WO2017070989A1 - 一种智能坐便器的控制方法 - Google Patents

一种智能坐便器的控制方法 Download PDF

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Publication number
WO2017070989A1
WO2017070989A1 PCT/CN2015/094446 CN2015094446W WO2017070989A1 WO 2017070989 A1 WO2017070989 A1 WO 2017070989A1 CN 2015094446 W CN2015094446 W CN 2015094446W WO 2017070989 A1 WO2017070989 A1 WO 2017070989A1
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WIPO (PCT)
Prior art keywords
cover
seat
microcontroller
motor
angular velocity
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PCT/CN2015/094446
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English (en)
French (fr)
Inventor
赵英军
刘勇
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深圳麦格米特电气股份有限公司
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Application filed by 深圳麦格米特电气股份有限公司 filed Critical 深圳麦格米特电气股份有限公司
Priority to US15/028,024 priority Critical patent/US10244904B2/en
Priority to RU2016114461A priority patent/RU2644096C2/ru
Publication of WO2017070989A1 publication Critical patent/WO2017070989A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
    • A47K13/00—Seats or covers for all kinds of closets
    • A47K13/10—Devices for raising and lowering, e.g. tilting or lifting mechanisms; Collapsible or rotating seats or covers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

Definitions

  • the invention relates to a smart toilet, in particular to a control method of a smart toilet.
  • the intelligent toilet originated in the United States and was used for medical and geriatric care. It was originally set up with a warm water washing function. After the Korean and Japanese sanitary ware companies gradually introduced technology, they began to manufacture. They added a toilet lid, heated water, and warm air. , sterilization and many other functions. At present, the intelligent toilets on the market usually have the functions of automatic heating and heating of the seat, warm water cleaning after the toilet, and warm air drying. The early rise of the intelligent toilet is positioned for the elderly and family health care, but as the smart toilet is accepted by the majority of users, the application occasions and suitable crowds continue to expand, bringing some problems to be solved.
  • infrared rays were used to detect the proximity of the human body to realize a part of the automatic flipping and flipping function, but the short life caused by infrared attenuation could not be solved, and the external environment was greatly disturbed, and the water sealing problem was required to open the window on the upper cover.
  • the utility model with the patent number CN200920199983.0 provides an automatic opening and closing device for the seat ring and the cover of the toilet seat.
  • the seat ring and the cover are mounted on the toilet seat on the same axis, and the seat drive motor and the cover drive motor respectively sit and sit.
  • the ring shaft and the cover shaft are connected and respectively mounted on the toilet seat and the cover.
  • the two motors each have a starting circuit and a control circuit, the seat shaft and the cover shaft are connected by a gear formed by wedge teeth, and the core shaft and the sleeve shaft of the seat shaft A spring is mounted between them, and an electromagnet is mounted on one side of the mandrel.
  • the invention applies the principle of an electromagnet mechanism and a ratchet
  • the principle of the ratchet mechanism is that the seat ring is designed to be separately driven by the motor and turned up with the cover, and the flipping of the cover is designed to be automatically controlled by the sensor, and the seat ring needs to be closed by the user. Flip up automatically with the cover.
  • the invention cannot determine whether the seat ring needs to be opened simultaneously with the cover or the cover is opened separately, and the user still needs to touch the seat by hand, which is not only inconvenient to use, but also increases the possibility that the user's hand is contaminated.
  • the technical problem to be solved by the present invention is to provide a control method for a smart toilet that is highly intelligent, convenient to use, and that is not easily contaminated by the user's hands.
  • the technical solution adopted by the present invention is a control method of a smart toilet
  • the smart toilet includes a seat ring driving device, a cover driving device and a control circuit
  • the control circuit includes a sensor and a microcontroller, and sits
  • the opening method of the ring and the cover plate includes a male urination mode and a female mode.
  • the microcontroller opens the cover and sits by the lap drive and the cover driving device. Circle; in the female mode, when the sensor detects that a user is approaching, the microcontroller opens the cover through the cover drive.
  • the microcontroller snaps the opened cover and the seat ring through the lap drive and the cover drive.
  • the senor is a microwave detector
  • the opening mode of the seat ring and the cover plate is set by a microcontroller
  • the control circuit includes a foot switch, and the output end of the foot switch is connected to the microcontroller; In the urination mode, the user touches the foot switch, and the microcontroller drops the seat through the lap drive.
  • the senor comprises two microwave detectors, and the output ends of the two microwave detectors are respectively connected to the microcontroller; the two microwave detectors are installed one by one on the upper cover of the smart toilet. Two microwave detectors sequentially output signals to the microcontroller according to the user's gesture, the microcontroller According to the output signals of the two microwave detectors, the opening manner of the seat ring and the cover plate is determined.
  • the control circuit includes a foot switch, and the output end of the foot switch is connected to the microcontroller.
  • the microcontroller passes the cover.
  • the drive unit and the lap drive open the cover and the seat ring.
