intelligent toilet control method, including the following steps:

step one, acquiring an actual distance matrix between a user and a preset position in real time;

step two, converting the actual distance matrix between the user and the preset position obtained in the step one into a horizontal distance matrix of the user relative to a preset reference surface;

thirdly, comparing and analyzing the horizontal distance matrix of the user relative to the preset reference surface obtained in the second step with first standard distance matrix data calibrated in advance relative to the preset reference surface; the first standard distance matrix data comprises a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface when a user normally enters a first trigger area;

step four, if the horizontal distance matrix is matched with the first standard distance matrix data, the toilet seat is controlled to be preheated;

step five, if the horizontal distance matrix is kept constant continuously and exceeds a preset time period or the horizontal distance is increased, controlling the toilet seat to stop preheating;

step six, if the horizontal distance continuously decreases, controlling the toilet seat to continuously heat;

step seven, comparing and analyzing the horizontal distance of the user relative to the preset reference surface obtained in the step two with second standard distance matrix data calibrated in advance relative to the preset reference surface; the second standard distance matrix data comprise a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface when the user normally enters a second trigger area;

and step eight, if the horizontal distance is matched with the second standard distance data, controlling the upper cover of the closestool to be opened.

Optionally, the step one specifically includes the following steps:

(1) the light emitter and the optical imaging lens are arranged on the wall surface on the back side of the closestool, face to the right front of the closestool and are guaranteed not to be blocked by the closestool;

(2) generating a modulation signal to a light emitter through a modulator, and emitting a modulated detection light beam outwards by the light emitter;

(3) when the detection light beam emitted by the light emitter meets a user, the detection light beam is reflected to the optical imaging lens through all parts of the body of the user;

(4) the photosensitive detector lattice behind the optical imaging lens receives the reflected light beam via the optical imaging lens and determines the phase difference and period between the reflected light beam and the emitted light beam based on the formula

And calculating to obtain the actual distance between the user light-reflecting part of the reflected light beam and the corresponding photosensitive detection pixel point in the photosensitive detector lattice for receiving the reflected light beam, wherein the distance is used as the actual distance between the user and the preset position.

Optionally, the second step specifically includes the following steps:

(1) selecting the preset reference surface as a plane where the photosensitive detector lattice is located, and establishing a plane coordinate system on the preset reference surface, wherein the origin of coordinates is an intersection point of a normal line passing through the optical center of the optical imaging lens and the preset reference surface, and the distance between the origin of coordinates and the optical center is marked as O' F;

(2) converting the actual distance between the user light-reflecting part of the reflected light beam and the corresponding photosensitive detection pixel point in the photosensitive detector lattice receiving the reflected light beam into the horizontal distance between the user light-reflecting part and the preset reference surface by the following formula:

wherein, QQ 'is the actual distance between the user's reflective part of the reflected light beam and the corresponding photosensitive detection pixel in the photosensitive detector lattice receiving the reflected light beam, and (x ', y') is the position coordinate of the corresponding photosensitive detection pixel in the plane coordinate system of the predetermined reference plane.

The third step specifically comprises the following steps:

under the condition that the human body normally enters the first trigger area, calibrating a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface in advance to serve as first standard distance matrix data;

and comparing and analyzing the converted horizontal distance matrix of the user relative to the preset reference surface with the first standard distance matrix data.

Optionally, the human body surface feature points include human body contour feature data of a front side, a side and a back side of the human body.

The invention also provides an intelligent closestool control method, which is carried out based on an intelligent closestool control system, wherein the intelligent closestool control system comprises a distance detection and calculation unit, a characteristic identification processing unit and a seat ring upper cover control unit which are sequentially connected, and the intelligent closestool control method specifically comprises the following steps:

step one, calculating actual distance information between a user and a preset position through the distance detection calculating unit, and sending the actual distance information to the feature recognition processing unit;

secondly, converting the actual distance matrix information between the user and the preset position obtained in the first step into horizontal distance matrix information of the user relative to a preset reference surface through the characteristic identification processing unit;

comparing and analyzing the horizontal distance matrix information of the user relative to the preset reference surface obtained in the step two and first standard distance matrix data information calibrated in advance relative to the preset reference surface through the feature identification processing unit, wherein the first standard distance matrix data information comprises the horizontal distance matrix information of the human body surface feature points relative to the preset reference surface when the user normally enters the first trigger area;

step four, if the characteristic identification processing unit judges that the horizontal distance matrix information is matched with the first standard distance matrix data information, the toilet seat upper cover control unit controls the preheating of the toilet seat;

step five, if the characteristic identification processing unit judges that the horizontal distance matrix information is continuously kept constant and exceeds a preset time period or the horizontal distance is increased, controlling the toilet seat to stop preheating;

step six, if the characteristic identification processing unit judges that the horizontal distance matrix information is continuously reduced, the toilet seat upper cover control unit controls the toilet seat to be continuously heated;

step seven, if the characteristic identification processing unit judges that the horizontal distance matrix information is compared and analyzed with second standard distance matrix data information calibrated in advance relative to the preset reference surface, wherein the second standard distance matrix data information comprises the horizontal distance matrix information of the characteristic points of the human body surface relative to the preset reference surface when the human body needs to use the closestool, namely when a user is in a second trigger area;

and step eight, if the characteristic identification processing unit judges that the horizontal distance information is matched with the second standard distance matrix data information, the seat ring upper cover control unit controls the toilet upper cover to be opened.

Optionally, the distance detecting and calculating unit includes a light emitter, a modulator, an optical imaging lens, a photosensitive detector dot matrix, a controller and a distance calculator, the controller is connected to the modulator and the photosensitive detector dot matrix, the modulator is connected to the light emitter and the photosensitive detector dot matrix, the light emitter is configured to emit a modulated detection light beam, the detection light beam is reflected by a detected object of a user and then enters the optical imaging lens, the detection light beam is shaped by the optical imaging lens and then enters the photosensitive detector dot matrix, the photosensitive detector dot matrix is disposed right behind the optical imaging lens and connected to the distance calculator, the distance calculator calculates actual distance information between the detected object and the photosensitive detector dot matrix based on reflected light beam information received by the photosensitive detector dot matrix, and transmits the actual distance information and inherent information of the photosensitive detector dot matrix to the controller, then the controller transmits the relevant information to the feature identification processing unit; the system comprises a photosensitive detector dot matrix, a distance calculator and a characteristic identification processing unit, wherein the photosensitive detector dot matrix is provided with a plurality of photosensitive detection pixel points which are arranged in a matrix array form, each photosensitive detection pixel point is used as an independent photosensitive detector element, modulated detection light beams emitted by the light emitter are reflected by multiple points on the surface of a measured object and then are respectively incident on the corresponding photosensitive detection pixel points of the photosensitive detector dot matrix, each photosensitive detection pixel point of the photosensitive detector dot matrix receives a reflected light beam from a corresponding reflection point on the surface of the measured object, the actual distance information obtained by the distance calculator is an actual distance matrix corresponding to each reflection point position of the measured object, and the horizontal distance information obtained by converting the actual distance information by the characteristic identification processing unit is a horizontal distance matrix corresponding to each photosensitive detection pixel point position of the photosensitive detector dot matrix;

