CN111419109B

CN111419109B - High-precision intelligent toilet seat control system and control method

Info

Publication number: CN111419109B
Application number: CN202010194877.4A
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: CN111419109A

Abstract

The invention provides a high-precision intelligent toilet seat control system and a control method, wherein the system comprises a distance detection and calculation unit, a characteristic identification processing unit and a seat driving control unit, the distance detection and calculation unit detects and calculates actual distance information between a user and a preset position based on a flight time principle, the characteristic identification processing unit converts the actual distance information into horizontal distance information and judges that the user is in an intelligent control trigger range of a toilet, and extracting the actual characteristic information of the user through the horizontal distance information, comparing and analyzing the extracted actual characteristic information of the user with the pre-stored standard characteristic information, generating a drive control signal for the toilet seat based on the comparison and analysis result, outputting the drive control signal to the seat drive control unit, and implementing corresponding drive control on the toilet seat by the seat drive control unit. The invention improves the induction control precision of the toilet seat and promotes the wide popularization and application of the intelligent toilet.

Description

High-precision intelligent toilet seat control system and control method

Technical Field

The invention relates to the field of intelligent toilets, in particular to the technical field of intelligent toilet seat control, and more particularly relates to a high-precision intelligent toilet seat control system and method based on horizontal distance conversion.

Background

In the prior art, intelligent control of an intelligent closestool mostly relates to automatic flushing of the closestool, 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 toilet based on human body gestures 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 bowls use a TOF sensor, but only use the TOF sensing detection principle to obtain the distance and position information of the human body for relevant control, the simple distance sensing control has low precision, and is easy to generate wrong sensing control.

Disclosure of Invention

Based on the problems of the prior art, the invention innovatively provides a brand-new high-precision intelligent toilet seat control system and control method based on horizontal distance conversion, actual distance information obtained by optical detection is converted into corresponding horizontal distance characteristic information to carry out intelligent opening and closing control on the toilet seat, so that the induction control precision of the toilet seat is greatly improved, and the wide popularization and application of the intelligent toilet are promoted.

The technical scheme adopted by the invention for solving the technical problems is as follows:

an intelligent toilet seat control system comprising: the seat ring driving control device comprises a distance detection calculation unit, a feature recognition processing unit and a seat ring driving control unit, wherein the distance detection calculation unit is connected with the feature recognition processing unit, and the feature recognition processing unit is connected with the seat ring driving control unit; the distance detection and calculation unit detects and calculates actual distance information between the user and the distance detection and calculation unit based on the flight time principle and transmits the actual distance information to the feature recognition and processing unit; the characteristic recognition processing unit converts the actual distance information into horizontal distance information, when the user is judged to be in an intelligent control trigger range of the toilet through the horizontal distance information, the actual characteristic information of the user is extracted through the horizontal distance information between the user and the distance detection computing unit, the extracted actual characteristic information of the user is compared and analyzed with pre-stored standard characteristic information, a drive control signal for a toilet seat is generated based on a comparison analysis result and output to the seat drive control unit, and the seat drive control unit carries out corresponding drive control on the toilet seat.

Further, according to the intelligent toilet seat control system of the present invention, the characteristic recognition processing unit converts the actual distance information between the user and the distance detection calculating unit into the horizontal distance information of the user relative to the preset reference plane in the distance detection calculating unit; the characteristic identification processing unit is provided with an intelligent control trigger threshold distance range, and when the characteristic identification processing unit judges that the user is located within the intelligent control trigger threshold distance range through the horizontal distance information, the characteristic identification processing unit extracts the actual characteristic information of the user through the horizontal distance information; the characteristic identification processing unit compares the extracted actual characteristic information of the user with pre-stored standard characteristic information and analyzes the actual characteristic information; and the characteristic identification processing unit generates a driving control signal corresponding to the standard characteristic information if the actual characteristic information of the user and the pre-stored standard characteristic information meet a preset matching condition through comparison and analysis, wherein the standard characteristic information comprises various characteristic information calibrated in advance when the user normally uses the closestool.

Further, according to the intelligent toilet seat control system of the present invention, the distance detection calculation 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 used for emitting a modulated detection light beam, the detection light beam is reflected as 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 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, the distance information is used as the actual distance information, the actual distance information and the inherent information of the photosensitive detector lattice are transmitted to the controller, and then the controller transmits the related information to the characteristic identification processing unit.

Further, according to the intelligent toilet seat control system of the present invention, the photosensitive detector lattice has a plurality of photosensitive detection pixels arranged in a matrix array form, each photosensitive detection pixel serves as an independent photosensitive detector element, modulated detection light beams emitted by the light emitter are reflected by multiple points on the surface of the measured object and then respectively incident on 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 calculated by the distance calculator is an actual distance matrix corresponding to the position of each reflecting point 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 the position of each photosensitive detection pixel point of the photosensitive detector lattice.

Further, according to the intelligent toilet seat control system of the present invention, 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 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.