  • the seat ring driving device and the cover driving device respectively comprise a DC motor, a motor driving circuit and a potentiometer, and the movable contact of the potentiometer is driven by a DC motor; the two fixed ends of the potentiometer resistor body are respectively connected The positive pole of the power supply and the ground, the movable contact of the potentiometer as the sampling end of the seat or the cover angle of the microcontroller; the DC motor adopts the PWM speed regulation mode, the seat ring or the cover plate rises or falls, the microcontroller The angle of the seat ring or the cover plate is sampled by the potentiometer multiple times, and the angular velocity of the rise or fall of the seat ring or the cover plate is calculated. When the angular velocity of the seat ring or the cover plate exceeds the set value, the current of the DC motor is reduced. Empty ratio.
  • the process of the seat ring or the cover falling is divided into a plurality of sections, the interval angular velocity starting value at the beginning of the drop is the highest, and the angular velocity setting value at the end of the falling is the lowest; the process of lifting the seat or the cover is divided into In the multiple intervals, the interval angular velocity setting value at which the lifting starts is the lowest, and the interval angular velocity setting value at the end of the lifting is the lowest.
  • the seat or cover is fully engaged at a position of 0°, and the fully open position is 120°; during the fall of the seat or cover, in a range of 120° to 75°, a seat or The angular velocity of the cover falling is set to 70° per second; in the range of 75° to 40°, the angular velocity of the seat or cover drop is set to 35° per second; in the range of 40° to 0°, the seat or The angular velocity of the cover falling is set to 25° per second; during the lifting of the seat or cover, the angular velocity of the seat or cover lift is set to 70° per second in the range of 0° to 40°. In the range of 40° to 80°, the angular velocity of the seat or cover lift is set to 35° per second; in the range of 80° to 120°, the angular velocity of the seat or cover lift is set to per second. 25°.
  • the seat ring driving device and the cover driving device respectively comprise a DC motor,
  • the motor drive circuit and the power-down mode the output end of the motor drive circuit is connected to the input end of the DC motor, and the control end of the motor drive circuit is connected to the first control signal output end of the microcontroller;
  • the power-off mode-down circuit includes a current limiting resistor , electronic switch and relay, electronic switch and relay control coil are connected in series, one end is connected to the power supply, the other end is grounded, the control end of the electronic switch is connected to the second control signal output end of the microcontroller; the winding of the DC motor, the current limiting resistor and the relay The normally closed contacts form a series circuit. .
  • the user of the smart toilet of the present invention does not need to touch the seat or the cover by hand, which is convenient not only when used, but also reduces the possibility that the user's hand is contaminated.
  • FIG. 1 is a schematic block diagram of a smart toilet control circuit of Embodiment 1 of the present invention.
  • Figure 2 is a front elevational view of the smart toilet of the embodiment 1 of the present invention.
  • Fig. 3 is a view showing an output waveform of the microwave detector when a continuous operation is detected in the first embodiment of the present invention.
  • FIG. 4 is a schematic block diagram of a smart toilet control circuit of Embodiment 2 of the present invention.
  • FIG. 5 is a schematic view showing the installation of two microwave detectors of the smart toilet of the embodiment 2 of the present invention.
  • Figure 6 is a schematic diagram of a power-down mode-down circuit of Embodiment 3 of the present invention.
  • the smart toilet includes a seat ring driving device, a cover driving device and a control circuit
  • the control circuit includes a microwave detector, a mode setting button, a foot switch, and a microcontroller.
  • the output ends of the microwave detector, the mode setting button and the foot switch are respectively connected to the microcontroller, and the two output ends of the microcontroller are respectively connected to the ring driving device and the cover driving device
  • the microwave detector is a high-frequency microwave transmitting and receiving antenna probe of 24.125 GHz, which is passed through an I/O interface circuit and a microcontroller (MCU).
  • the microwave detector 2 is mounted on the upper cover 101 of the toilet 1 At the center of the detector, when the detector is working, an electromagnetic wave of 24.125 GHz is emitted, and the frequency and gain change of the electromagnetic wave reflected from the forward direction (a range of angles at the front, usually 30°) are used to determine whether or not an object moves.
  • the microwave detector analyzes whether there is an action for the duty cycle every 1.5 seconds.
  • the foot switch 3 is mounted on the lower portion of the front end of the toilet bowl 1.
  • the detection range of the microwave detector 2 is defined as a center point of the foot touch switch at the bottom of the front end of the toilet, and a human body is detected with a radius of 0.5 m.
  • the microwave detector emits an induction command within 0.1 second.
  • the output of the microwave detector outputs a low level of 0.5 s pulse width. Retest once every 1.5s.
  • the actions of the human body include people coming, people walking and being. Both human arrival and presence actions are judged by the output of the microwave detector continuously outputting a low-level signal. The human walking action is determined by the microwave detector output pin not giving any low-level signal within 5 seconds.
  • the MCU of the intelligent toilet control circuit can set the male mode and the female mode through the mode setting button.