the characteristic identification processing unit comprises a distance converter, a characteristic comparison processor, a communication interface module, a standard characteristic memory and an output module, wherein the communication interface module is connected to a controller of the distance detection computing unit, the distance converter is connected to the communication interface module, the characteristic comparison processor is connected to the distance converter, the standard characteristic memory is connected to the characteristic comparison processor, and the output module is connected to the characteristic comparison processor; the distance converter converts an actual distance matrix between a user and the sensor into a horizontal distance matrix of the user relative to a plane where the photosensitive detector lattice is located, and then transmits the horizontal distance matrix to the characteristic comparison processor; the characteristic comparison processor obtains actual characteristic information of the user based on the horizontal distance matrix, the characteristic comparison processor compares the actual characteristic information of the user with standard characteristic information prestored in a standard characteristic storage, and if the matching degree reaches a preset level, the characteristic comparison processor generates a driving control signal corresponding to the standard characteristic information and transmits the driving control signal to the upper cover control unit or the upper cover driving control unit of the seat ring through the output module.

Optionally, the modulated detection light beam emitted by the light emitter is a sine wave, a pulse wave or other periodic modulation wave, and the distance calculator calculates the actual distance between a certain reflection point of the measured object and the photosensitive detection pixel point corresponding to the photosensitive detector lattice based on the following formula:

wherein: c is the speed of light, T is the period of the modulated wave,

the phase difference between the reflected light beam received by the corresponding photosensitive detection pixel point and the corresponding detection light beam emitted by the light emitter is obtained;

the distance converter specifically converts the actual distance matrix into a horizontal distance matrix by:

firstly, the distance converter converts the measured distance between each reflection point on the surface of the measured object and the corresponding photosensitive detection pixel point into the horizontal distance of the reflection point on the surface of the measured object relative to the plane where the photosensitive detector lattice is located according to the following formula:

the QQ' is the actual measurement distance between the surface reflection point of the measured object and the corresponding photosensitive detection pixel point, and is calculated by a distance calculator in the distance detection calculating unit; (x ', y') is the position coordinate of the corresponding photosensitive detection pixel point in the photosensitive detector lattice plane coordinate system; o' F is the distance between the optical center of the optical imaging lens and the origin of coordinates in the lattice plane coordinate system of the photosensitive detector; d is the horizontal distance of the reflection point on the surface of the measured object relative to the plane where the photosensitive detector lattice is located;

wherein, the photosensitive detector dot matrix plane coordinate system means: the method comprises the following steps of taking an intersection point of a straight line which passes through the optical center of the optical imaging lens and is perpendicular to the plane where a photosensitive detector dot matrix is located and the plane where the photosensitive detector dot matrix is located as a coordinate origin, and establishing a coordinate system in the plane where the photosensitive detector dot matrix is located, wherein the position coordinate of each photosensitive detection pixel point in the photosensitive detector dot matrix plane coordinate system and the distance between the optical center of the optical imaging lens and the coordinate origin belong to known quantities;

and secondly, the distance converter correlates each horizontal distance obtained by conversion with the position of the corresponding photosensitive detection pixel point to form the horizontal distance matrix.

Optionally, the distance converter obtains first actual horizontal characteristic curve information of the human body surface characteristic curve relative to the predetermined reference surface when the user enters the first trigger area by extracting characteristic data of the human body surface characteristic curve in the horizontal distance matrix;

the distance converter extracts characteristic data of the human body surface characteristic curve in the horizontal distance matrix to obtain second actual horizontal characteristic curve information of the human body surface characteristic curve relative to the preset reference surface after the user enters a second intelligent control trigger range;

the characteristic data of the human body surface characteristic curve comprise human body contour characteristic data of the front side, the side face and the back side of the human body;

the first standard distance matrix data information comprises horizontal distance matrix information of a human body surface characteristic curve relative to the preset reference surface when a user calibrated in advance normally enters the first trigger area; the second standard distance matrix data information comprises horizontal distance matrix information of a human body surface characteristic curve relative to the preset reference surface when a user needs to use the toilet bowl, namely when the user is in a second trigger area, which is calibrated in advance.

Optionally, if the converted user enters the first trigger area and first actual horizontal characteristic curve information of the human body surface characteristic curve relative to the predetermined reference surface matches the first standard distance matrix data information, the characteristic identification processing unit generates a seat ring heating control signal, and the seat ring upper cover control unit controls seat ring preheating based on the seat ring heating control signal;

and if the converted user enters the second intelligent control trigger range and second actual horizontal characteristic curve information of the human body surface characteristic curve relative to the preset reference surface is matched with the second standard distance matrix data information, the characteristic identification processing unit generates an upper cover opening control signal, and the upper cover driving control unit controls the upper cover to be opened based on the upper cover opening control signal.

