CN113189322B - Urine tracking sampling detection toilet cover, toilet bowl and urine tracking method - Google Patents
Urine tracking sampling detection toilet cover, toilet bowl and urine tracking method Download PDFInfo
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Abstract
The invention provides a urine tracking sampling detection toilet cover, which comprises a toilet seat ring, wherein a toilet seat ring is arranged above the toilet seat ring, an arc-shaped sampling rod is arranged below the toilet seat ring, a rotary power mechanism is arranged at the end part of the arc-shaped sampling rod to drive the arc-shaped sampling rod to rotate up and down, a sampling port is arranged on the arc-shaped sampling rod, and the sampling port is connected with a urine detection device through a sampling micropump; the invention provides a simple and efficient automatic urine sampling method, which can rapidly and effectively sample urine by two-dimensional positioning of a urine track, automatically sample the urine at the first time to the greatest extent, reduce the generation of third party pollution in the sampling process, and further realize an accurate detection effect.
Description
Technical Field
The invention relates to the field of medical detection instruments, in particular to a urine tracking sampling detection toilet cover and a urine track tracking method.
Background
In the prior art, a urine detection toilet bowl usually adopts a passive sampling mode, namely urine is collected first and then sampled, and various pollutants possibly exist in the toilet bowl environment, so that a sample is very easy to be polluted in the sampling mode, and the urine detection result is affected. The best way at present is to directly track urine for sampling, so that the possibility of pollution is low.
In the prior art, a simple and effective urine tracking sampling mode and a urine detection toilet cover are lacked, so that the pollution in the urine sampling process can be reduced to the maximum extent, and the accuracy of the sampling process is improved.
Disclosure of Invention
The purpose of the invention is that: the simple and effective urine tracking and sampling mode and the urine detection toilet cover are provided, pollution in the urine sampling process can be reduced to the maximum extent, and the accuracy of the sampling process is improved.
The technical scheme of the invention is as follows: the utility model provides a urine tracking sample detects toilet lid, includes the toilet seat ring, the toilet seat ring top is provided with the toilet seat ring, the toilet seat ring below is provided with the arc sample pole, arc sample pole tip is provided with rotary power mechanism in order to drive arc sample pole up-and-down rotation, be provided with the sample connection on the arc sample pole, the sample connection passes through the sample micropump and connects urine detection device;
The toilet seat is provided with a urine track imaging sensor which collects information below the toilet seat.
Preferably, the urine track imaging sensor is arranged as a thermal imaging camera.
Preferably, the urine track imaging sensor is a CCD image sensor.
Preferably, the toilet seat cover cushion is provided with a pressure sensor.
Preferably, the rotary power unit is configured as a rotary motor.
The invention also provides a urine tracking sampling closestool, which comprises the urine tracking sampling closestool cover.
Correspondingly, the invention also provides a urine tracking method, which comprises the following steps:
1) Storing a sampling port movement track on an arc-shaped sampling rod as a preset track, and taking a surface where the sampling port movement track is located as a coordinate surface;
2) Identifying a urine track through a urine track imaging sensor, and projecting the track on the coordinate plane;
3) Acquiring an intersection point coordinate A of the preset track and the projection track according to the projection track of the urine track on the coordinate plane;
4) Controlling the rotary power mechanism to move to the intersection point coordinates, and sampling;
5) Repeating the steps 2) to 4) until the sampling amount reaches the detection required amount.
8. The urine tracking method as claimed in claim 7, further comprising, in step 2), the steps of:
21 Judging whether a urine detection instruction is received or not, if not, returning to an initial state; if the urine detection instruction is received, continuing the next step;
22 Judging whether the pressure sensing value needs to be acquired, if so, performing step 23), and if not, performing step 3);
23 Judging whether the pressure value acquired by the pressure sensor is within the range of the predicted value, if so, performing the step 3), and if not, sending out a warning instruction.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a simple and efficient automatic urine sampling method, which can rapidly and effectively sample urine by two-dimensional positioning of a urine track, automatically sample the urine at the first time to the greatest extent, reduce the generation of third party pollution in the sampling process, and further realize an accurate detection effect.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a sampling valve according to a first embodiment of the present invention.
Fig. 3 is an exploded view of fig. 2.
Fig. 4 is a top view of fig. 2.
Fig. 5 is a B-direction cross-sectional view of fig. 4.