  • the male mode when the microwave detector detects that the human body is approaching, the MCU of the toilet control circuit receives the signal from the microwave detector, and opens the cover plate and the seat ring through the seat ring driving device and the cover driving device; When it is necessary to drop the seat in the urination mode, the user needs to kick the foot switch, and the microcontroller drops the seat through the seat drive.
  • the MCU of the toilet control circuit receives the signal from the microwave detector, and opens the cover through the cover driving device, while the seat ring remains stationary.
  • the microcontroller snaps the opened cover and the seat ring through the lap drive and the cover drive.
  • the smart toilet of the embodiment also includes a seat ring driving device, a cover driving device and a control circuit.
  • the control circuit comprises a foot switch, a microcontroller and two microwave detectors, and the output ends of the two microwave detectors respectively Connect to the microcontroller.
  • two microwave detectors 2A and 2B are installed at the upper cover of the smart toilet, and the two microwave detectors 2A and 2B sequentially output signals to the microcontroller according to the user's gesture.
  • the controller determines the opening manner of the seat ring and the cover plate according to the order of the output signals of the two microwave detectors.
  • the smart toilet of the present embodiment determines whether the gesture is a male or female application mode by using two microwave detectors (from left to right or right to left), without using a microcontroller to set the application mode.
  • the MCU receives a signal to start opening the cover and the seat ring, and this is a male urinary mode
  • the microwave detector detects that the gesture of the person is right to left, the MCU starts to open the seat, and the cover does not move. At this time, it is the female mode (or the male stool mode).
  • the left-to-right or right-to-left gesture signals are used as I/O input signals of the MCU to set the opening mode of the seat and the cover and trigger the MCU to open the seat and/or the cover.
  • the microwave detector only detects the proximity of the human body, the output signal of the microwave detector needs to be logically processed with the foot switch. For example, when the elderly are inconvenient to move and the gesture operation cannot be guaranteed, the foot switch can ensure that the cover and the seat ring are opened.
  • the MCU when the MCU detects that the human body is approaching and has a stop by the high-frequency microwave detector, the automatic opening of the seat ring and the cover plate can be realized, and the opening time of the seat ring and the cover plate, the seat ring and the cover plate can be avoided.
  • the opening manner of the male and female covers and the seat ring can be selected and controlled: the male mode microwave detector forward When the human body is detected to be approaching, the MCU receives a signal to activate the opening of the cover and the seat ring. When it is necessary to drop the seat, it is required To kick the foot switch; the female mode is to detect when the human body is approaching, the MCU starts to open the seat, and the cover is not moving.
  • the opening manner of the male and female covers and the seat ring can be selected and controlled: the male mode detects the person above the microwave detector.
  • the MCU receives a signal to activate the opening of the cover and the seat ring (men's urination mode); the female mode (including the male stool mode) is when the upper microwave detector detects that the person's gesture is right to left.
  • the MCU starts to open the cover, and the seat is not moving.
  • the automatic damping of the cover and seat drop is achieved by driving a DC motor.
  • the DC motor has 5 pins, of which 1 and 2 are the positive and negative poles of the motor, which can control the rotation of the motor. 3, 4, 5 feet are the potentiometer pins connected to the motor.
  • the 3 fixed pins of the potentiometer resistor body are the +5V pin, the 4 pin is the GND pin; the 5 pin is used as the movable contact of the potentiometer.
  • the pin, which is the AD sampling (voltage sampling) pin is a sample-terminated microcontroller that is used as a seat or cover angle.
  • the motor is rotated forward and backward by controlling the voltage across the DC motor.
  • the motor 1 pin is the positive pin and the 2 pin is the negative pin.
  • the 1 pin high level the 2 pin low level.
  • the motor realizes forward rotation; by controlling the 1 pin low level and the 2 pin high level, the motor realizes the reverse; when the 1 pin and the 2 pin are at the same high level, the motor can be stopped, and the 1 pin and the 2 pin are simultaneously low. At the level, the motor is at a standstill.
  • the voltage applied between the 1 pin and the 2 pin of the motor is in the form of a square wave.
  • the second embodiment is adopted to realize the rotation speed control of the motor, so the software algorithm of the damping is The core technology to control the flipping effect.
  • the current cover and seat control range is 0° to 120° (0° to 120° is the process range and the normal control range is 0° to 110°).
  • the current seat or cover is sampled at 110°-120° by the potentiometer of the cover or the seat ring.
  • the effect of closing the cover is as follows: The % duty cycle is used to flip the motor, let the motor flip, and simultaneously sample the potentiometer value.
  • the current A/D chip (analog-to-digital converter) sampling is 10 bits, and 5V is divided into 1024 copies. Corresponding voltages are available for each angle, and the microcontroller converts the corresponding voltage into an A/D value.
  • the resulting A/D value is 716.
  • the A/D value is calculated every 500 milliseconds, and the speed at which the motor rotates is judged based on the change time of each unit of the A/D value.