The intelligent toilet seat control system further comprises a feature identification processing unit, a feature comparison processor, a communication interface module, a standard feature memory and an output module, wherein the communication interface module is connected to the controller of the distance detection computing unit, the distance converter is connected to the communication interface module, the feature comparison processor is connected to the distance converter, the standard feature memory is connected to the feature comparison processor, and the output module is connected to the feature comparison processor; the distance converter receives the actual distance matrix between the user and the photosensitive detector lattice calculated by the distance calculator, converts the actual distance matrix into a horizontal distance matrix of the user relative to the plane of the photosensitive detector lattice and transmits the horizontal distance matrix to the characteristic comparison processor; the characteristic comparison processor is provided with an intelligent control trigger threshold distance range, judges whether a user is in the intelligent control trigger range of the closestool or not according to the relation between the horizontal distance matrix and the intelligent control trigger threshold distance range, obtains actual characteristic information of the user on the basis of the horizontal distance matrix if the user is in the intelligent control trigger range of the closestool, compares the actual characteristic information of the user with standard characteristic information prestored in a standard characteristic storage unit in a matching manner, generates a driving control signal corresponding to the standard characteristic information by the characteristic comparison processor if the matching degree reaches a preset level, and transmits the driving control signal to the seat ring driving control unit through an output module.

Further in accordance with the invention, the intelligent toilet seat control system, wherein the distance converter converts the actual distance matrix to the 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 of the photosensitive detector lattice 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;

the photosensitive detector lattice plane coordinate system refers to: 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.

Further, according to the intelligent toilet seat control system of the present invention, the characteristic comparison processor obtains actual characteristic information of the user based on the horizontal distance matrix in the following specific manner: the characteristic comparison processor obtains the actual characteristic information of the user facing the closestool by extracting the characteristic data corresponding to the front curve of the human body in the horizontal distance matrix; the characteristic comparison processor obtains the actual characteristic information of the user back to the closestool by extracting the characteristic data corresponding to the human body back curve in the horizontal distance matrix; the characteristic comparison processor extracts characteristic data corresponding to a human body side curve in the horizontal distance matrix to obtain actual characteristic information of a user side to the closestool; the characteristic data of the human body front curve comprises characteristic data corresponding to contour curves of a nose, a mouth and a chin of a face of a human body, the characteristic data of the human body back curve comprises characteristic data corresponding to contour curves of a back of a head of the human body and/or characteristic data corresponding to contour curves of a back of a neck of the human body, and the characteristic data of the human body side curve comprises characteristic data of contour curves of shoulders, arms and hands of the human body; the standard characteristic information comprises standard characteristic information of a user facing the closestool, standard characteristic information of a user facing away from the closestool and standard characteristic information of a user facing the closestool, which are calibrated in advance; the standard characteristic information of the user facing the closestool is obtained by the standard characteristic data of the horizontal distance of the front curve of the human body relative to the lattice plane of the photosensitive detector in the state of normally using the closestool which is calibrated in advance; the standard characteristic information of the user back to the closestool is obtained by the standard characteristic data of the horizontal distance of the human body back curve relative to the lattice plane of the photosensitive detector in the state of normal use of the closestool which is calibrated in advance; the standard characteristic information of the user side to the closestool is obtained by the calibrated standard characteristic data of the horizontal distance of the human body side curve relative to the photosensitive detector lattice plane under the normal closestool use state.

The intelligent toilet seat control system is further characterized in that the characteristic comparison processor is used for generating a toilet seat retraction control signal and providing the toilet seat retraction control signal to the seat driving control unit through the output module if the actual characteristic information of the toilet seat faced by the user obtained through processing and the pre-stored standard characteristic information of the toilet seat faced by the user meet the preset matching conditions through matching and comparison analysis, and the seat driving control unit controls the toilet upper cover to be opened and controls the toilet seat to be retracted based on the toilet seat retraction control signal; if the actual characteristic information of the user back to the toilet bowl obtained by processing and the pre-stored standard characteristic information of the user back to the toilet bowl meet the preset matching condition, the characteristic comparison processor generates a toilet seat falling control signal and provides the toilet seat falling control signal to the seat driving control unit through the output module, and the seat driving control unit controls the toilet upper cover to be opened and controls the toilet seat to fall on the basis of the toilet seat falling control signal; and if the actual characteristic information of the toilet on the user side obtained by processing and the pre-stored standard characteristic information of the toilet on the user side meet the preset matching condition, generating a toilet seat maintaining control signal by the characteristic comparison processor, providing the toilet seat maintaining control signal to the seat driving control unit through the output module, and controlling the toilet upper cover and the toilet seat to maintain the original state by the seat driving control unit based on the toilet seat maintaining control signal.

An intelligent toilet seat control method based on the intelligent toilet seat control system comprises the following steps:

the method comprises the following steps that firstly, the light emitter and the optical imaging lens are installed on the wall surface on the back side of the closestool, 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 modulation period of the reflected light beam and the emitted light beam based on a formula

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

fifthly, the distance calculator transmits the actual distance data and the photosensitive detector dot matrix related information obtained through calculation to the distance converter;

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 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, judging whether the user is in the intelligent control trigger area range of the closestool or not by the characteristic comparison processor based on the horizontal distance data, and if so, executing step eight;

step eight, the characteristic comparison processor compares the horizontal distance data with standard characteristic data stored in a standard characteristic memory, and generates a corresponding control signal for the seat ring driving control unit based on a comparison result, wherein the standard characteristic data stored in the standard characteristic memory comprises: the method comprises the steps of calibrating horizontal distance standard data of characteristic points of a front curve of a human body relative to a lattice plane of a photosensitive detector in a toilet bowl normally used state in advance, calibrating horizontal distance standard data of characteristic points of a back curve of the human body relative to the lattice plane of the photosensitive detector in the toilet bowl normally used state in advance, and calibrating horizontal distance standard data of characteristic points of a side curve of the human body relative to the lattice plane of the photosensitive detector in the toilet bowl normally used state in advance;

step nine, the characteristic comparison processor executes the following control operation on the toilet seat based on the comparison analysis result:

(1) if the horizontal distance data is matched with the horizontal distance standard data of the human body front curve characteristic points relative to the photosensitive detector lattice plane in the standard characteristic data, generating a closestool seat retracting control signal by a characteristic comparison processor, providing the closestool seat retracting control signal to a closestool main control board of a seat driving control unit through an output module, and controlling the closestool upper cover to be opened and controlling the closestool seat to be retracted by the closestool main control board based on the control signal;

(2) if the horizontal distance data is matched with the horizontal distance standard data of the human body back curve characteristic points in the standard characteristic data relative to the photosensitive detector lattice plane, generating a toilet seat falling control signal by a characteristic comparison processor, providing the toilet seat falling control signal to a toilet main control board of a seat driving control unit through an output module, and controlling the toilet upper cover to open and controlling the toilet seat to fall by the toilet main control board based on the control signal;

(3) if the horizontal distance data is matched with the horizontal distance standard data of the human body side curve characteristic points in the standard characteristic data relative to the photosensitive detector lattice plane, a toilet seat maintaining control signal is generated by the characteristic comparison processor and provided to a toilet main control board of the seat driving control unit through an output module, and the toilet main control board controls the toilet upper cover and the toilet seat to maintain the original state based on the control signal.

The invention further provides an intelligent toilet seat control method, which comprises the following steps:

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

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

step three, judging whether a user is in a preset intelligent control trigger area of the closestool or not based on the horizontal distance matrix, and if so, executing the step four;

step four, comparing and analyzing the horizontal distance matrix obtained in the step two with standard distance matrix data calibrated in advance relative to the preset reference surface, wherein the standard distance matrix data comprise standard distance matrixes of a user facing the closestool, a user facing the closestool back and a user facing the closestool;

step five, based on the comparison analysis result, the following control operations are executed on the toilet seat:

(1) if the horizontal distance matrix is matched with the standard distance matrix of the toilet facing the user in the standard distance matrix data, controlling the toilet upper cover to be opened and controlling the toilet seat to be retracted;

(2) if the horizontal distance matrix is matched with the standard distance matrix of the user back to the toilet bowl in the standard distance matrix data, controlling the toilet bowl upper cover to be opened and controlling the toilet bowl seat ring to fall down;

(3) and if the horizontal distance matrix is matched with the standard distance matrix of the toilet bowl from the user side in the standard distance matrix data, controlling the toilet bowl upper cover and the toilet bowl seat to maintain the original state.

Further, according to the intelligent toilet seat control method of the present invention, the first step specifically comprises 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) is positioned on the optical imaging mirrorThe photosensitive detector lattice at the back of the head 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.

Further, according to the intelligent toilet seat control method, the second step specifically comprises 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 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 into the horizontal distance between the user 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 invention further provides an intelligent toilet seat control method, wherein the fourth step specifically comprises the following steps:

(1) under the condition that a human body normally uses the closestool, a horizontal distance matrix of the human body front characteristic point relative to the preset reference surface is calibrated in advance and serves as standard distance matrix data of a user facing the closestool; under the condition that a human body normally uses the closestool, a horizontal distance matrix of the back characteristic point of the human body relative to the preset reference surface is calibrated in advance and used as standard distance matrix data of a user for backing the closestool; under the state that a human body normally uses the closestool, a horizontal distance matrix of the human body side characteristic point relative to the preset reference surface is calibrated in advance and used as standard distance matrix data of a user side to the closestool;

(2) and comparing the horizontal distance matrix between the converted light-reflecting part of the user and the preset reference surface with the standard distance matrix data, and judging whether the horizontal distance matrix and the standard distance matrix meet preset matching conditions or not.

The intelligent toilet seat control method is further characterized in that the human body positive characteristic points comprise a nose, a mouth, a chin and/or a neck of the human body face; the human body back feature points comprise the back of the head of the human body and/or the back of the neck of the human body; the characteristic points on the side of the human body comprise shoulders, arms and hands of the human body.

The technical scheme of the invention at least has the following technical innovation characteristics and technical effects:

1) the invention accurately measures the distance information between the tested object in the tested 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 tested object in the tested area, and accurately controls the rising and falling of the toilet seat based on the comparison of the horizontal distance characteristic information and the standard characteristic information, thereby realizing the accurate control of the toilet seat for distinguishing the requirements of male urination and male defecation and female urination for the first time.

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

Drawings

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

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

FIG. 4 is a schematic diagram of the conversion of the measured distance shown in FIG. 3 to a horizontal distance;

FIG. 5 is a schematic diagram of a corresponding structure of a light path 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 a measured point in a measured space and a photosensitive detection pixel point into the horizontal distance between the measured point in the measured space and a lattice plane of a photosensitive detector;

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

FIG. 8 is a schematic view of the installation location and trigger threshold distance or angle of the intelligent toilet seat control system of the present invention.

Detailed Description

The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings to enable those skilled in the art to more clearly understand the present invention, but not to limit the scope of the present invention.