Fig. 6 is a schematic view of the structure of fig. 5 when the piston is moved upward.
Fig. 7 is a schematic view of the structure of the sampling port and the flushing port of the sampling valve of fig. 2.
Fig. 8 is a schematic structural view of a micro flow pump.
Fig. 9 is a cross-sectional view in the C-direction of fig. 8.
Fig. 10 is a schematic diagram of a mounting structure of a sampling valve in the first embodiment.
Fig. 11 is a schematic structural view of a second embodiment of the present invention.
Fig. 12 is a schematic diagram of a urine track imaging sensor in the second embodiment.
FIG. 13 is a schematic diagram of a sample rod sampling simulation in the second embodiment.
Fig. 14 is a schematic structural diagram of a mechanical arm sampling rod in the third embodiment.
Fig. 15 is a schematic view of a shrinkage structure of a sampling rod of a mechanical arm in the third embodiment.
Fig. 16 is a flow chart of a urine tracking method in the third embodiment.
Fig. 17 is a schematic view of a mounting structure of a sampling rod of a mechanical arm in the third embodiment.
Fig. 18 is a schematic diagram of a urine test paper cassette mounting structure in the fourth embodiment.
Fig. 19 is a schematic structural view of a urine test paper cassette in the fourth embodiment.
Fig. 20 is a flow chart of a urine detection method in the fourth embodiment.
Detailed Description
The invention will be further described in detail below with reference to the accompanying drawings:
the invention provides a urine sampling toilet capable of automatically sampling and detecting urine, and specifically provides the following examples for illustration, but the invention is not limited to the following examples:
Example 1
Referring to fig. 1, a urine single-point detection sampling system comprises a sampling toilet a, a urine identification sensor is arranged on the sampling toilet, the urine identification sensor is set to be a temperature sensor B1, a urine sampling device is arranged below the temperature sensor B1, the urine sampling device in the embodiment is set to be a urine sampling valve C1, the urine sampling valve C1 is arranged on the inner wall of the front portion of the toilet, and the sensing range of the temperature sensor B1 is covered by the urine sampling valve.
Further, the temperature sensor B1 is set to be an infrared temperature sensor, the infrared temperature sensor is arranged on the side face of the toilet cover of the sampling toilet, and the infrared temperature sensor transmits at least one beam of red light to the urine sampling valve for sensing whether urine is arranged at the sampling valve or not.
Further, a pressure sensor D is arranged on the side face of the toilet cover of the sampling toilet.
As shown in fig. 2 and 4, the urine sampling valve C1 comprises a liquid taking disc 1, a plurality of sampling holes 5 are formed in the liquid taking disc to form a filter screen, a piston cylinder 3 is arranged below the filter screen, a thimble disc 4 is arranged in the piston cylinder 3, a plurality of thimbles 7 adapted to the sampling holes 5 are arranged on the thimble disc 4, and a pushing device 8 is arranged below the thimble disc 4 and used for pushing the thimbles 7 to penetrate into the sampling holes 5 or penetrate out of the sampling holes.
As shown in fig. 3 and 5, further, a piston 6 adapted to the inner wall of the piston cylinder is disposed below the thimble plate 4, one end of the piston 6 is fixedly connected with the thimble plate, the other end is connected with a pushing device 8, and the pushing device 8 is used for driving the piston 6 to reciprocate in the piston cylinder.
As shown in fig. 6 and 7, further, the piston cylinder is provided with a sampling port 9 and a flushing port 10 on the outside.
As shown in fig. 3, further, the propulsion device comprises a rotating motor 11, a screw rod 12 is connected to the upper portion of the rotating motor 11, a piston connecting rod 13 is connected to the other end of the screw rod 12, and a piston 6 is connected to the other end of the piston connecting rod 13. Further, a protective housing 33 is also included, and the propulsion device 8, the sampling port 9 and the flushing port 10 are integrated inside the protective housing 33.
Further, the protective housing is provided with a lead outlet 14 for leading out a sampling pipe 16 communicating with the sampling port 9 and a flushing pipe 30 communicating with the flushing port 10. The installation mode is as follows: the filter screen and the piston cylinder are assembled through threads to clamp the wall of the closestool, so that the whole sampling valve is fixed. The sampling device can be stably fixed on the closestool, so that effective, automatic and convenient sampling is realized. In other embodiments, different assembly methods may be used, and may be suitable as long as the assembly is convenient for sampling on the toilet.