  • the first sampled A/D value is 120°
  • the second sampled A/D value is 85°
  • the PWM duty cycle is adjusted by the PI algorithm to slow down the speed. If it is less than 70°/sec, the duty ratio is raised upwards (provided the duty ratio is not reached). 100%).
  • the angle between the motor angle is 75° to 40°, which is the same as the above algorithm, but the angular velocity at this time is controlled at 35°/sec.
  • the angular velocity of the motor is controlled at 25°/sec between the motor angle of 40° and 0°.
  • the process principle of opening and opening the cover is the same as the process of closing the ring and closing the cover. Just set the angle value and speed The value is a bit different.
  • the angle of the motor is 0° by sampling with a potentiometer.
  • the control process is as follows:
  • the motor angle is between 0° and 45° and is flipped at an angular velocity of 70° per second.
  • the motor angle is between 45° and 80° and is flipped at an angular velocity of 35° per second.
  • the motor angle is between 80° and 120° and is flipped at an angular velocity of 25° per second.
  • the automatic turning and flip function is realized by the automatic damping device and the MCU control circuit.
  • the power-off and falling-down circuit is an additional protection circuit of the MCU control circuit. Under normal circumstances, this part of the circuit does not work, but only in power failure, power failure, etc. Working under abnormal conditions, providing users with a protection against the user's discomfort caused by the power of the seat ring and the cover falling too fast during a power outage or power failure.
  • the seat ring driving device and the cover driving device respectively comprise a DC motor M1, a motor driving chip DRV8843 and a power-off and descending circuit.
  • the output end of the motor driving chip DRV8843 is connected to the input end of the DC motor, and the control terminal of the motor driving chip is connected to the microcontroller.
  • the power-down mode-down circuit includes a current limiting resistor R1, a transistor Q1, and a relay RLY1.
  • the collector of the transistor Q1 is connected to the relay RLY1 to control the first end of the coil, the emitter is grounded, the second end of the relay RLY1 control coil is connected to the power supply, and the base of the transistor Q1 is connected to the second control signal output end of the microcontroller through the resistor R2.