The invention also provides an intelligent closestool control method, which specifically comprises the following steps:

the method comprises the following steps that firstly, the light emitter and the optical imaging lens are arranged at preset positions, face to the front of the closestool and are guaranteed not to be blocked by the closestool;

step two, a modulator generates a modulation signal to a light emitter, and the light emitter emits a modulated detection light beam outwards;

step three, when the detection light beam emitted by the light emitter meets a user, the detection light beam is reflected to the optical imaging lens by the user;

fourthly, a photosensitive detector lattice positioned at the rear side of the optical imaging lens receives the reflected light beam through the optical imaging lens, and the distance calculator receives the phase difference and the period of the reflected light beam and the emitted light beam through the phase difference and the period, wherein the phase difference and the period are based on a formula:

calculating to obtain actual distance data between the user and the photosensitive detector dot matrix;

step five, the distance calculator transmits the calculated actual distance data and the photosensitive detector dot matrix related information to the distance converter, the distance converter judges whether the user is in the intelligent control trigger range of the closestool or not based on the actual distance data, and if yes, the step six is executed;

step six, the distance converter bases the received actual distance data of the user and the photosensitive detector dot matrix on a formula

Converting the horizontal distance data of the user relative to the lattice plane of the photosensitive detector and transmitting the horizontal distance data to a characteristic comparison processor, wherein QQ 'is the actual distance data between the user and the lattice of the photosensitive detector, and (x', y ') and O' F are known parameters in the lattice of the photosensitive detector;

step seven, the characteristic comparison processor compares and analyzes the horizontal distance matrix data of the user relative to the photosensitive detector lattice plane, which is converted by the distance converter, with the first standard distance matrix data calibrated in advance relative to the preset reference plane; the first standard distance matrix data comprises a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface when a user normally enters a first trigger area;

step eight, if the characteristic comparison processor judges that the horizontal distance matrix is matched with the first standard distance matrix data, the characteristic comparison processor generates a seat ring heating control signal, and the seat ring upper cover control unit controls the preheating of the toilet seat ring based on the seat ring heating control signal;

step nine, if the characteristic comparison processor judges that the horizontal distance is continuously kept constant and exceeds a preset time period or the horizontal distance is increased, the characteristic comparison processor generates a seat ring heating stopping signal, and the seat ring upper cover control unit controls the toilet seat ring to stop heating based on the seat ring heating stopping signal;

if the characteristic comparison processor judges that the horizontal distance continuously decreases, the characteristic comparison processor generates a seat ring continuous heating signal, and the seat ring upper cover control unit controls the toilet seat ring to continuously heat based on the seat ring continuous heating signal;

eleventh, the characteristic comparison processor compares and analyzes the horizontal distance of the user relative to a preset reference surface with second standard distance matrix data calibrated in advance relative to the preset reference surface; the second standard distance matrix data comprises a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface when the user normally enters a second trigger area;

and a twelfth step of, if the feature comparison processor judges that the horizontal distance matrix matches the second standard distance matrix data, generating an upper cover opening control signal by the feature recognition processing unit, and controlling the upper cover to open by the upper cover drive control unit based on the upper cover opening control signal. .

One or more technical schemes in the intelligent closestool control method provided by the embodiment of the invention at least have one of the following technical effects:

1) the invention accurately measures the distance information between the measured object in the measured area and the TOF sensor based on the TOF sensor, converts the sensed actual distance information into the horizontal distance characteristic information corresponding to the measured object in the measured area, and accurately controls the heating of the toilet seat based on the comparison between the horizontal distance characteristic information and the standard characteristic information, thereby realizing the accurate control of the heating of the toilet seat for distinguishing whether the human body needs to use the toilet or not for the first time.

2) The control technology can be applied to accurate intelligent control of heating of the toilet seat ring, can also be applied to other use control of the intelligent toilet, and has wide popularization and application prospects.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a block diagram of the structure of an intelligent toilet control system according to the present invention;

FIG. 2 is a schematic diagram of the light path structure of the light beam emission and reflection detection of the distance detection computing unit in the intelligent toilet control system according to the present invention;

FIG. 3 is a schematic diagram of the actual measurement distance between the measured point of the measured human body and the photosensitive detector dot matrix;

FIG. 4 is a schematic illustration of the measured distance of FIG. 3 converted to a horizontal distance;

FIG. 5 is a schematic diagram of a corresponding structure of light paths between a measured point in a measured space and a photosensitive detection pixel point in a photosensitive detector dot matrix;

FIG. 6 is a schematic diagram of a distance conversion structure for converting the actual measurement distance between the measured point in the measured space and the photosensitive detection pixel point into the horizontal distance between the measured point in the measured space and the lattice plane of the photosensitive detector;

FIG. 7 is a schematic diagram showing a distribution rule of horizontal distance characteristic data reflecting a characteristic curve of a front surface of a human body;

fig. 8 is a schematic diagram of the installation position and the triggering threshold distance or angle of the intelligent toilet control system according to the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the embodiments of the present invention, and should not be construed as limiting the invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixed or detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Specific meanings of the above terms in the embodiments of the present invention may be understood by those of ordinary skill in the art according to specific situations.

In one embodiment of the present invention, as shown in fig. 1-2, there is provided a flush control system for an intelligent toilet, which includes a distance detection and calculation unit, a feature recognition and processing unit, and a seat cover control unit connected in sequence.

As shown in fig. 8, the distance detection and calculation unit is installed at a predetermined position, and in this embodiment, the distance detection and calculation unit is installed at a position of a rear wall surface of a toilet tank, faces a position right in front of the toilet, and transmits and receives signals without being blocked by the toilet lid. The distance detection calculation unit is used for detecting the distance between the user and the distance detection calculation unit based on the flight time principle, wherein the distance is a multipoint distance corresponding to a plurality of position points, namely an actual distance matrix between the detected user and a preset position.

As shown in fig. 1, the distance detection and calculation unit includes a light emitter, a modulator, an optical imaging lens, a photosensitive detector lattice, a controller and a distance calculator, the controller is connected to the modulator and the photosensitive detector lattice for providing modulation control signals to the modulator, the modulator is connected to the light emitter for providing modulation signals to the light beam emitted by the light emitter, and the modulator is further connected to the photosensitive detector lattice for providing basic modulation information. The light emitter is preferably an infrared light emitter and is used for emitting modulated light beams to a measured object, the modulated light beams reach the surface of the measured object, are reflected by the surface of the measured object and then enter the optical imaging lens, are input to the photosensitive detector dot matrix after being shaped by the optical imaging lens, the photosensitive detector dot matrix is connected to the distance calculator, and outputs the reflected light beam signal to a distance calculator, after the distance calculator carries out necessary processing such as noise removal filtering and A/D conversion on the reflected light beam, calculating to obtain the distance information between the position points of the measured object reflecting the reflected light beam and the photosensitive detection pixel points in the photosensitive detector lattice receiving the reflected light beam, and the distance information and the relevant position information of the photosensitive detection pixel point are transmitted to a controller, and the controller further transmits the relevant information to a feature identification processing unit.