Further, a heat dissipation window 15 is disposed at one end of the protective housing 33 near the propulsion device.
Further, the sampling port 9 is communicated with the sampling micropump A1 through a sampling pipeline 16, the sampling micropump A1 comprises a liquid inlet A2, the liquid inlet A2 is communicated with a first chamber A4 through a first one-way valve A3, the first chamber A4 is communicated with a second chamber A5, the second chamber A5 is communicated with a third chamber A6, and the third chamber A6 is communicated with a liquid outlet A8 through a second one-way valve A7;
The inner walls of the first chamber and the third chamber are respectively provided with at least one piezoelectric ceramic sheet A9, the piezoelectric ceramic sheet A9 changes the air pressure of the first chamber A4 and the third chamber A6 by vibration, the inner wall of the second chamber A5 is communicated with the outside of the micropump through at least one through hole, and the through hole is provided with a waterproof and breathable film A11; the sampling micropump A1 is communicated with the urine detection device through a pipeline. In this embodiment, the second chamber A5 of the sampling micropump is a liquid sedimentation chamber. The second chamber A5 is separated from the air by a waterproof and breathable film A11 before the air, namely the air pressure of the second chamber A5 is always the same as the atmospheric pressure, and the second chamber A5 is a liquid sealing space; the piezoelectric ceramic piece of first cavity inhales the second cavity A5 with urine, and liquid level sensor discerns that second cavity urine liquid level has reached required value, and the piezoelectric ceramic piece of first cavity A4 stops working, and after the urine of first cavity A4 stews to separating with the air, the piezoelectric ceramic piece of third cavity A6 draws urine. (in this embodiment, the case where one check valve is used for each of the first chamber and the third chamber is not shown, and for the sake of brevity, only the case where two check valves are used for each of the first chamber and the third chamber is shown in this drawing).
Further, the edge of the liquid taking disc 1 protrudes outwards to fix the urine sampling valve.
Further, the liquid taking disc 1 and the piston cylinder 3 are fastened through screw thread rotation.
The propulsion device is arranged as a cylinder. Realize the reciprocating motion of piston, realize getting liquid and go out the technological effect of liquid.
The working principle is as shown in fig. 5 and 6: when in operation, the device comprises: 1. the motor controls the piston to move downwards until the sampling port is exposed, namely a sampling small hole 5, the filter screen is separated from the thimble, urine is filtered by the filter screen and enters a piston cylinder (shown in figure 5), and the sampling micropump is connected with the sampling port to extract the urine; 2. after urine collection is completed, clean water enters the piston cylinder through the flushing port for flushing; 3. after the flushing is finished, the motor controls the piston to move upwards until the filter screen is tightly attached to the thimble (as shown in fig. 6).
As shown in fig. 8 to 9, in this embodiment, a check valve is added to each of the first chamber and the third chamber, the first chamber A4 is communicated with the second chamber A5 through the third check valve a18, and the second chamber A5 is communicated with the third chamber A6 through the fourth check valve a 19. Taking the third chamber as an example, the check valve A7, the check valve A19 and the piezoelectric ceramic plate A9 are formed, and the installation direction of the check valve A7 is opposite to that of the check valve A19. The working principle is as follows: after the power is on, the piezoelectric ceramic plate starts vibrating, when the pressure in the chamber is lower than the atmospheric pressure, the valve of the one-way valve A19 is opened due to the action of the atmospheric pressure, the valve of the one-way valve A7 is tightly closed, and liquid is sucked from the one-way valve A19; when the vibration is performed until the indoor pressure is higher than the atmospheric pressure, the check valve A7 is opened, the check valve A19 is closed, and the liquid is extruded from the check valve A7 under the action of the atmospheric pressure.
The following urine sampling method is adopted in the embodiment, and comprises the following steps:
1) The infrared temperature sensor measures and records the temperature value of the sampling valve by taking time t as a unit;
2) When the difference between the temperature value at the time t+1 and the temperature value at the time t is compared with a preset value:
If the difference between the temperature values is larger than a preset value, controlling a sampling valve to perform liquid suction sampling;
if the difference between the temperature values is less than the preset value, continuing step 1).