  • the winding of the DC motor M1, the current limiting resistor R1 and the normally closed contact of the relay RLY1 form a series circuit.
  • the MCU controls the relay RLY1 through the resistor R2 and the transistor Q1.
  • the relay RLY1 normally closes the contact, and the DC motor M1 can normally drive the chip I C2 (T I dual-channel H-bridge driver integrated circuit DRV8843 ) Drive work.
  • the normally closed contact of the relay RLY1 is automatically closed under the action of the internal spring mechanism.
  • the resistor R1 forms a closed loop circuit with the motor winding.
  • a current is generated in the closed loop circuit and consumed by the resistor R1 and the internal resistance of the motor winding. This current has the effect of hindering the rotation of the motor, and the intelligent toilet cover and the seat ring are passively lowered.
  • the above embodiment of the present invention utilizes the high-frequency microwave detecting technology to effectively solve the automatic detection, automatically open the seat ring and the seat cover, and can reasonably distinguish the use of men and women through the gesture control of the human body, and simultaneously open the seat ring and the cover plate in a key position.
  • the automatic damping device is used in the mechanism to realize that the opening speed is reasonable, and the power failure does not fall quickly, causing the user to be scared.
  • the bottom of the smart toilet is equipped with a foot switch, which greatly facilitates the user's choice.

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Abstract

一种智能坐便器（1）的控制方法，智能坐便器（1）包括坐圈驱动装置、盖板驱动装置和控制电路，控制电路包括传感器和微控制器，坐圈与盖板的开启方式包括男用小便模式和女用模式，在男用小便模式下传感器检测到有使用者接近时，微控制器通过坐圈驱动装置和盖板驱动装置打开盖板和坐圈；在女用模式下传感器检测到有使用者接近时，微控制器通过盖板驱动装置打开盖板。智能坐便器（1）的使用者不需要用手接触坐圈或盖板，不仅使用时比较方便，而且减少了使用者的手被污染的可能。

Description

一种智能坐便器的控制方法 [技术领域]
本发明涉及智能坐便器，尤其涉及一种智能坐便器的控制方法。
[背景技术]
智能坐便器起源于美国，用于医疗和老年保健，最初设置有温水洗净功能，后经韩国，日本的卫浴公司逐渐引进技术开始制造，加入了座便盖加热、温水洗净、暖风干燥、杀菌等多种功能。目前市场上的智能坐便器通常具备的功能是座圈自动加热保温、便后温水清洗、暖风烘干的功能。智能坐便器的早起定位为老人和家庭保健，但随着智能坐便器被广大用户接受，应用的场合和适宜人群不断扩大，带来一些需要解决的问题。
在公共卫生间(如酒店的洗手间，公共洗手间等)智能坐便器的座盖和座圈的打开和关闭需要用手完成，带来的潜在卫生隐患是不容忽视的，需要考虑非接触的自动翻圈翻盖功能；对于男性和女性的智能坐便器使用有不同要求，非接触的翻圈翻盖接需要考虑有针对性的解决办法。
以前有利用红外线来探测人体接近实现一部分自动翻圈翻盖功能，但不能解决红外线衰减造成的寿命短，收外接环境干扰大的问题，同时需要在上盖上开窗带来水密封问题。