Firstly, as shown in figure 1, the intelligent toilet seat control system integrally comprises a distance detection and calculation unit, a characteristic identification processing unit and a seat driving control unit, wherein the distance detection and calculation unit is arranged at the position of the rear side wall surface of a toilet water tank, and as shown in figure 8, the distance detection and calculation unit faces the front of a toilet and transmits and receives signals, and cannot be blocked by a toilet cover. The distance detection and calculation unit detects the distance between the user and a preset position in real time, specifically the distance between the user and the distance detection and calculation unit of the closestool, and the distance is a multi-point distance corresponding to a plurality of position points, namely a distance matrix. Specifically, the distance detection and calculation unit includes a light emitter, a modulator, an optical imaging lens, a photosensitive detector dot matrix, a controller and a distance calculator, as shown in fig. 1, the controller is connected to the modulator and the photosensitive detector dot matrix and is configured to provide a modulation control signal to the modulator, the modulator is connected to the light emitter and is configured to provide a modulation signal to a light beam emitted by the light emitter, and the modulator is further connected to the photosensitive detector dot matrix and is configured to provide 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 beam signal to a distance calculator, which performs necessary processing such as noise removal filtering and A/D conversion on the reflected beam, calculating to obtain the distance information between the position point of the measured object reflecting the reflected light beam and the photosensitive detection pixel point in the photosensitive detector lattice receiving the reflected light beam, and the distance information and the related position information of the photosensitive detection pixel point are transmitted to a controller together, and the controller further transmits the related information to a feature identification processing unit.

Preferably, the distance detection calculating 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 by the distance detection calculating unit based on the TOF time-of-flight principle is described in detail 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 distance detection calculation unit after passing through an optical imaging lens of the distance detection calculation unit. The emission modulated infrared light and the reflected infrared light of the distance detection calculation unit are preferably in the form of sine waves, which can be expressed in the form of a function: 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 a modulation period for modulating the infrared light.

In the time period from the time when the light emitter emits the modulated infrared light to the time when the photosensitive detector receives the reflected infrared light reflected by the measured object, the flying distance 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 which reflects the infrared light and the photosensitive detector dot matrix of the distance detection and calculation unit is as follows:

therefore, the distance between the measured object and the photosensitive detector dot matrix can be calculated based on the sine wave modulation 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 modulation period and the signal phase difference to the distance calculator, and the distance calculator calculates the measured distance between the measured object and the photosensitive detector dot matrix based on the formula.

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, and the characteristic identification processing unit further processes the information to judge the state of a user, so as to generate a control signal corresponding to the toilet seat.

The feature recognition processing unit is shown in figure 1 and comprises a distance converter, a feature comparison processor, a communication interface module, a standard feature memory and an output module, wherein the communication interface module is connected with a controller of the distance detection computing unit, used for receiving the measured distance information between the measured object and each photosensitive detection pixel point and the lattice position information of each photosensitive detection pixel point provided by the distance detection and calculation unit, and transmits the received information to a distance converter, the distance converter converts the measured distance information into horizontal distance information of the measured object relative to the plane of the photosensitive detector lattice 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 point, and the horizontal distance information is associated with the position information of the corresponding photosensitive detection pixel point to form horizontal distance matrix distribution. The distance converter is connected with the characteristic comparison processor, the characteristic comparison processor is connected with the standard characteristic storage, a large amount of pre-calibrated and set standard characteristic data are prestored in the standard characteristic storage, 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 the comparison matching condition is met, a corresponding control signal is generated to the output module, and the output module provides the control signal to the seat ring drive control unit so as to take corresponding control operation based on the control signal.

The invention innovatively invents the envoy identification processing unit, and greatly improves the data identification precision. The process is described in detail below, where the actual measurement distance acquired by the distance detection and calculation unit is a linear distance from each measured point to a corresponding photosensitive detection pixel point in the distance detection and calculation unit, and the entire distance detection and calculation unit can be regarded as a center point particle for easy understanding, because the size of each distance detection and calculation unit (such as a TOF sensor, a 3D sensor, and the like) can be ignored with respect to the distance between the distance detection and calculation unit and the measured object in practice, and the fine distance between the internal optical imaging lens and the photosensitive detector dot matrix can be ignored for easy calculation, and the entire distance detection and calculation unit can be directly regarded as a center point of a particle. As shown in the example of fig. 3, the distance detection calculating unit employs a TOF sensor, and the whole TOF sensor can be regarded as a particle, and it can be seen from the figure that, when the TOF sensor forms an excessively large angle with the measured region of the human body, the measured distances d1 and d5 are both much larger than d 3. If the measured distances d1 and d5 are directly adopted to carry out human body posture recognition, the difference between the characteristics reflected by the distances and the actual characteristics of the human body is larger, and the human body posture recognition accuracy is greatly reduced.

Firstly, as shown in fig. 5, a light beam reflected by each measured point Qn in a measured area a of a human body is focused by an optical imaging lens and then enters a corresponding photosensitive detection pixel point in a photosensitive detector lattice, and the photosensitive detection pixel point transmits related phase and frequency information to a distance calculator, so that the distance between each measured point Qn of the human body and the corresponding photosensitive detection pixel point can be directly calculated, further, the distance between the measured point Qn of the human body and the corresponding photosensitive detection pixel point is converted into the horizontal distance between the measured point Qn of the human body and a lattice plane of the photosensitive detector, and the inclination angle of a straight line connecting the measured point Qn of the human body and the corresponding photosensitive detection pixel point relative to the lattice plane of the photosensitive detector needs to be known, as shown in an enlarged light path structure diagram shown 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 calculation unit and is focused on a corresponding photosensitive detection pixel point Q 'in a photosensitive detector dot matrix behind the modulated light beam, and a plane B where the photosensitive detector dot matrix 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 position Q' (X ', Y') of each photosensitive detection pixel point in the photosensitive detector lattice plane B in the X 'O' Y 'plane coordinate and FO' belongs to the known quantity in each distance detection 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, as well as the measured actual distance between the measured point and the corresponding photosensitive detection pixel point to a distance converter of the characteristic identification processing unit. Thus, the distance between a certain human body measured point Q in the measured area A and the corresponding photosensitive detection pixel point Q' 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