Before the step 1), the method further comprises the following steps:
01 Measuring and recording the pressure value by using a pressure sensor with time t as a unit;
02 Comparing the difference between the pressure value at time t+1 and the pressure value at time t with a preset value:
if the difference between the pressure values is larger than a preset value, entering the step 1);
if the difference between the pressure values is less than the preset value, continuing with step 01).
When the urine sampling valve works, the infrared temperature sensor emits a beam of infrared light to the sampling valve port, whether urine exists at the sampling valve port can be sensed, if the temperature change occurs at the sampling valve port, the urine is discharged, and the sampling valve automatically opens the valve to collect the urine sample.
The preset range of the pressure value in this embodiment may be set to 20kg-130kg, and in other embodiments, other ranges may be used to achieve the same effect.
In addition to embodiment one, the present invention also provides an embodiment two:
Embodiment two:
In this embodiment, as shown in fig. 11, there is provided a toilet detection device using another mode, a toilet lid is provided on a sampling toilet, the toilet lid includes a toilet seat, a toilet seat is provided above the toilet seat, an arc sampling rod F is provided below the toilet seat, a rotary power mechanism F1 is provided at an end of the arc sampling rod F to drive the arc sampling rod to rotate up and down, a sampling port F2 is provided on the arc sampling rod, and the sampling port F2 is connected with a urine detection device through a sampling micropump;
the toilet seat is provided with a urine track imaging sensor B2, and the urine track imaging sensor B2 collects information below the toilet seat.
Further, the urine track imaging sensor B2 is arranged as a thermal imaging camera.
In this embodiment, a thermal imaging camera is provided, and in other embodiments, a CCD image sensor or other sensors capable of collecting urine tracks may be provided.
Further, a pressure sensor D is arranged on the toilet seat cover gasket.
Further, the rotary power unit is configured as a rotary electric machine.
In this embodiment, the mechanism scheme of the invention is described only in terms of a toilet lid, but in other embodiments, the invention may be provided as an integral urine toilet or may be otherwise better implemented.
For the second embodiment, the urine identifying method is adopted to identify urine, and specifically comprises the following steps:
1) Storing a sampling port movement track on an arc-shaped sampling rod as a preset track, and taking a surface where the sampling port movement track is located as a coordinate surface;
2) Identifying a urine track through a urine track imaging sensor, and projecting the track on the coordinate plane;
3) Acquiring an intersection point coordinate A of the preset track and the projection track according to the projection track of the urine track on the coordinate plane;
4) Controlling the rotary power mechanism to move to the intersection point coordinates, and sampling;
5) Repeating the steps 2) to 4) until the sampling amount reaches the detection required amount.
In step 2), the method further comprises the following steps:
21 Judging whether a urine detection instruction is received or not, if not, returning to an initial state; if the urine detection instruction is received, continuing the next step;
22 Judging whether the pressure sensing value needs to be acquired, if so, performing step 23), and if not, performing step 3);
23 Judging whether the pressure value acquired by the pressure sensor is within the range of the predicted value, if so, performing the step 3), and if not, sending out a warning instruction.
In other embodiments, step 22) may be omitted and it may be directly recognized whether the pressure value acquired by the pressure sensor is within the predetermined value range prior to urine tracking.
In this embodiment, the urine track is automatically sampled according to the principle of two-dimensional imaging and identification of the urine track by the thermal imaging camera. When the thermal imaging camera recognizes the urine track, the rotary power mechanism rotates the sampling rod to the urine track for sampling. Since the sampling rod can only move at a fixed angle on one plane, the real-time tracking sampling of urine can be realized by projecting the urine on the plane after the urine is identified.
Fig. 12 shows a thermal imaging camera capable of two-dimensional imaging, and the field angle is W.
During operation, as shown in fig. 13, the thermal imaging camera obtains a two-dimensional thermal image and a temperature value according to different temperatures, and then urine tracks are obtained through algorithm comparison analysis, as shown in fig. 13, the tracks of the sampling rods are QYG, and when the thermal imaging camera recognizes that the urine tracks are random tracks MN1, the rotary power mechanism rotates the sampling rods to the position A to collect urine samples; when the urine track MN1 gradually approaches to any random urine track MN2, the rotary power mechanism controls the sampling rod to collect the urine sample from the position A to the position B.