The distance detection and calculation unit may be implemented by any one of a 3D sensor, a TOF time-of-flight sensor, a DVS, a structured light sensor, and the like, and a process of calculating an actual distance matrix between a user and a predetermined position based on a TOF time principle by the distance detection and calculation unit is specifically described below:

the distance detection calculation unit generates modulated infrared light through a light emitter of the distance detection calculation unit and emits the modulated infrared light outwards, the modulated infrared light is reflected to form reflected infrared light after meeting a measured object, and the reflected infrared light is received by a photosensitive detector dot matrix behind the reflected infrared light after passing through an optical imaging lens of the distance detection calculation unit. The emission modulation infrared light and the reflection infrared light of the distance detection calculation unit are both in a sine wave form, and can be expressed in a functional form as follows: the function expression for emitting modulated infrared light is:

the functional expression for reflected infrared light is:

wherein:

t is a time parameter;

a is the amplitude of the modulated infrared light;

t is the sine wave period;

kA is the amplitude of the reflected infrared light;

k is an attenuation coefficient;

the signal phase difference of the currently transmitted modulated infrared light and the received reflected infrared light;

and n is a noise wave received and not reflected by the light source of the light emitter of the distance detection and calculation unit.

Therefore, the delay time from the emission of the modulated infrared light to the reception of the reflected infrared light formed by the modulated infrared light, i.e., the elapsed flight time of the infrared light:

wherein, T is the modulation period of modulating the infrared light.

In the time period from the transmission of the modulated infrared light by the light emitter to the reception of the reflected infrared light reflected by the measured object by the photosensitive detector, the flight path of the infrared light is as follows:

wherein: c is the speed of light, i.e. about 3X 10⁸m/s；

Therefore, the distance between the measured object reflecting the infrared light and the photosensitive detector dot matrix of the distance detection and calculation unit is as follows:

the distance between the measured object and the photosensitive detector dot matrix can be calculated based on the sine wave period of the modulated infrared light and the signal phase difference of the reflected infrared light received by the photosensitive detection pixel point and the modulated infrared light emitted by the light emitter, the distance calculator transmits the sine wave period and the signal phase difference to the distance calculator, and the distance calculator calculates an actual measurement distance matrix between the measured object and the photosensitive detector dot matrix based on the formula, namely the actual distance matrix between the user and the preset position is measured.

The photosensitive detector lattice in the distance detection and calculation unit of the invention is provided with a plurality of photosensitive detection pixel points which are arranged in a matrix array form, each photosensitive detection pixel point can be used as an independent photosensitive detector element, thus, the light emitter emits modulated infrared light once outwards, the modulated infrared light is reflected by a plurality of points on the surface of a measured object and then is respectively incident on the corresponding photosensitive detection pixel points in the photosensitive detector lattice, namely, each photosensitive detection pixel point in the photosensitive detector lattice can collect the reflected infrared light and obtain a sensing distance, finally, the measured distance information of each frame detected by the photosensitive detector lattice corresponds to a distance matrix, and the measured distance between each reflection point on the surface of the measured object and the corresponding photosensitive detection pixel point which receives the reflected light of the point is combined with the position of the reflection point to form two-dimensional distance distribution, as schematically shown in fig. 2.

The distance detection and calculation unit transmits the obtained actually measured distance matrix information of each frame and the dot matrix position information corresponding to each photosensitive detection pixel point to the characteristic identification processing unit, the characteristic identification processing unit further processes the information to judge the state of a user, and then a control signal corresponding to the seat upper cover control unit is generated.

As shown in fig. 1, the feature recognition processing unit includes a communication interface module, a distance converter, a feature comparison processor, a standard feature memory, and an output module;

the communication interface module is connected with the controller of the distance detection and calculation unit, the distance converter is connected with the communication interface module, the characteristic comparison processor is connected with the distance converter, the standard characteristic storage is connected with the characteristic comparison processor, and the output module is connected with the characteristic comparison processor.

The communication interface module is used for receiving the actually measured distance information between the measured object and each photosensitive detection pixel point and the lattice position information of each photosensitive detection pixel point, which are provided by the distance detection and calculation unit, and transmitting the received information to the distance converter; the distance converter converts the measured distance information into horizontal distance information of the measured object relative to the plane where the photosensitive detector dot matrix is located based on the measured distance information between each photosensitive detection pixel point and the measured object and the position information of the photosensitive detection pixel points, and the horizontal distance information is associated with the position information of the photosensitive detection pixel points corresponding to the horizontal distance information to form horizontal distance matrix distribution; the standard characteristic storage is prestored with a large amount of standard characteristic data which is calibrated and set in advance, the characteristic comparison processor receives the horizontal distance data information provided by the distance converter and compares the horizontal distance data information with the standard characteristic data information stored in the standard characteristic storage, if a comparison matching condition is met, a corresponding control signal is generated and sent to the output module, and the output module provides the control signal to the seat ring upper cover control unit, so that the seat ring upper cover control unit adopts the corresponding seat ring heating operation based on the control signal.

Specifically, in this embodiment, a first trigger area is prestored in the standard feature memory, and a spatial range formed by extending outward with the distance detection calculation unit as a center of a circle and the first trigger area as a radius is the first trigger area.

Through setting up first trigger area has improved the intelligent control level of characteristic identification processing unit, specifically, when the human body is far away from TOF distance, the TOF sensor detect with the human body of being surveyed actual distance matrix with the horizontal distance matrix difference after the conversion is little, can't judge this moment whether the human body will use the closestool, can not start horizontal distance matrix conversion operation this moment, also do not provide any signal to the characteristic comparison treater, and then do not go to bath drive control power output control signal. When the distance between the human body and the TOF is short, the difference between the actual distance matrix detected by the ToF sensor and the detected human body and the converted horizontal distance matrix is large, at the moment, conversion operation on the horizontal distance matrix is started, and an operation result is provided for the characteristic comparison processor to generate a corresponding control driving signal. Presetting a trigger threshold distance in a distance converter, and determining whether a person exists in an intelligent control trigger range of the ToF sensor based on the relationship between the received actual distance between the detected human body and the photosensitive detector lattice and the set trigger threshold distance so as to provide an intelligent level; the method also can select a preset trigger threshold angle in the distance converter, and determine whether a person exists in the intelligent control trigger range of the ToF sensor based on the relationship between the received actual opening angle of the detected human body relative to the photosensitive detector lattice and the set trigger threshold angle, wherein the angle value can be obtained by converting the distance between the actual measurement distance corresponding to the highest point of the detected human body and the optical center line.