专利号为CN200920199983.0的实用新型提供了一种坐便器坐圈和盖的自动开合装置，坐圈和盖以同一轴线安装在坐便器上，有坐圈驱动电机和盖驱动电机分别与坐圈轴和盖轴连接并分别安装在坐便器和盖上，两电机各有启动电路和控制电路，坐圈轴和盖轴由楔形齿构成的齿轮连接，坐圈轴的芯轴和套轴之间安装有弹簧，芯轴一方安装有一电磁铁。该发明应用电磁铁机构原理和棘轮 棘牙机构原理，将坐圈设计成可以单独由电机驱动合下而随盖翻起，同时将盖的翻起合下都设计成由传感器控制的自动进行，坐圈按使用人需要合下而随盖自动翻起。但是该发明无法判断坐圈是否需要与盖板同时打开或盖板单独打开，使用者还是需要用手接触坐圈，不仅使用时不够方便，还增加了使用者的手被污染的可能。
[发明内容]
本发明要解决的技术问题是提供一种智能化程度高、使用方便、使用者的手不容易被污染的智能坐便器的控制方法。
为了解决上述技术问题，本发明采用的技术方案是，一种智能坐便器的控制方法，智能坐便器包括坐圈驱动装置、盖板驱动装置和控制电路，控制电路包括传感器和微控制器，坐圈与盖板的开启方式包括男用小便模式和女用模式，在男用小便模式下传感器检测到有使用者接近时，微控制器通过坐圈驱动装置和盖板驱动装置打开盖板和坐圈；在女用模式下传感器检测到有使用者接近时，微控制器通过盖板驱动装置打开盖板。
以上所述的控制方法，传感器检测到使用者离开时，微控制器通过坐圈驱动装置和盖板驱动装置扣合已打开的盖板和坐圈。
以上所述的控制方法，所述的传感器是微波探测器，坐圈与盖板的开启方式通过微控制器设置，控制电路包括脚触开关，脚触开关的输出端接微控制器；在男用小便模式下，使用者触动脚触开关，微控制器通过坐圈驱动装置落下坐圈。
以上所述的控制方法，所述的传感器包括两个微波探测器，两个微波探测器的输出端分别接微控制器；两个微波探测器一左一右安装在智能坐便器的上盖处，两个微波探测器根据使用者的手势先后向微控制器输出信号，微控制器 根据两个微波探测器输出信号的先后判定坐圈与盖板的开启方式。
以上所述的控制方法，控制电路包括脚触开关，脚触开关的输出端接微控制器，在没有检测到使用者的手势的情况下，使用者触动脚触开关，微控制器通过盖板驱动装置和坐圈驱动装置打开盖板和坐圈。
以上所述的控制方法，坐圈驱动装置和盖板驱动装置分别包括直流电机、电机驱动电路和电位器，电位器的活动触头由直流电机驱动；电位器电阻体的两个固定端分别接电源正极和地，电位器的活动触头作为坐圈或盖板角度的采样端接微控制器；直流电机采用PWM调速方式，坐圈或盖板起升或下落的过程中，微控制器通过电位器多次对坐圈或盖板的角度进行采样，并计算坐圈或盖板起升或下落的角速度，当坐圈或盖板的角速度越过设定值时，降低直流电机电流的占空比。
以上所述的控制方法，坐圈或盖板下落的过程分成复数个区间，下落开始的区间角速度设定值最高，下落结束的区间角速度设定值最低；坐圈或盖板起升的过程分成复数个区间，起升开始的区间角速度设定值最低，起升结束的区间角速度设定值最低。
以上所述的控制方法，坐圈或盖板完全扣合的位置为0°，完全打开的位置为120°；坐圈或盖板下落的过程中，在120°到75°区间，坐圈或盖板下落的角速度设定值为每秒70°；在75°到40°区间，坐圈或盖板下落的角速度设定值为每秒35°；在40°到0°区间，坐圈或盖板下落的角速度设定值为每秒25°；坐圈或盖板起升的过程中，在0°到40°区间，坐圈或盖板起升的角速度设定值为每秒70°；在40°到80°区间，坐圈或盖板起升的角速度设定值为每秒35°；在80°到120°区间，坐圈或盖板起升的角速度设定值为每秒25°。
以上所述的控制方法，坐圈驱动装置和盖板驱动装置分别包括直流电机、 电机驱动电路和断电缓降电路，电机驱动电路的输出端接直流电机的输入端，电机驱动电路的控制端接微控制器的第一控制信号输出端；断电缓降电路包括限流电阻、电子开关和继电器，电子开关与继电器的控制线圈串联后一端接电源，另一端接地，电子开关的控制端接微控制器的第二控制信号输出端；直流电机的绕组、限流电阻和继电器的常闭触点组成串联电路。。
本发明智能坐便器的使用者不需要用手接触坐圈或盖板，不仅使用时比较方便，而且减少了使用者的手被污染的可能。
[附图说明]
下面结合附图和具体实施方式对本发明作进一步详细的说明。
图1是本发明实施例1智能坐便器控制电路的原理框图。
图2是本发明实施例1智能坐便器的主视图。
图3是本发明实施例1为微波探测器检测到连续动作时的输出波形图。
图4是本发明实施例2智能坐便器控制电路的原理框图。
图5是本发明实施例2智能坐便器两个微波探测器的安装示意图。
图6是本发明实施例3断电缓降电路的原理图。
[具体实施方式]
本发明实施例1智能坐便器控制方法的原理如图1至图3所示。如图1所示，智能坐便器包括坐圈驱动装置、盖板驱动装置和控制电路，控制电路包括微波探测器、模式设定按键、脚触开关和微控制器。
微波探测器、模式设定按键和脚触开关的输出端分别接微控制器，微控制器的两个输出端分别接坐圈驱动装置和盖板驱动装置
如图2所示，微波探测器是由24.125GHz的高频微波发、收一体天线探头，通过I/O接口电路和微控制器(MCU)。微波探测器2安装在坐便器1的上盖101 的正中心处，在探测器工作的时候发出24.125GHz的电磁波，根据前向(正前方的某一角度范围，通常30°角)反射回来电磁波的频率和增益变化来判断是否有物体动作。微波探测器每1.5秒为工作周期分析是否有动作产生。脚触开关3安装在坐便器1前端的下部。
为方便使用，把微波探测器2探测范围定义为以坐便器前端底部脚触开关部位为中心点，以半径为0.5米的区域检测是否有人体动作。当人体进入这个以0.5米为半径的范围内时，微波探测器在0.1秒内发出感应指令。
如图3所示，当微波探测器检测到范围内(0.5m半径的范围内)有物体动作产生的时候，微波探测器的输出脚输出一个0.5s脉宽的低电平，微波探测器每隔1.5s重新检测一次。