Example III
In addition to the above two embodiments, the present invention also provides embodiment three: referring to fig. 17, a urine detection toilet cover comprises a toilet seat, wherein a first urine track imaging sensor B4 is arranged on the toilet seat and is arranged on one side of the toilet seat, and a second urine track imaging sensor B5 is also arranged at the front end of the toilet seat; a mechanical arm sampling rod F3 is arranged below the toilet seat. The toilet seat cover gasket is also provided with a third urine track imaging sensor B6, and the third urine track imaging sensor B6 is arranged opposite to the first urine track imaging sensor B4. In this embodiment, the urine track imaging sensor is disposed in this way, and in other embodiments, the urine track imaging sensor may be disposed at a different location, for example, only one sensor may be disposed at one side of the toilet, or two sensors may be disposed at opposite sides of the toilet, so long as the same effect is achieved,
In this embodiment, the first to third urine track imaging sensors are provided as thermal imaging cameras. The thermal imaging camera is placed in two different directions, so that the thermal imaging camera can acquire a urine track and three-dimensional coordinates, and the urine sampling rod F3 is controlled to track urine. Other embodiments may choose to use other numbers of urine trace imaging sensors as desired.
In this embodiment, in other embodiments, the first to third urine track imaging sensors may be provided as CCD image sensors or ultrasonic sensors to achieve the same technical effects.
The toilet cover is provided with the pressure sensor D, and before urine detection and tracking in the sampling process are carried out, the pressure sensor can be judged in advance to be used for carrying out next tracking and sampling after receiving signals, so that the accuracy of urine tracking can be further realized.
As shown in fig. 14 and 15, a sampling port F2 is provided at the end of the mechanical arm sampling rod F3, and the mechanical arm sampling rod includes a first moving arm F31, a second moving arm F32 and a third moving arm F33; the first moving arm F31 can rotate around a first rotating shaft, the second moving arm F32 can rotate around a second moving shaft, the third moving arm F33 can rotate around a third moving shaft, and a sampling port is arranged on the third moving arm F33. The third moving arm F33 is connected with a fourth moving arm F34, the fourth moving arm F34 can rotate around a fourth axis, the fourth moving arm F34 is connected with a sampling port F2, and the sampling port can rotate around a fifth axis. In the normal state, the mechanical arm is contracted at the inner side of the bottom of the toilet cover, and in the working process, the mechanical arm passes through each moving arm to rotate, and meanwhile, the mechanical arm F33 is controlled to stretch and retract, so that the urine device can be automatically sampled.
In this embodiment, the mechanical sampling arm is used for fine sampling in a five-axis manner, and in other embodiments, the mechanical sampling arm may be used for sampling in a three-axis manner, that is, in a manner of retaining F31, F32 and F33, so as to achieve the same technical effect.
In this embodiment, only the toilet lid is taken as an example for explanation, and in other embodiments, urine may be automatically sampled by directly forming a toilet or the like.
Referring to fig. 16, for the present embodiment, the following urine tracking method is used to sample urine specifically, which includes the following steps:
identification preparation:
Before video recording or photographing, judging whether the state of the camera is opened or blocked, and then testing the working state of the video.
And (II) recording information:
The first frame before, or at the beginning of, the video recording and photo is taken as the background or original state of the entire input. Then, video recording or photographing is started.
(III) urine identification:
after the video or the finder is photographed, the video stream is read and each frame of data is processed. Turning the gray level diagram first and carrying out Gaussian filtering transformation.
The gray map conversion can be processed by the current open source algorithm, such as cv2.cvtColor ().
Whereas the gaussian filter can be processed directly with the currently open source cv2.gaussian blur (), it can also be processed according to the following formula.
Is a linear filter, which can effectively suppress noise and smooth an image.
A two-dimensional gaussian function is as follows:
Where (x, y) is a point coordinate, which can be considered an integer in image processing; sigma is the standard deviation. To obtain a template for a gaussian filter, the gaussian function may be discretized, and the resulting gaussian function value may be used as a coefficient for the template. And then will be applied to the image for picture processing.
Thereafter, each frame of the video is subjected to difference comparison with the original state (background) by a frame difference method, the initial state of urine can be judged, and the initial time is recorded.
The specific frame difference method is as follows:
Two frames of images are selected continuously in the video image sequence, f t (x, y) is the t frame image, f t-τ (x, y) is the t-tau frame image, and then the frame difference expression is:
Dτ(x,y)＝|ft(x,y)-ft-τ(x，y)|
Binarizing D τ (x, y):
where T is a threshold determined by the scene.