When the actual distance matrix information between the user and the preset position is smaller than the first threshold distance information, namely, a person enters the first trigger area at the moment, the fact that the person possibly uses the closestool is meant. Then, the distance converter in the feature recognition processing unit converts the actual distance matrix between the user and the predetermined position into a horizontal distance matrix of the user relative to a predetermined reference plane.

The working process of the distance converter for converting the actual distance matrix between the user and the predetermined position into the horizontal distance matrix of the user relative to the predetermined reference plane is described in detail as follows:

firstly, the actual measurement distance acquired by the distance detection and calculation unit is the linear distance between each measured point and the corresponding photosensitive detection pixel point in the distance detection and calculation unit, and the whole distance detection and calculation unit can be regarded as a circle center particle for easy understanding.

As shown in fig. 3-6, in this embodiment, the distance detection and calculation unit uses a TOF sensor, which can be regarded as a particle, and as can be seen from the figure, when the TOF sensor forms an excessively large angle with the detected region of the human body, both the measured distances d1 and d5 are far greater than d 3. If the actual measurement distances d1 and d5 are directly adopted for human body identification, the difference between the characteristics reflected by the distances and the actual characteristics of the human body is large, and the human body identification precision is greatly reduced.

A specific distance conversion process is given below, as shown in fig. 5-6, a light beam reflected by each measured point Qn in the measured area a of the human body is focused by the optical imaging lens and then enters a corresponding photosensitive detection pixel point in the lattice of the photosensitive detector, and the distance between the measured point Qn of each human body and the corresponding photosensitive detection pixel point can be directly calculated after the photosensitive detection pixel point transmits the relevant phase and frequency information to the distance calculator, and further, if the distance between the measured point Qn of the human body and the corresponding photosensitive detection pixel point is to be converted into the horizontal distance between the measured point Qn of the human body and the lattice plane of the photosensitive detector, the inclination angle of the straight line connecting line between the measured point Qn of the human body and the corresponding photosensitive detection pixel point with respect to the lattice plane of the photosensitive detector needs to be known, as shown in the enlarged light path structure diagram given in fig. 6, after being reflected by a certain human body measuring point Q in a human body measured area A, a modulated light beam generated by the light reflector passes through an optical imaging lens in the distance detection and calculation unit and is focused on a corresponding photosensitive detection pixel point Q 'in a photosensitive detector lattice behind the modulated light beam, and a plane B where the photosensitive detector lattice is located serves as a horizontal distance reference plane and extends to the plane B'. Taking an orthographic projection central point O 'of an optical center F of the optical imaging lens in a photosensitive detector lattice plane B (namely the intersection point of a central normal of the optical imaging lens and the photosensitive detector lattice plane B) as a coordinate origin, establishing a coordinate system X' O 'Y' in the photosensitive detector lattice plane B, wherein FO 'is vertical to the plane B, wherein the distance between the positions Q' (X ', Y') of each photosensitive detection pixel point in the X 'O' Y 'plane coordinate and FO' in the photosensitive detector lattice plane B belongs to the known quantity in each distance detection and calculation unit, because the position of each photosensitive detection pixel point in the photosensitive detector lattice of each distance detection unit and the distance between the optical imaging lens and the photosensitive detector lattice plane are fixed and initially calibrated, specific position coordinate information and distance information are written in the initialization process. And each distance detection calculation unit transmits the position coordinate information of each photosensitive detection pixel point in the photosensitive detector dot matrix and the distance information between the optical imaging lens and the photosensitive detector dot matrix plane to a distance converter of the characteristic identification processing unit together with the measured actual distance between the measured point and the corresponding photosensitive detection pixel point.

Thus, the distance between a certain human body measured point Q and the corresponding photosensitive detection pixel point Q' in the measured area A can be converted into the horizontal distance d between the human body measured point Q and the lattice plane of the photosensitive detector according to the following formula:

horizontal distance: d ═ QC ═ QQ' cos (a);

wherein the content of the first and second substances,

as described above, for each distance detection computing unit, the position coordinate information (x ', y') of each photosensitive detection pixel point and the lattice plane of the optical imaging lens and the photosensitive detectorThe distance information O 'F between the pixels is the inherent information of the distance detection and calculation unit, belonging to the known information parameters, and the distance QQ' between each measured pixel and the corresponding photosensitive detection pixel can be calculated by formula

Calculated by a distance calculator of a distance detection calculation unit. After the distance detection and calculation unit transmits the calculated distance QQ 'and the position coordinate information (x', y ') of the corresponding photosensitive detection pixel point and the distance information O' F between the optical imaging lens and the photosensitive detector lattice plane to the feature recognition and processing unit, the distance converter therein calculates the horizontal distance from the measured point of the human body to the photosensitive detector lattice plane based on the following formula:

the horizontal distance d is associated with the coordinate information (x ', y ') of the position of the photosensitive detection pixel point, so that each position of the photosensitive detection pixel point corresponds to a horizontal distance, and finally, the position information of all the photosensitive detection pixel points on the photosensitive detector dot matrix forms a horizontal distance distribution matrix, so that after a frame distance matrix detected by the distance detection calculation unit is obtained, the horizontal distance matrix from each measured point to the plane of the photosensitive detector dot matrix can be obtained through a distance converter, that is, the distances d1, d2, d3 and d4 … … in the attached drawing 3 are converted into the corresponding distances d1, d2 ', d3 ' and d4 ' … … in the attached drawing 4, and the horizontal distance matrix distribution is formed by combining the position information of the corresponding photosensitive pixel points associated with the distances.

Thus, after the distance conversion operation, the distance converter in the feature identification processing unit can convert the actual distance matrix between the user and the predetermined position into the horizontal distance matrix of the user relative to the predetermined reference surface, and send the horizontal distance matrix of the user relative to the predetermined reference surface to the feature comparison processor, where various standard feature data, such as first standard distance data and second standard distance data, capable of accurately reflecting that when the user normally enters the first trigger area, the human body surface feature points relative to the predetermined reference surface are prestored in the feature comparison processor, where the first standard distance data includes the horizontal distance matrix of the human body surface feature points relative to the predetermined reference surface when the user calibrated in advance normally enters the first trigger area; the second standard distance matrix data comprises a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface when the human body needs to use the closestool. As shown in the right diagram of fig. 7, when the front of the human body moves towards the toilet, the actual distance matrix calculated by the distance detection and calculation unit is converted into a horizontal distance matrix by the distance converter of the feature recognition and processing unit, and then a piece of corresponding distance distribution data accurately reflecting the front feature curve of the human body can be obtained in the horizontal distance matrix, as shown in the left diagram of fig. 7, the corresponding data of the front feature curve of the human body is stored in the standard feature memory as a piece of standard feature data which is calibrated in advance and corresponds to the situation that the human body just enters the first trigger area.