人体的动作包括人来，人走和存在。人来和存在动作都是通过微波探测器的输出脚持续输出低电平信号来判断的，人走动作则是在5秒内微波探测器输出脚没有给出任何低电平信号即可以判定。
智能坐便器控制电路的MCU可以通过模式设定按键设置男用模式和女用模式。在男用模式下，微波探测器检测到有人体接近时，坐便器控制电路的MCU收到微波探测器发出的信号，通过坐圈驱动装置和盖板驱动装置打开盖板和坐圈；在男用小便模式下需要落下坐圈时，使用者需要踢一下脚触开关，微控制器通过坐圈驱动装置落下坐圈。在女用模式下，微波探测器探测到人体接近时，坐便器控制电路的MCU收到微波探测器发出的信号，通过盖板驱动装置打开盖板，而坐圈保持不动。
微波探测器检测到使用者离开时，微控制器通过坐圈驱动装置和盖板驱动装置扣合已打开的盖板和坐圈。
本发明实施例2智能坐便器控制方法的原理如图4至图5所示。如图4所 示，本实施例的智能坐便器同样包括坐圈驱动装置、盖板驱动装置和控制电路，控制电路包括脚触开关、微控制器和两个微波探测器，两个微波探测器的输出端分别接微控制器。如图5所示，两个微波探测器2A和2B一左一右安装在智能坐便器的上盖处，两个微波探测器2A和2B根据使用者的手势先后向微控制器输出信号，微控制器根据两个微波探测器输出信号的先后判定坐圈与盖板的开启方式。
本实施例的智能坐便器通过二个微波探测器进行手势的判断(从左到右或从右到左)确定是男用还是女用应用模式，而不用微控制器来设置应用模式。
例如，微波探测器检测到人的手势是左到右时，MCU收到信号启动打开盖板和坐圈，此时为男用小便模式；
微波探测器检测到人的手势是右到左时，MCU启动打开坐圈，而盖板不动，此时是女用模式(或男用大便模式)。
本实施例中，从左到右或从右到左的手势信号作为MCU的I/O输入信号，用于设置坐圈与盖板的开启方式并触发MCU开启坐圈和/或盖板。当微波探测器只探测到有人体接近时，微波探测器的输出信号需要和脚触开关进行逻辑处理。例如，针对老人行动不便，手势操作无法保证时，脚触开关可以保证盖板和坐圈打开。
在以上实施例中，MCU通过高频微波探测器检测到人体接近并有停留时，可以实现坐圈和盖板的自动打开，避免人手接触坐圈和盖板，坐圈和盖板的打开时间程序控制，加上方手势控制，多种方式实现。
在实施例1中，当智能坐便器配备一个前向微波探测器和脚触开关时，男用和女用的盖板和坐圈的打开方式可以选择和控制：男用模式微波探测器前向检测到人体接近时，MCU收到信号启动打开盖板和坐圈，当需要落下坐圈时，需 要踢一下脚触开关；女用模式是探测到人体接近时，MCU启动打开坐圈，而盖板是不动的。
在实施例2中，当智能坐便器配备二个上方微波探测器时，男用和女用的盖板和坐圈的打开方式可以选择和控制：男用模式当微波探测器上方检测到人的手势是左到右时，MCU收到信号启动打开盖板和坐圈(男用小便模式)；女用模式(包括男用大便模式)是上方微波探测器检测到人的手势是右到左时，MCU启动打开盖板，而坐圈是不动的。
盖板和坐圈下落的自动阻尼是通过驱动直流电机实现的。直流电机有5个引脚，其中1脚和2脚为电机的正负极，可以控制电机转动。3、4、5脚是连接电机的电位器引脚，电位器电阻体的两个固定端中3脚为+5V引脚，4脚为GND引脚；5脚作为电位器的活动触头的引脚，为AD采样(电压采样)引脚，作为坐圈或盖板角度的采样端接微控制器。
对于直流电机的驱动操作有通过控制直流电机两端电压实现电机的正反转，如电机1脚为正极引脚，2脚为负极引脚，通过控制1脚高电平，2脚低电平，电机实现正转；通过控制1脚低电平，2脚高电平，电机实现反转；1脚和2脚同时高电平的时候，可让电机刹停，1脚和2脚同时低电平的时候，电机为停止状态。
直流电机的调速有两种方法：
一、通过实现控制电机1脚与2脚之间电压大小而达到控制转速的目的，电压越高，电机转速越快。
二、通过PWM调速，使加在电机1脚与2脚之间的电压为方波形式，电机电流的占空比越小，电机的转速越慢。
本发明实施例实现电机的转速控制采用第二种方式，因此阻尼的软件算法是 控制翻圈翻盖效果的核心技术。
目前盖板和坐圈控制范围为0°到120°(0°到120°是工艺范围，正常的控制范围为0°到110°)。
其中0°为盖板或坐圈扣合的状态，120°为盖板或坐圈打开的状态。
假设坐圈盖板是开的状态下，通过盖板或坐圈的电位器采样得到目前坐圈或盖板是处于110°-120°，要实现关圈关盖的效果控制如下：先以100％的占空比去翻转电机，让电机翻动，同时实时采样电位器的值。
1、在电机角度翻转120°到75°之间，根据算法算出电机的速度应该为70°/秒，具体的计算方法如下：
目前的A/D芯片(模拟数字转换器)采样是10位的，把5V分为1024份。对应每个角度都有对应的电压，单片机将相应的电压转换为A/D值。
假设120°对应的电压是3.5V，那么得出来的A/D值是716。
每500毫秒计算一次A/D值，根据A/D值每个单位的变化时间来判断电机转动的速度。
例如，第一次采样的A/D值为120°，第二次采样的A/D值为85°，得出的电机转动的角度为120°-85°＝35°。因此电机角速度得出为70°/秒。
如实际速度大于这个速度，通过PI算法把PWM占空比调节下来，将速度减慢，如果是小于70°/秒，则把占空比的值往上调(前提是占空比的值没有达到100％)。
2、在电机角度为75°到40°之间，同上面的算法是一样的，但是这时候的角速度控制在35°/秒。
3、在电机角度为40°到0°之间，把电机的角速度控制在25°/秒。
开圈、开盖的过程原理和关圈、关盖的过程一样。只是设置的角度值和速度 值有点不一样。
坐圈或盖板位于扣合的状态下，通过电位器采样得到电机的角度处于0°。
控制过程如下：