In detecting a moving object by the difference detection method, only a moving part is displayed in an image, and a stationary part is eliminated in the image. After Gaussian filtering, the method can be added after Gaussian filtering, and whether the video is consistent with the original state or not is judged after difference comparison between the video and the original state; if the two types of the programs are consistent, returning to the previous step, otherwise, carrying out the subsequent program.
(IV) contour recognition:
And the urine track outline identification is performed by using an edge detection algorithm, so that the perimeter calculation can be performed. And, the RGB values of urine color can be extracted.
Contour recognition may employ open-source edge detection algorithms and functions.
For example: canny edge detection algorithm cv2.canny () and
Sobel edge detection function cv2.sobel () to identify urine image edges;
Employing a cv2.arcLength () sum
Area cv2.Contourarea () to calculate urine shape area and circumference;
The RGB values of urine color were detected using cv2.cvtcolor () color space substitution and cv2.inrange ().
In addition to the open source algorithm, the processing can be specifically performed according to the following formula:
And calculating the gradient strength and the gradient direction of each pixel point in the image by using an edge detection algorithm-Canny edge detection algorithm.
In the image, the degree and direction of change of the gradation value are expressed by gradients. The gradient value g x(m,n),gy (m, n) in different directions can be obtained by dot multiplying a sobel or other operators, and the gradient value and the gradient direction are calculated by the following formula:
non-maximum (Non-Maximum Suppression) suppression is applied to eliminate spurious responses from edge detection. The width of the edge is made to be 1 pixel point as much as possible: if a pixel belongs to an edge, the gradient value of this pixel in the gradient direction is largest. Otherwise, the gray value is set to 0 instead of the edge.
Double-Threshold (Double-Threshold) detection is applied to determine true and potential edges. Two thresholds (threshold) are set, maxVal and minVal, respectively. Where all greater than maxVal are detected as edges and all lower than minval are detected as non-edges. For the middle pixel point, if the middle pixel point is adjacent to the pixel point determined as the edge, the edge is determined; otherwise, it is non-edge. Edge detection is finally accomplished by suppressing isolated weak edges.
Furthermore, the edges are further defined by image binarization.
All pixels with gray levels greater than or equal to the threshold are determined to belong to a particular object, with gray values of 255 indicating that otherwise the pixel points are excluded from the object area, and with gray values of 0 indicating the background or exceptional object area.
The perimeter, area, of the urine shape can be calculated after the edges are obtained.
After the binary image is obtained, pixel point calculation can be performed according to the image edge, so that the circumference and the area are obtained.
The perimeter calculation is based on the number of extracted image edge pixels.
The urine column cross section can be seen as a circular area s=pi·r2 (pi represents the circumference ratio and the radius of the circle is r).
The urine cylindrical surface can be regarded as a rectangular area s=ab; a is the length of the rectangle, and b is the width of the rectangle.
And then, extracting the color of the urine, extracting the RGB value of the urine, and performing traversal comparison on the RGB color value to obtain the color state.
And (V) tracking point identification:
After the difference comparison with the original state, the identification can be confirmed by taking the initial point of urine as the tracking point. The specific tracking point confirmation mode is as follows, the original state is taken as time t, the first frame of urine is taken as time t+τ, and the frame difference between two time points is:
Dτ(x,y)＝|ft+τ(x,y)-ft(x，y)|
and then the urine target shape is obtained by using the judging conditions of shape detection.
In addition, the use of the build tracker cv2.Tracker_create ()
The tracking target is set up to achieve tracking with the difference (update) of the picture as a target.
And (six) calculating the flow rate:
and calculating the speed of the tracking point based on the initial time and the position difference of the tracking point.
Where S is distance and V is flow rate.
Of course, the processing can also be performed in an open source manner: the relative displacement between two images of the same content is detected, cv2.phaseCorrelate, whereby the track can also be drawn in segments.
The flow rate is then calculated according to the following steps:
where S is distance and V is flow rate.
In the urine tracking problem, the motion can be regarded as a uniform acceleration or deceleration motion with an initial velocity of 0.