Therefore, various standard characteristic data corresponding to the fact that a toilet bowl is to be used when a human body walks into the first trigger area and after the human body enters the second intelligent control trigger range are stored in the standard memory through advanced calibration, the standard characteristic data are calibrated in advance through a large number of actual using postures, and horizontal distance conversion processing is carried out on the standard characteristic data, so that the accuracy is higher. When the ToF sensor is used for the distance detection and calculation unit, the pixel of the ToF sensor can reach more than 38K, the precision can reach less than 2mm, and various characteristics of the human body curve can be analyzed very finely and accurately after horizontal matrix conversion.

The human body surface feature points comprise human body outline feature data of the front side, the side face and the back side of the human body. The human body contour characteristic data of the front face of the human body comprise a nose, a mouth, a chin and/or a neck of the face of the human body and/or toes of feet of the human body; the human body contour characteristic data of the human body side surface comprises human body face noses, mouths, chins and/or necks, and/or human body shoulders, and/or human body toes of feet at all angles; the human body contour characteristic data of the human body back comprises the human body head back, and/or the human body neck back, and/or the human body foot heel.

Then, the feature comparison processor in the feature identification processing unit compares and analyzes the converted horizontal distance matrix of the user relative to the preset reference surface and the first standard distance matrix data calibrated in advance relative to the preset reference surface.

Based on a comparison analysis result, if the horizontal distance matrix is judged to be matched with the first standard distance matrix data by a feature comparison processor in the feature identification processing unit, it is indicated that a person really enters the first trigger area and a toilet is probably used at the moment, then the feature comparison processor generates a seat ring heating control signal, and the seat ring upper cover control unit controls the preheating of the toilet seat ring based on the seat ring heating control signal.

The horizontal distance matrix of the user relative to the preset reference surface is compared with the first standard distance matrix data calibrated in advance relative to the preset reference surface for analysis, so that the misjudgment of the characteristic identification processing unit caused by the fact that non-human bodies such as pets and sweeping robots enter the first trigger area but are not possible to use the closestool is eliminated, and the intelligent control level of the closestool is improved.

Then, the characteristic comparison processor in the characteristic identification processing unit continuously receives the horizontal distance matrix of the user relative to the preset reference surface, and further judges whether the person entering the first trigger area really goes to use the toilet or not based on the continuously received information.

Specifically, when the feature comparison processor in the feature identification processing unit determines that the received horizontal distance matrix of the user relative to the predetermined reference surface is continuously kept constant and exceeds the preset time period, that is, the user keeps still in the first trigger area and exceeds the preset time period, it indicates that the user does not continuously approach the toilet bowl in the first trigger area, that is, the user does not need to use the toilet bowl. The specific application scenarios are as follows: when the first trigger area is internally provided with a toilet table, when a user needs to use the toilet table for dressing, the user enters the first trigger area and moves to the toilet table, the hand of the user moves during dressing of the toilet table, but the whole body of the user keeps relatively static, the horizontal distance matrix of the user relative to the preset reference surface keeps constant, and therefore the user is not really going to use the toilet at the moment. Therefore, when the characteristic comparison processor in the characteristic identification processing unit judges that the received horizontal distance of the user relative to the preset reference surface is continuously kept constant and exceeds a preset time period, the characteristic comparison processor generates a seat ring heating stopping signal, and the seat ring upper cover control unit controls the toilet seat ring to stop heating based on the seat ring heating stopping signal.

Or, the user just passes through the first trigger area, even if the user enters the first trigger area first and then leaves the first trigger area, the user does not really need to use the toilet, and at this time, the preheating of the toilet needs to be stopped, that is, when the feature comparison processor in the feature identification processing unit determines that the received horizontal distance of the user relative to the predetermined reference surface is increased, the feature comparison processor in the feature identification processing unit can also understand that the feature comparison processor in the feature identification processing unit does not receive the horizontal distance of the user relative to the predetermined reference surface continuously, that is, the user has already left the first trigger area at this time, so at this time, the feature comparison processor also generates a seat stop heating signal, so that the seat upper cover control unit controls the toilet seat to stop heating based on the seat stop heating signal.

Certainly, if a user really needs to use the toilet, the user can continuously approach the toilet, and in the approach process, the horizontal distance matrix of the user relative to the preset reference surface is changed and gradually approaches the toilet, and the horizontal distance is gradually reduced; therefore, when the characteristic comparison processor in the characteristic identification processing unit judges that the received horizontal distance matrix of the user relative to the preset reference surface is continuously reduced, the characteristic comparison processor generates a seat continuous heating signal, and the seat upper cover control unit controls the toilet seat to be continuously heated based on the seat continuous heating signal.

Furthermore, a second threshold distance is also prestored in the standard feature memory, and a spatial range formed by outward extension with the distance detection calculation unit as a circle center and the second threshold distance as a radius is used as a second intelligent control trigger range.

When the feature comparison unit of the feature identification processing unit determines that the horizontal distance of the user relative to the predetermined reference surface is smaller than the second threshold distance, that is, the user enters the second intelligent control trigger range, it means that the user is most likely to need to use the toilet.

Therefore, the feature comparison unit of the feature identification processing unit compares and analyzes the horizontal distance matrix of the user relative to the preset reference surface and the second standard distance matrix data calibrated in advance relative to the preset reference surface.

When the characteristic comparison unit of the characteristic identification processing unit judges that the horizontal distance matrix of the user relative to the preset reference surface is matched with the second standard distance matrix data, which indicates that the user needs to use the toilet at the moment, the characteristic identification processing unit generates an upper cover opening control signal, and the seat upper cover control unit controls the upper cover to be opened based on the upper cover opening control signal, so that the user can use the toilet conveniently.