1、先以100％的占空比去翻转电机，同时采样电位器。
2、电机角度处于0°到45°之间，以70°每秒的角速度翻转。
3、电机角度处于45°到80°之间，以35°每秒的角速度翻转。
4、电机角度处于80°到120°之间，以25°每秒的角速度翻转。
本发明实施例3的断电缓降电路的原理如图6所示。
自动翻圈和翻盖功能的是通过自动阻尼装置和MCU控制电路实现的，断电缓降电路是MCU控制电路的一个额外防护电路，正常情况下这部分电路不工作，只是在掉电，停电等异常情况下工作，为用户提供一个保护，防止在停电，断电时坐圈和盖板下落速度过快造成用户的不适。
坐圈驱动装置和盖板驱动装置分别包括直流电机M1、电机驱动芯片DRV8843和断电缓降电路，电机驱动芯片DRV8843的输出端接直流电机的输入端，电机驱动芯片的控制端接微控制器(MCU)的第一控制信号输出端。断电缓降电路包括限流电阻R1、三极管Q1和继电器RLY1。三极管Q1的集电极接继电器RLY1控制线圈的第一端，发射极接地，继电器RLY1控制线圈的第二端接电源，三极管Q1的基极通过电阻R2接微控制器的第二控制信号输出端。直流电机M1的绕组、限流电阻R1和继电器RLY1的常闭触点组成串联电路。
系统带电工作时，MCU通过电阻R2和三极管Q1控制继电器RLY1工作，继电器RLY1常闭触点开断，直流电机M1可正常的由电机驱动芯片I C2(T I的双通道H桥驱动器集成电路DRV8843)驱动工作。
当系统断电时，继电器RLY1常闭触点在内部弹簧机构作用下自动闭合连接， 电阻R1与电机绕组形成闭环电路，当电机在外力下转动时，闭环电路中产生电流并由电阻R1和电机绕组的内阻消耗。该电流有阻碍电机转动的作用，智能坐便器盖板和坐圈实现被动缓降。
本发明以上实施例利用高频微波探测技术有效解决自动检测，自动打开座圈和座盖，并能通过人体的手势控制合理区分男性和女性的使用，同时在关键的打开坐圈和盖板的机构中利用自动阻尼装置，实现了打开速度合理，断电不会快速下落造成使用者受到惊吓。而且针对不同年龄段，不同身高的用户，智能坐便器底部装有脚触开关，极大方便了用户的选择。

Claims (9)

  1. 一种智能坐便器的控制方法，智能坐便器包括坐圈驱动装置、盖板驱动装置和控制电路，控制电路包括传感器和微控制器，其特征在于，坐圈与盖板的开启方式包括男用小便模式和女用模式，在男用小便模式下传感器检测到有使用者接近时，微控制器通过坐圈驱动装置和盖板驱动装置打开盖板和坐圈；在女用模式下传感器检测到有使用者接近时，微控制器通过盖板驱动装置打开盖板。
  2. 根据权利要求1所述的控制方法，其特征在于，传感器检测到使用者离开时，微控制器通过坐圈驱动装置和盖板驱动装置扣合已打开的盖板和坐圈。
  3. 根据权利要求1所述的控制方法，其特征在于，所述的传感器是微波探测器，坐圈与盖板的开启方式通过微控制器设置，控制电路包括脚触开关，脚触开关的输出端接微控制器；在男用小便模式下，使用者触动脚触开关，微控制器通过坐圈驱动装置落下坐圈。
  4. 根据权利要求1所述的控制方法，其特征在于，所述的传感器包括两个微波探测器，两个微波探测器的输出端分别接微控制器；两个微波探测器一左一右安装在智能坐便器的上盖处，两个微波探测器根据使用者的手势先后向微控制器输出信号，微控制器根据两个微波探测器输出信号的先后判定坐圈与盖板的开启方式。
  5. 根据权利要求1所述的控制方法，其特征在于，控制电路包括脚触开关，脚触开关的输出端接微控制器，在没有检测到使用者的手势的情况下，使用者触动脚触开关，微控制器通过盖板驱动装置和坐圈驱动装置打开盖板和坐圈。
  6. 根据权利要求1所述的控制方法，其特征在于，坐圈驱动装置和盖板驱 动装置分别包括直流电机、电机驱动电路和电位器，电位器的活动触头由直流电机驱动；电位器电阻体的两个固定端分别接电源正极和地，电位器的活动触头作为坐圈或盖板角度的采样端接微控制器；直流电机采用PWM调速方式，坐圈或盖板起升或下落的过程中，微控制器通过电位器多次对坐圈或盖板的角度进行采样，并计算坐圈或盖板起升或下落的角速度，当坐圈或盖板的角速度越过设定值时，降低直流电机电流的占空比。
  7. 根据权利要求6所述的控制方法，其特征在于，坐圈或盖板下落的过程分成复数个区间，下落开始的区间角速度设定值最高，下落结束的区间角速度设定值最低；坐圈或盖板起升的过程分成复数个区间，起升开始的区间角速度设定值最低，起升结束的区间角速度设定值最低。
  8. 根据权利要求6所述的控制方法，其特征在于，坐圈或盖板完全扣合的位置为0°，完全打开的位置为120°；坐圈或盖板下落的过程中，在120°到75°区间，坐圈或盖板下落的角速度设定值为每秒70°；在75°到40°区间，坐圈或盖板下落的角速度设定值为每秒35°；在40°到0°区间，坐圈或盖板下落的角速度设定值为每秒25°；坐圈或盖板起升的过程中，在0°到40°区间，坐圈或盖板起升的角速度设定值为每秒70°；在40°到80°区间，坐圈或盖板起升的角速度设定值为每秒35°；在80°到120°区间，坐圈或盖板起升的角速度设定值为每秒25°。
  9. 根据权利要求1所述的控制方法，其特征在于，坐圈驱动装置和盖板驱动装置分别包括直流电机、电机驱动电路和断电缓降电路，电机驱动电路的输出端接直流电机的输入端，电机驱动电路的控制端接微控制器的第一控制信号输出端；断电缓降电路包括限流电阻、电子开关和继电器，电子开关与继电器的控制线圈串联后一端接电源，另一端接地，电子开关的控制端接微控制器的 第二控制信号输出端；直流电机的绕组、限流电阻和继电器的常闭触点组成串联电路。
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