A certain frame in which urine appears is taken as time k, the last state is taken as time k -τ,
Therefore, when k=1, there is acceleration
Namely there is
And (seventh) traffic identification:
After the difference comparison is carried out with the original state, when the video picture is still or the same as the original state, the urine identification can be judged to be ended, and the ending time is recorded. Urine length can be obtained from the start time comparison. Thus, the urine flow rate can be calculated from the cross-sectional area of the urine column.
Q＝SV
Where Δs is the distance that the liquid particle flows during Δt time.
(Eight) trajectory prediction
Tracking point validation, flow rate determination, and trajectory prediction can also be achieved using kalman filtering. The kalman filter cv.createkalman can be specifically used for processing, or the specific processing can be performed according to the following manner:
Kalman filtering method
Taking a certain frame of urine as time k, taking the last state as time k -τ, wherein the initial point of urine has a stateV k＝vk-τ+uk-τ x τ, where p k represents the current position, v k represents the current flow rate, and u k is the acceleration.
ThenMake/>
In the urine tracking problem, the motion can be regarded as a uniform acceleration or deceleration motion with an initial velocity of 0.
Therefore, when k=1, there is acceleration
Namely there is
Thus, in obtaining the state of two pointsTracking may then be performed.
Therefore, we can obtain the predictive tracking point formula,
Formula 1:
formula 2: sigma k -＝F∑k-τFT +Q
Where Q is a covariance matrix representing noise.
We will mark the transformation relationship of the real state and the observed state as h (·), y (k) =h [ x k]+vk ]R is the known noise covariance of the measurement. Then there is a correction set formula:
formula 3:
Formula 4:
Formula 5:
Based on these five formulas, we can track and correct the position and velocity of the tracking point from frame to frame. Thus, velocity (flow rate) and trajectory predictions can be obtained.
During operation, through the urine shape discernment to and urine orbit prediction, can in time track the urine sample, through detecting urine velocity of flow and flow simultaneously, realize the further perfection of urine detection.
Example IV
In the fourth embodiment, description is made of automatic urine detection, and after the toilet bowl of the first to third embodiments completes urine sampling, specific detection of urine is achieved through the urine detection box, specifically, urine detection is performed according to the following method, which includes the following steps:
1) Receiving a urine detection instruction;
2) Judging whether the urine detection box is correctly placed, if not, stopping urine detection;
if yes, continuing to step 3);
3) Reading an identification tag on the urine detection box, and judging whether the identification tag belongs to an effective urine detection box or not; if the urine detection box belongs to an effective urine detection box, a detectable instruction is sent out to detect urine; if the urine detection kit belongs to the invalid urine detection kit, a limit detection instruction and/or a warning instruction is issued.
The step 3) comprises the following steps:
31 Judging whether the urine detection box is matched with the stored database information according to the identification tag, and if so, continuing the next step; if the two types of information are not matched, a limit detection instruction and/or a warning instruction are/is sent out;
32 Judging whether the urine detection box is within the valid period according to the identification tag, and if so, performing urine detection; if not, a warning instruction is sent out;
After each urine detection is finished, storing the detection result in a database;
in this embodiment, a separate database is created for each individual urine test cartridge, storing all test results that its test cartridge has tested.
When the urine test paper box is taken out, the information taken out of the test paper box is recorded according to the label information and stored in a database. Judging whether the urine detection box has a taking-out record or not according to the identification tag, if not, continuing urine detection, and if so, sending out a limit detection instruction and/or a warning instruction; in this embodiment, the structures of the first to third embodiments may be adopted to perform automatic urine sampling first, and then the sample is taken onto the urine detection device by the sampling micropump A1, and the urine detection is automatically detected by the urine detection test paper box. And adopt the urine test paper box of electrified sub-label, can realize the discernment of urine test paper box, the transmission of urine test paper, store and retrieve.
The test paper box is divided into a test paper storage area and a test paper recovery area, the specific test paper box structure can adopt a similar structure in a CN212159816U file, wherein the test paper storage area comprises a desiccant filling area, and the test paper storage area has the advantages of sealing, light shielding, moisture prevention and the like, and provides a good storage environment for test paper.