In this embodiment, the seat ring upper cover control unit includes closestool main control board, seat ring heater, upper cover actuating mechanism and upper cover, the closestool main control board with the output module of characteristic identification processing unit is connected, the seat ring heater with upper cover actuating mechanism all with the closestool main control board is connected, the upper cover with upper cover actuating mechanism connects. The specific control process of the seat ring upper cover control unit for heating the seat ring based on the signal sent by the characteristic identification processing unit is as follows:

(1) when the characteristic comparison processor in the characteristic identification processing unit judges that the horizontal distance matrix is matched with the first standard distance matrix data, the characteristic comparison processor generates a seat heating control signal and sends the signal to the closestool main control panel through the output module, and the closestool main control panel controls the seat heater to heat a seat based on the seat heating control signal;

(2) when the characteristic comparison processor in the characteristic identification processing unit judges that the received horizontal distance matrix of the user relative to the preset reference surface is continuously kept constant and exceeds a preset time period or when the characteristic comparison processor in the characteristic identification processing unit judges that the horizontal distance matrix of the user relative to the preset reference surface is increased, the characteristic comparison processor generates a seat ring heating stopping signal and sends the signal to the toilet main control board through the output module, and the toilet main control board controls the seat ring heater to stop heating the seat ring based on the seat ring heating stopping signal;

(3) when the characteristic comparison processor in the characteristic identification processing unit judges that the received horizontal distance matrix of the user relative to a preset reference surface is continuously reduced, the characteristic comparison processor generates a seat ring continuous heating signal and sends the signal to the toilet main control board through the output module, and the toilet main control board controls the seat ring heater to continuously heat the seat ring based on the seat ring continuous heating signal;

(4) when the characteristic comparison unit of the characteristic identification processing unit judges that the horizontal distance matrix of the user relative to the preset reference surface is matched with the second standard distance matrix data, the characteristic identification processing unit generates an upper cover opening control signal and sends the signal to the closestool main control board through the output module, and the closestool main control board controls the upper cover driving mechanism to open the upper cover based on the upper cover opening control signal.

Finally, briefly explaining an intelligent toilet seat control method based on the intelligent toilet control system of the invention:

Converting the horizontal distance data of the user relative to the lattice plane of the photosensitive detector and transmitting the horizontal distance data to a characteristic comparison processor, wherein QQ 'is the actual distance data of the user and the lattice of the photosensitive detector, (x', y ') and O' F are known parameters in the lattice of the photosensitive detector;

step seven, the characteristic comparison processor compares and analyzes the horizontal distance matrix data of the user converted by the distance converter relative to the lattice plane of the photosensitive detector and the first standard distance matrix data calibrated in advance relative to the preset reference surface; the first standard distance matrix data comprises a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface when a user normally enters a first trigger area;

if the characteristic comparison processor judges that the horizontal distance is continuously reduced, the characteristic comparison processor generates a seat ring continuous heating signal, and the seat ring upper cover control unit controls the toilet seat ring to be continuously heated based on the seat ring continuous heating signal;

and a twelfth step of, if the feature comparison processor judges that the horizontal distance matrix matches the second standard distance matrix data, generating an upper cover opening control signal by the feature recognition processing unit, and controlling the upper cover to open by the upper cover drive control unit based on the upper cover opening control signal.

The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims

1. An intelligent closestool control method is characterized by comprising the following steps:

step three, comparing and analyzing the horizontal distance matrix of the user relative to the preset reference surface obtained in the step two with first standard distance matrix data calibrated in advance relative to the preset reference surface; the first standard distance matrix data comprise a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface when a user normally enters a first trigger area;

step eight, if the horizontal distance is matched with the second standard distance matrix data, controlling the upper cover of the closestool to be opened;

the first trigger area is stored in advance, the first trigger area takes the distance detection and calculation unit as a circle center, and a space range formed by outwards extending the first trigger area as a radius is taken as the first trigger area;

a second threshold distance is stored in advance, the second threshold distance takes the distance detection and calculation unit as a circle center, and a space range formed by outward extension by taking the second threshold distance as a radius is taken as a second intelligent control trigger range;

based on the characteristic identification processing unit, the obtained actual measurement distance is subjected to projection conversion, and the actual measurement distance between the measured point of the human body and the TOF sensor is converted into the horizontal distance between the measured point of the human body and the plane where the TOF sensor is located, so that the converted horizontal distance is more consistent with the characteristic points of the actual curve of the human body;

wherein the second step specifically comprises the following steps:

2. The intelligent toilet control method according to claim 1, wherein the step one specifically comprises the following steps:

(4) a photosensitive detector array disposed behind the optical imaging lens for receiving the reflected light beam via the optical imaging lens and determining the phase difference and period between the reflected light beam and the emitted light beam based on a formula

Calculating the actual distance between the user light-reflecting part of the reflected light beam and the corresponding photosensitive detection pixel point in the photosensitive detector lattice receiving the reflected light beam, wherein the distance is used as the actual distance between the user and the preset position;

wherein, wherein: c is the speed of light, T is the modulation period of light wave,

the phase difference between the reflected light beam received by the corresponding photosensitive detection pixel point and the corresponding detection light beam emitted by the light emitter is obtained.

3. The intelligent toilet control method according to claim 1, wherein the third step specifically comprises the following steps:

(1) under the condition that the human body normally enters the first trigger area, calibrating a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface in advance to serve as first standard distance matrix data;

(2) and comparing and analyzing the converted horizontal distance matrix of the user relative to the preset reference surface with the first standard distance matrix data.

4. The intelligent toilet control method according to claim 3, wherein the human body surface feature points comprise human body contour feature data of the front, side and back of the human body.

5. The intelligent closestool control method is carried out based on an intelligent closestool control system, the intelligent closestool control system comprises a distance detection and calculation unit, a characteristic identification processing unit and a seat ring upper cover control unit which are sequentially connected, and the intelligent closestool control method specifically comprises the following steps:

comparing and analyzing the horizontal distance matrix information of the user relative to the preset reference surface obtained in the second step and first standard distance matrix data information calibrated in advance relative to the preset reference surface through the feature recognition processing unit, wherein the first standard distance matrix data information comprises the horizontal distance matrix information of the human body surface feature points relative to the preset reference surface when the user normally enters a first trigger area;

step five, if the characteristic identification processing unit judges that the horizontal distance matrix information is continuously kept constant and exceeds a preset time period or the horizontal distance is increased, the toilet seat cover control unit controls the toilet seat to stop preheating;

step six, if the characteristic identification processing unit judges that the horizontal distance matrix information is continuously reduced, the toilet seat cover control unit controls the toilet seat to continue heating;