As mentioned above, for each distance detection calculation unit, the position coordinate information (x ', y') of each photosensitive detection pixel and the distance information O 'F between the optical imaging lens and the lattice plane of the photosensitive detector are both inherent information of the distance detection calculation unit, and belong to known information parameters, and the distance QQ' between each measured body and the corresponding photosensitive detection pixel can be calculated by formula

Calculated by a distance calculator of a distance detection calculation unit. The distance detection and calculation unit combines the calculated distance QQ 'with 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 lattice plane of the photosensitive detectorAfter the signals are transmitted to the characteristic identification processing unit, a distance converter therein calculates the horizontal distance from the measured point of the human body to the lattice plane of the photosensitive detector based on the following formula:

the horizontal distance d is associated with the position coordinate information (x ', y') of the photosensitive detection pixel point, so that each photosensitive detection pixel point corresponds to a horizontal distance, and finally a horizontal distance distribution matrix is formed corresponding to the position information of all photosensitive detection pixel points on the photosensitive detector dot matrix, so that after a frame distance matrix detected by the distance detection calculation unit is obtained, a horizontal distance matrix from each measured point to the plane where the photosensitive detector dot matrix is located can be obtained through a distance converter, that is, the distances d1, d2, d3 and d4 … … in fig. 3 are converted into the corresponding distances d1 ', d 2', d3 'and d 4' … … in fig. 4, and the horizontal distance matrix distribution is formed by combining the position information of the corresponding photosensitive pixel points associated with the distances.

After the distance conversion operation is performed by the distance converter in the feature recognition processing unit, the converted horizontal distance information is provided to the feature comparison processor, the feature comparison processor is connected to the standard feature memory, various pre-calibrated standard feature data which can accurately reflect the human body facing the toilet (male urination), facing away from the toilet (male defecation or female urination), facing the toilet (turning process) and the like are stored in the standard feature memory, preferably, the data corresponding to the human body front face feature curve of the human body facing the toilet, the data corresponding to the human body back face feature curve of the human body facing the toilet and the data corresponding to the human body side face feature curve of the human body facing the toilet are stored in the standard feature memory, as shown in fig. 7 exemplarily, when the human body front face moves towards the toilet, the actual distance matrix calculated by the distance detection calculating unit is converted into a horizontal distance matrix by the distance converter of the feature recognition processing unit, corresponding distance distribution data which accurately reflects the characteristic curve of the front face of the human body can be obtained in the horizontal distance matrix, as shown in the left figure in the attached figure 7, the corresponding data of the human body front characteristic curve is stored in a standard characteristic memory as a piece of standard characteristic data which is calibrated in advance and corresponds to the human body facing the closestool, and similarly, when the back of the human body faces an optical imaging lens of the distance detection and calculation unit, after the actual distance matrix calculated by the distance detection and calculation unit is converted into a horizontal distance matrix by a distance converter of the characteristic identification processing unit, a corresponding distance distribution data accurately reflecting the characteristic curve of the back of the human body can be obtained in the horizontal distance matrix, as shown in the middle graph of figure 7, the human body back characteristic curve corresponding data is also stored in the standard characteristic memory as standard characteristic data which is calibrated in advance and corresponds to the human body back to the closestool (because the human body needs to be seated on the closestool in a back-to-back mode). In addition, when the human body is turning, after the actual distance matrix calculated by the distance detection and calculation unit is converted into the horizontal distance matrix by the distance converter of the characteristic identification and processing unit, corresponding distance distribution data which accurately reflects the characteristic curve of the side face of the human body can be obtained in the horizontal distance matrix, and the corresponding data of the characteristic curve of the side face of the human body is also stored in the standard characteristic memory as standard characteristic data which is calibrated in advance and corresponds to the toilet bowl on the side face of the human body.

Therefore, various standard characteristic data corresponding to the toilet used by the human body are stored in the standard memory through advanced calibration, and the standard characteristic data are calibrated in advance through a large number of actual using postures and are all subjected to horizontal distance conversion processing, so that the standard memory can accurately reflect various operating postures of the human body on the toilet with higher precision. 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. For example, when the human body is facing the ToF sensor from the front and the ToF sensor from the back, there are many curve features that are very different, for example: the front curve of the human body has uneven curve characteristic point data such as a nose, a mouth, a chin and the like at the head position, and the curve of the back of the human body at the head position is smoother; the front curve of the human body has an obvious abrupt staggered layer distance difference between the neck position and the chin, while the distance transition of the back of the human body at the neck position is more gradual without abrupt staggered layers; the front curve of the human body extends forwards at the foot position, the distance is shortened, the back of the human body does not have the characteristics of extending forwards at the foot position, and the like.