As shown in fig. 18 and 19, the test paper box housing is packaged with an RFID or NFC electronic tag 15, which is capable of storing factory information, use information, and the like detected using the test paper box. Through the information of writing in electronic chip in advance when leaving the factory, can make every test paper box have uniqueness, combine the card reader module on the detection device, after the user put into the test paper box, can read and record the information in this test paper box electronic tags, thereby like test paper box ID number, type, capacity (hold the test paper strip number), detectable item, information such as time of leaving the factory realize following function:
through the structural design of the scheme, when a user correctly places the test paper box, the equipment can start detection, and the equipment cannot normally read the electronic tag information of the test paper box when the test paper box is not placed or is not placed in a correct mode;
If the user wants to start urine detection, the device firstly judges the test paper box after receiving the instruction, and if the electronic tag information is not read, the software end reminds the user to correctly put the test paper box;
if the electronic tag information is read, comparing the read test paper box information with the information stored in the database, and if the read test paper box information cannot be matched with the information stored in the database, indicating that the test paper box is not an original genuine product, reminding a user at a software end and limiting detection;
After the correct test paper box information is read, uploading the test paper box information to a server, and providing consumable allowance prompt for a user at a software end according to the capacity of the test paper box;
During detection, according to the type of the test paper box, a corresponding algorithm is selected to carry out identification analysis on the test paper and provide a detection result, so that urine detection of different types such as urine convention, heavy metals, drugs and the like can be realized on one device;
Due to the specificity of the urine detection test paper, the urine detection test paper can slowly lose efficacy with time when being exposed to the air, the use time of the test paper box can be recorded, and when the test paper box is not used up until the validity period, a user is reminded to replace a new test paper box at a software end;
meanwhile, due to the specificity of the urine detection test paper box structure, when a user takes out the test paper box from the device, defaulting the test paper box to be abandoned, and not allowing the test paper box to be put into the device again for detection, so that when the test paper box is taken out, the device uploads recorded data of the test paper box to a server database, when a new test paper box is put into the device, information such as ID codes of the new test paper box is compared with the database, and if the test paper box is reused, the user is reminded at a mobile phone end and detection is limited;
If necessary, the detection result can be written into the electronic tag after each detection, and recording can be performed, and when the test paper of the detection box is used up, all detection results of the test paper box can be recorded in the electronic tag.
During operation, put into urine detection box in detecting the closestool, the user can start the detection through handheld terminal start software or applet to detect closestool discernment urine detection box record information to feed back relevant system with the information, link with user's handheld terminal through the system, confirm the detection information, then start the detection, store the testing result.
The foregoing description is only of the preferred embodiments of the invention, and all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (5)
1. The toilet bowl detection device is characterized in that a toilet bowl cover is arranged on a toilet bowl and comprises a toilet bowl gasket, the toilet bowl gasket is arranged above the toilet bowl gasket, an arc-shaped sampling rod is arranged below the toilet bowl gasket, a rotary power mechanism is arranged at the end part of the arc-shaped sampling rod to drive the arc-shaped sampling rod to rotate up and down, a sampling port is arranged on the arc-shaped sampling rod, and the sampling port is connected with the urine detection device through a sampling micropump; the toilet seat is provided with a urine track imaging sensor which collects information below the toilet seat;
the toilet bowl detection device samples according to the following method, and comprises the following steps:
1) Storing a sampling port movement track on an arc-shaped sampling rod as a preset track, and taking a surface where the sampling port movement track is located as a coordinate surface;
2) Identifying a urine track through a urine track imaging sensor, and projecting the track on the coordinate plane;
3) Acquiring an intersection point coordinate A of the preset track and the projection track according to the projection track of the urine track on the coordinate plane;
4) Controlling the rotary power mechanism to move to the intersection point coordinates, and sampling;
5) Repeating the steps 2) to 4) until the sampling amount reaches the detection required amount;
also comprises the following steps
21 Judging whether a urine detection instruction is received or not, if not, returning to an initial state; if the urine detection instruction is received, continuing the next step;
22 Judging whether the pressure value acquired by the pressure sensor is within the range of the predicted value, if so, performing the step 3), and if not, sending out a warning instruction.
2. The toilet detection device of claim 1, wherein the urine track imaging sensor is configured as a thermal imaging camera.
3. The toilet detection device of claim 1, wherein the urine track imaging sensor is configured as a CCD image sensor.
4. The toilet detection device according to claim 1, wherein a pressure sensor is provided on the toilet lid seat.
5. The toilet detection apparatus according to claim 1, wherein the rotation power means is provided as a rotary motor.
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