step eight, if the characteristic identification processing unit judges that the horizontal distance information is matched with the second standard distance matrix data information, the seat ring upper cover control unit controls the toilet upper cover to be opened;

wherein the distance detection and calculation unit comprises a light emitter, a modulator, an optical imaging lens, a photosensitive detector dot matrix, a controller and a distance calculator, the controller is connected with the modulator and the photosensitive detector dot matrix, the modulator is connected with the light emitter and the photosensitive detector dot matrix, the light emitter is used for emitting modulated detection light beams, the detection light beams are reflected by a detected object of a user and then are incident to the optical imaging lens, the detection light beams are input to the photosensitive detector dot matrix after being shaped by the optical imaging lens, the photosensitive detector dot matrix is arranged right behind the optical imaging lens and is connected with the distance calculator, the distance calculator calculates actual distance information between the detected object and the photosensitive detector dot matrix based on reflected light beam information received by the photosensitive detector dot matrix, and transmits the actual distance information and the inherent information of the photosensitive detector dot matrix to the controller, then the controller transmits the relevant information to the feature recognition processing unit; the system comprises a photosensitive detector dot matrix, a distance calculator and a characteristic identification processing unit, wherein the photosensitive detector dot matrix is provided with a plurality of photosensitive detection pixel points which are arranged in a matrix array form, each photosensitive detection pixel point is used as an independent photosensitive detector element, modulated detection light beams emitted by the light emitter are reflected by multiple points on the surface of a measured object and then are respectively incident on the corresponding photosensitive detection pixel points of the photosensitive detector dot matrix, each photosensitive detection pixel point of the photosensitive detector dot matrix receives a reflected light beam from a corresponding reflection point on the surface of the measured object, the actual distance information obtained by the distance calculator is an actual distance matrix corresponding to each reflection point position of the measured object, and the horizontal distance information obtained by converting the actual distance information by the characteristic identification processing unit is a horizontal distance matrix corresponding to each photosensitive detection pixel point position of the photosensitive detector dot matrix;

the characteristic identification processing unit comprises a distance converter, a characteristic comparison processor, a communication interface module, a standard characteristic memory and an output module, wherein the communication interface module is connected to a controller of the distance detection computing unit, the distance converter is connected to the communication interface module, the characteristic comparison processor is connected to the distance converter, the standard characteristic memory is connected to the characteristic comparison processor, and the output module is connected to the characteristic comparison processor; the distance converter converts an actual distance matrix between a user and the sensor into a horizontal distance matrix of the user relative to a plane where the photosensitive detector lattice is located, and then transmits the horizontal distance matrix to the characteristic comparison processor; the characteristic comparison processor obtains actual characteristic information of the user based on the horizontal distance matrix, the characteristic comparison processor compares the actual characteristic information of the user with standard characteristic information prestored in a standard characteristic memory in a matching manner, and if the matching degree reaches a preset level, the characteristic comparison processor generates a driving control signal corresponding to the standard characteristic information and transmits the driving control signal to the upper cover control unit or the upper cover driving control unit of the seat ring through the output module;

the modulated detection light beam emitted by the light emitter is a sine wave, a pulse wave or other periodic modulation waves, and the distance calculator calculates the actual distance between a certain reflection point of the measured object and a photosensitive detection pixel point corresponding to the photosensitive detector lattice based on the following formula:

；

wherein: c is the speed of light, T is the period of the modulated wave,

for reflected light beam received by the corresponding photosensitive detection pixel and transmitted by the light transmitterCorresponding to the phase difference between the detection beams;

firstly, the distance converter converts the measured distance between each reflection point on the surface of the measured object and the corresponding photosensitive detection pixel point into the horizontal distance of the reflection point on the surface of the measured object relative to the plane of the photosensitive detector lattice according to the following formula:

；

secondly, the distance converter correlates each horizontal distance obtained by conversion with the position of the corresponding photosensitive detection pixel point to form the horizontal distance matrix;

the distance converter obtains first actual horizontal characteristic curve information of the human body surface characteristic curve relative to the preset reference surface when the user enters the first trigger area by extracting characteristic data of the human body surface characteristic curve in the horizontal distance matrix;

the distance converter extracts feature data of the human body surface feature curve in the horizontal distance matrix to obtain second actual horizontal feature curve information of the human body surface feature curve relative to the preset reference surface after the user enters a second intelligent control trigger range;

the characteristic data of the human body surface characteristic curve comprise human body outline characteristic data of the front side, the side face and the back side of the human body;

the first standard distance matrix data information comprises horizontal distance matrix information of a human body surface characteristic curve relative to the preset reference surface when a user normally enters the first trigger area which is calibrated in advance; the second standard distance matrix data information comprises horizontal distance matrix information of a human body surface characteristic curve relative to the preset reference surface when a user needs to use the toilet bowl, namely when the user is in the second trigger area, which is calibrated in advance.

6. The intelligent toilet control method according to claim 5,

when a user enters the first trigger area, if first actual horizontal characteristic curve information of a human body surface characteristic curve relative to the preset reference surface is matched with the first standard distance matrix data information, the characteristic identification processing unit generates a seat ring heating control signal, and the seat ring upper cover control unit controls seat ring preheating based on the seat ring heating control signal;

and after the user enters the second intelligent control trigger range, if the second actual horizontal characteristic curve information of the human body surface characteristic curve relative to the preset reference surface is matched with the second standard distance matrix data information, the characteristic identification processing unit generates an upper cover opening control signal, and the upper cover driving control unit controls the upper cover to be opened based on the upper cover opening control signal.

7. The intelligent toilet control method according to claim 6, comprising the steps of:

step one, a light emitter and an optical imaging lens are arranged at preset positions, face to the front of a closestool and are guaranteed not to be blocked by the closestool;

calculating to obtain actual distance data between a user and the photosensitive detector dot matrix;

step five, the distance calculator transmits the calculated actual distance data and the photosensitive detector dot matrix related information to the distance converter, and the distance converter judges whether the user is in the intelligent control trigger range of the closestool or not based on the actual distance data;

step eleven, the characteristic comparison processor compares the horizontal distance of the user relative to a preset reference surface with second standard distance matrix data calibrated in advance relative to the preset reference surface for analysis; the second standard distance matrix data comprises a horizontal distance matrix of the human body surface characteristic points relative to the preset reference surface when the user normally enters a second trigger area;