Further, in order to improve the intelligent control level of the feature recognition processing unit, a trigger threshold is set, preferably, an intelligent control trigger threshold range can be set in the feature comparison processor, and the intelligent control trigger threshold range corresponds to a distance condition or an angle condition between a detected human body and a photosensitive detector lattice which starts intelligent control, as shown in fig. 8, when the distance between the human body and the TOF is far, the difference between an actual distance matrix detected by the TOF sensor and the detected human body and a converted horizontal distance matrix is not large, at the moment, whether the human body needs to use the toilet cannot be judged, at the moment, feature recognition and comparison cannot be started, any signal cannot be supplied to the output module, and further, a control driving signal is not output to the toilet seat. 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, and at the moment, characteristic identification and comparison are started to generate a corresponding control driving signal. And presetting a trigger range area in the characteristic comparison processor, and determining whether a person exists in the seat ring trigger area of the ToF sensor or not based on the converted relationship between the horizontal distance between the detected human body and the photosensitive detector dot matrix and the set trigger range area, thereby providing an intelligent level. And determining whether a person exists in the seat ring trigger area of the ToF sensor or not based on the relationship between the conversion opening angle and distance of the detected human body relative to the photosensitive detector dot matrix and the opening angle and distance of the set trigger range area. The following description will take the trigger threshold distance as an example. The triggering threshold angle is judged based on a similar mode, wherein the angle value can be obtained by converting the distance between the measured distance corresponding to the highest point of the measured human body and the optical center line

And finally, the feature comparison processor of the feature identification processing unit generates a corresponding drive control signal based on the comparison result of the converted distance data and the standard feature data and provides the drive control signal for the seat ring drive control unit through the output module. The specific drive control process is as follows:

firstly, a distance converter converts a received actual distance matrix between a detected human body and a photosensitive detector dot matrix into a horizontal distance matrix of the detected human body relative to a photosensitive detector dot matrix plane, and transmits the horizontal distance matrix to a characteristic comparison processor;

secondly, based on a set trigger range area (field angle and distance), judging whether a person exists in the trigger range of the toilet to be used by a characteristic comparison processor, wherein the specific characteristic comparison processor obtains the distance and the angle of the detected human body relative to the center of a photosensitive detector dot matrix through a received horizontal distance matrix between the detected human body and the photosensitive detector dot matrix transmitted by a distance converter, compares the distance and the angle with the set trigger range area (field angle and distance), and judges that the person exists in the trigger range of the toilet to be used when the horizontal distance between the detected human body and the photosensitive detector dot matrix is smaller than the set trigger range area threshold distance and the angle is smaller than the trigger range area threshold field angle, and identifies the use characteristics of the person; when the horizontal distance between the detected human body and the photosensitive detector lattice is greater than or equal to the set triggering threshold distance or the angle is greater than the triggering range area threshold flare angle, continuing detection without any treatment;

thirdly, compare the standard characteristic data of treater with horizontal distance matrix and standard characteristic memory in the memory by the characteristic to generate the control signal that corresponds to seat circle drive control unit based on the contrast result, seat circle drive control unit includes the closestool main control board and connects respectively in the seat circle actuating mechanism and the upper cover drive structure of closestool main control board, the closestool main control board is connected in the output module of characteristic identification processing unit, seat circle actuating mechanism connects in the seat circle of closestool to control the rising and falling of closestool seat circle based on the control signal of closestool main control board, upper cover actuating mechanism connects in the upper cover of closestool, and the switching of the control closestool upper cover based on the control signal control closestool main control board, and is specific:

(1) if the horizontal distance matrix data are compared with corresponding data (or the matching similarity with the corresponding data reaches a threshold value) of a human body front characteristic curve of a human body facing to the closestool, which is prestored in a standard characteristic memory, the user faces to the closestool at the moment, and the user needs to use the closestool in a standing mode, at the moment, a characteristic comparison processor generates a closestool seat ring retraction control signal and provides the closestool seat ring retraction control signal to a closestool main control board of a seat ring drive control unit through an output module, and the closestool main control board controls the closestool upper cover to be opened through an upper cover drive mechanism based on the control signal and controls the closestool seat ring to be retracted through the seat ring drive mechanism based on the control signal;

(2) if the horizontal distance matrix data are compared and matched with corresponding data (or the matching similarity with the data reaches a threshold value) of a human body back characteristic curve of a human body back to the closestool, which are prestored in a standard characteristic memory, the situation shows that a user backs to the closestool at the moment and needs to sit to use the closestool, at the moment, a characteristic comparison processor generates a closestool seat ring falling control signal and provides the closestool seat ring falling control signal to a closestool main control board of a seat ring driving control unit through an output module, and the closestool main control board controls the closestool upper cover to be opened through an upper cover driving mechanism based on the control signal and controls the closestool seat ring to fall through the seat ring driving mechanism based on the control signal;

(3) if the horizontal distance matrix data are matched with corresponding data (or the matching similarity with the data reaches a threshold value) of a human body side characteristic curve of the toilet bowl relative to the human body side, which are prestored in the standard characteristic memory through comparison, the characteristic comparison processor generates a toilet seat maintaining control signal, the toilet seat maintaining control signal is provided for a toilet main control board of the seat driving control unit through the output module, and the toilet main control board maintains the original states of the toilet upper cover and the toilet seat based on the control signal and waits for subsequent continuous detection control.

In addition, the feature recognition processing unit of the present invention may also determine the front and back of the human body by other methods, such as feature learning. Through feature learning, a memory can store a plurality of key feature data of the front and back of a human body, after a frame distance matrix is acquired, the frame distance matrix information is operated, the key feature data are extracted, and then the key feature data are compared with the stored feature data one by one. The invention can also set a data contrast similarity threshold, when the similarity of the key characteristic data of the front side of the human body reaches above a preset threshold, the front side of the human body can be judged, and when the similarity of the key characteristic data of the back side of the human body reaches above the preset threshold, the back side of the human body can be judged, thereby further improving the intelligent level.

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

firstly, a light emitter and an optical imaging lens of the intelligent toilet seat control system are installed on the wall surface on the back side of a toilet, face to the front of the toilet and are guaranteed not to be blocked by the toilet;

secondly, a modulator of the distance detection and calculation unit generates a modulation signal, and after the generated modulation signal is transmitted to a light emitter of the distance detection and calculation unit, the light emitter emits corresponding modulation light outwards;

step three, the modulated light emitted by the light emitter is reflected to the optical imaging lens after encountering a measured object (such as a human body);

Calculating to obtain an actual distance matrix of the user and the photosensitive detector dot matrix;

fifthly, the distance calculator transmits the actual distance matrix obtained through calculation and the relevant information of the photosensitive detector dot matrix to the distance converter;

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

Converting the horizontal distance matrix of the user relative to the lattice plane of the photosensitive detector and transmitting the horizontal distance matrix to a characteristic comparison processor, wherein QQ 'is actual distance data between 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, judging whether a user is in the intelligent control trigger area range of the closestool or not by the characteristic comparison processor based on the horizontal distance matrix, and if so, executing step eight;

step eight, the characteristic comparison processor compares the horizontal distance matrix with standard characteristic data stored in a standard characteristic memory, if the horizontal distance matrix data (preferably the human head to the abdomen) are matched with or similar to corresponding data of a human body front characteristic curve of a human body facing to the closestool pre-stored in the standard characteristic memory through comparison, a closestool seat retracting control signal is generated, and the closestool upper cover is controlled to be opened and the closestool seat is controlled to be retracted through a seat driving control unit; if the horizontal distance matrix data (preferably the human head to the back) are matched with or similar to corresponding data of a human body back characteristic curve of the human body back to the toilet bowl, which are prestored in a standard characteristic memory, through comparison, a toilet seat falling control signal is generated, and the toilet seat driving control unit controls the toilet upper cover to be opened and the toilet seat to fall; and if the horizontal distance matrix data are matched with or similar to corresponding data of the human body side curve characteristic points of the human body side to the toilet bowl prestored in the standard characteristic memory through comparison, the characteristic comparison processor generates a toilet seat maintaining control signal, maintains the original states of the toilet upper cover and the toilet seat and waits for subsequent continuous detection control.

The above description is only for the preferred embodiment of the present invention, and the technical solution of the present invention is not limited thereto, and any known modifications made by those skilled in the art based on the main technical idea of the present invention belong to the technical scope of the present invention, and the specific protection scope of the present invention is subject to the description of the claims.

Claims

1. An intelligent toilet seat control system, comprising: the seat ring driving device comprises a distance detection calculation unit, a feature recognition processing unit and a seat ring driving control unit, wherein the distance detection calculation unit is connected with the feature recognition processing unit, and the feature recognition processing unit is connected with the seat ring driving control unit; the distance detection calculation unit detects and calculates actual distance information between the user and the distance detection calculation unit and transmits the actual distance information to the feature identification processing unit; the characteristic recognition processing unit converts the actual distance information into horizontal distance information, extracts actual characteristic information of a user through the horizontal distance information between the user and the distance detection computing unit when the user is judged to be in an intelligent control trigger range of the closestool through the horizontal distance information, compares the extracted actual characteristic information of the user with pre-stored standard characteristic information, generates a drive control signal for a closestool seat ring based on a comparison analysis result, outputs the drive control signal to the seat ring drive control unit, and carries out corresponding drive control on the closestool seat ring through the seat ring drive control unit;

the characteristic identification processing unit converts the actual distance information between the user and the distance detection calculating unit into the horizontal distance information of the user relative to a preset reference plane in the distance detection calculating unit; the characteristic identification processing unit is provided with an intelligent control trigger threshold distance range, and when the characteristic identification processing unit judges that the user is positioned in the intelligent control trigger threshold distance range through the horizontal distance information, the actual characteristic information of the user is extracted and obtained through the horizontal distance information; the characteristic identification processing unit compares the extracted actual characteristic information of the user with pre-stored standard characteristic information and analyzes the actual characteristic information; the characteristic identification processing unit generates a driving control signal corresponding to the standard characteristic information if the actual characteristic information of the user and a certain pre-stored standard characteristic information meet a preset matching condition through comparison and analysis, wherein the standard characteristic information comprises various characteristic information calibrated in advance when the user normally uses the closestool;

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 point of the actual curve of the human body;

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 with the controller of the distance detection computing unit; after receiving the actual distance matrix between the user and the photosensitive detector lattice calculated by the distance calculator, the distance converter converts the actual distance matrix into a horizontal distance matrix of the user relative to the plane where the photosensitive detector lattice is located and transmits the horizontal distance matrix to the characteristic comparison processor; the characteristic comparison processor is provided with an intelligent control trigger threshold distance range, judges whether a user is in the intelligent control trigger range of the closestool according to the relation between the horizontal distance matrix and the intelligent control trigger threshold distance range, if so, the characteristic comparison processor obtains actual characteristic information of the user based on the horizontal distance matrix, compares the actual characteristic information of the user with standard characteristic information prestored in a standard characteristic memory, and generates a driving control signal corresponding to the standard characteristic information by the characteristic comparison processor and transmits the driving control signal to the seat driving control unit through an output module if the matching degree reaches a preset level;

the distance converter 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 photosensitive detector lattice plane coordinate system refers to: the method comprises the following steps that 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 serves as a coordinate origin, a coordinate system is established in the plane where the photosensitive detector dot matrix is located, and the position coordinates 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;

2. The intelligent toilet seat control system according to claim 1, 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 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 used for emitting modulated detection light beams, the detection light beams are incident to the optical imaging lens after being reflected by a detected object of a user, and 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 to the distance calculator, the distance calculator calculates 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, the distance information is used as the actual distance information, the actual distance information and the inherent information of the photosensitive detector lattice are transmitted to the controller, and then the controller transmits the related information to the characteristic identification processing unit.

3. The intelligent toilet seat control system according to claim 2, wherein the photosensitive detector array has a plurality of photosensitive detection pixels arranged in a matrix array, each photosensitive detection pixel being an independent photosensitive detector element, modulated detection light beams emitted by the light emitter are reflected by multiple points on the surface of the measured object and then respectively incident on 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 calculated by the distance calculator is an actual distance matrix corresponding to the position of each reflecting point 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 the positions of all photosensitive detection pixel points of the photosensitive detector dot matrix.

4. An intelligent toilet seat control system as claimed in claim 3, wherein the modulated detection light beam emitted by the light emitter is a sine wave, a pulse wave or other periodically modulated wave, and the distance calculator calculates the actual distance between a reflection point of the object to be detected and the photo-detection pixel points corresponding to the photo-detector lattice based on the following formula:

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 calculated.

5. The intelligent toilet seat control system according to claim 4, wherein the characteristic comparison processor obtains actual characteristic information of the user based on the horizontal distance matrix by: the characteristic comparison processor is used for extracting characteristic data corresponding to a human body front curve in the horizontal distance matrix to obtain actual characteristic information of a user facing the closestool; the characteristic comparison processor obtains actual characteristic information of a user back to the closestool by extracting characteristic data corresponding to a human body back curve in the horizontal distance matrix; the characteristic comparison processor obtains the actual characteristic information of the user side to the closestool by extracting the characteristic data corresponding to the side curve of the human body in the horizontal distance matrix; the characteristic data of the human body front curve comprises characteristic data corresponding to contour curves of a nose, a mouth and a chin of a face of a human body, the characteristic data of the human body back curve comprises characteristic data corresponding to contour curves of a back of a head of the human body and/or characteristic data corresponding to contour curves of a back of a neck of the human body, and the characteristic data of the human body side curve comprises characteristic data of contour curves of shoulders, arms and hands of the human body; the standard characteristic information comprises standard characteristic information of a user facing the closestool, standard characteristic information of a user facing away from the closestool and standard characteristic information of a user facing the closestool, which are calibrated in advance; the standard characteristic information of the user facing the closestool is obtained by the standard characteristic data of the horizontal distance of the front curve of the human body relative to the lattice plane of the photosensitive detector under the state of normal use of the closestool which is calibrated in advance; the standard characteristic information of the user back to the closestool is obtained by the standard characteristic data of the horizontal distance of the human body back curve relative to the lattice plane of the photosensitive detector in the state of normal use of the closestool which is calibrated in advance; the standard characteristic information of the user side for the closestool is obtained by the standard characteristic data of the horizontal distance of the human body side curve relative to the lattice plane of the photosensitive detector in the state of using the closestool normally and calibrated in advance.

6. The intelligent toilet seat control system according to claim 5, wherein the characteristic comparison processor is used for generating a toilet seat retraction control signal and providing the toilet seat retraction control signal to the seat driving control unit through the output module if the actual characteristic information of the toilet seat faced by the user obtained through processing and the pre-stored standard characteristic information of the toilet seat faced by the user meet the preset matching conditions through matching and analyzing, and the seat driving control unit controls the toilet seat upper cover to be opened and controls the toilet seat to be retracted based on the toilet seat retraction control signal; if the actual characteristic information of the user back to the toilet bowl obtained by processing and the pre-stored standard characteristic information of the user back to the toilet bowl meet the preset matching condition, the characteristic comparison processor generates a toilet seat falling control signal and provides the toilet seat falling control signal to the seat driving control unit through the output module, and the seat driving control unit controls the toilet upper cover to be opened and controls the toilet seat to fall on the basis of the toilet seat falling control signal; and if the actual characteristic information of the toilet on the user side obtained by processing and the pre-stored standard characteristic information of the toilet on the user side meet the preset matching condition, generating a toilet seat maintaining control signal by the characteristic comparison processor, providing the toilet seat maintaining control signal to the seat driving control unit through the output module, and controlling the toilet upper cover and the toilet seat to maintain the original state by the seat driving control unit based on the toilet seat maintaining control signal.

7. An intelligent toilet seat control method based on the intelligent toilet seat control system according to any one of claims 1-6, characterized by comprising the following steps:

the method comprises the following steps that firstly, a light emitter and an optical imaging lens are mounted on the wall surface on the back side of the closestool, face to the front of the closestool and are guaranteed not to be blocked by the closestool;

step two, generating a modulation signal to a light emitter by a modulator, and emitting a modulated detection light beam outwards by the light emitter;

fourthly, the 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 modulation period of the reflected light beam and the emitted light beam through the phase difference and the modulation period based on the formula

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

seventhly, judging whether the user is in the intelligent control trigger area range of the closestool or not by the characteristic comparison processor based on the horizontal distance data;

(2) if the horizontal distance data is matched with the horizontal distance standard data of the human body back curve characteristic points in the standard characteristic data relative to the lattice plane of the photosensitive detector, generating a toilet seat falling control signal by a characteristic comparison processor, providing the toilet seat falling control signal to a toilet main control board of a seat driving control unit through an output module, and controlling the opening of a toilet upper cover and the falling of the toilet seat by the toilet main control board based on the control signal;