WO2017185689A1 - 一种自动定位尿液的方法、装置及含有其的健康智能马桶 - Google Patents

一种自动定位尿液的方法、装置及含有其的健康智能马桶 Download PDF

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Publication number
WO2017185689A1
WO2017185689A1 PCT/CN2016/103184 CN2016103184W WO2017185689A1 WO 2017185689 A1 WO2017185689 A1 WO 2017185689A1 CN 2016103184 W CN2016103184 W CN 2016103184W WO 2017185689 A1 WO2017185689 A1 WO 2017185689A1
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Prior art keywords
urine
sensor
temperature
angle
scanning
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PCT/CN2016/103184
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English (en)
French (fr)
Inventor
覃至誉
孙勤涛
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北京峰誉科技有限公司
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Publication date
Application filed by 北京峰誉科技有限公司 filed Critical 北京峰誉科技有限公司
Priority to KR1020187034096A priority Critical patent/KR102200267B1/ko
Priority to US16/097,229 priority patent/US10731326B2/en
Priority to JP2019506769A priority patent/JP6824387B2/ja
Publication of WO2017185689A1 publication Critical patent/WO2017185689A1/zh
Priority to US16/925,742 priority patent/US11261593B2/en
Priority to US17/681,053 priority patent/US20220178129A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D11/00—Other component parts of water-closets, e.g. noise-reducing means in the flushing system, flushing pipes mounted in the bowl, seals for the bowl outlet, devices preventing overflow of the bowl contents; devices forming a water seal in the bowl after flushing, devices eliminating obstructions in the bowl outlet or preventing backflow of water and excrements from the waterpipe
    • E03D11/13—Parts or details of bowls; Special adaptations of pipe joints or couplings for use with bowls, e.g. provisions in bowl construction preventing backflow of waste-water from the bowl in the flushing pipe or cistern, provisions for a secondary flushing, for noise-reducing
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D9/00—Sanitary or other accessories for lavatories ; Devices for cleaning or disinfecting the toilet room or the toilet bowl; Devices for eliminating smells
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/0045—Devices for taking samples of body liquids
    • A61B10/007—Devices for taking samples of body liquids for taking urine samples
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03D—WATER-CLOSETS OR URINALS WITH FLUSHING DEVICES; FLUSHING VALVES THEREFOR
    • E03D11/00—Other component parts of water-closets, e.g. noise-reducing means in the flushing system, flushing pipes mounted in the bowl, seals for the bowl outlet, devices preventing overflow of the bowl contents; devices forming a water seal in the bowl after flushing, devices eliminating obstructions in the bowl outlet or preventing backflow of water and excrements from the waterpipe
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/0003—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiant heat transfer of samples, e.g. emittance meter
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G01K13/20—Clinical contact thermometers for use with humans or animals
    • G01K13/223—Infrared clinical thermometers, e.g. tympanic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/14—Control of position or direction using feedback using an analogue comparing device
    • G05D3/18—Control of position or direction using feedback using an analogue comparing device delivering a series of pulses
    • G05D3/183—Control of position or direction using feedback using an analogue comparing device delivering a series of pulses using stepping motor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K2213/00—Temperature mapping

Definitions

  • the invention relates to the field of smart toilets, in particular to a method and a device for automatically positioning urine and a health smart toilet containing the same.
  • the first technical problem to be solved by the present invention is to provide a method for automatically positioning urine for a health smart toilet, so that the urine can be positioned in the air before the toilet is touched, so that the urine can be collected before the urine contacts the toilet.
  • Urine prevents cross-contamination of urine samples and improves the accuracy of health data analysis.
  • a method for automatically positioning urine determining the position of the urine based on the temperature result scanned by the non-contact temperature sensor, and calculating the coordinates of the position of the urine in the toilet.
  • the method includes the following steps: step A, scanning and detecting the temperature in the ⁇ by a fan-shaped scanning by a non-contact temperature sensor driven by a stepping motor disposed on the left or right side wall of the toilet. Calculate the X in the position coordinates (X, Y) of the urine in the toilet according to the angle and the tangent formula at the highest temperature; and/or step B, by a stepping motor provided on the front or rear side wall of the toilet.
  • the non-contact temperature sensor scans the detected temperature in ⁇ in a fan-shaped scanning mode, and calculates the Y in the position coordinates (X, Y) of the urine in the toilet according to the angle and the tangent formula at the highest temperature.
  • step A specifically includes: step A1, when the sensor scans within the ⁇ , the stepper motor rotates the ⁇ angle, the sensor reads the temperature once, and records the highest temperature value and the step of reading the highest temperature value. Entering the motor rotation angle ⁇ ; in step A2, each time the sensor reaches the boundary of ⁇ , the position of the urine is calculated;
  • step B1 when the sensor scans within ⁇ , the stepper motor rotates the ⁇ angle, the sensor reads the temperature once, and records the highest temperature value and the step of reading the highest temperature value.
  • the motor angle ⁇ in step B2, the position of the urine is calculated each time the sensor reaches the boundary of ⁇ .
  • ); where L1 is the long axis of the toilet to the left or right wall scanning center where the sensor is located The distance between the points, ⁇ is the angle between the scanning plane of the sensor and the horizontal plane; in the step B2, the calculation method is: Y (L2/COS ⁇ )*TAN(
  • the lowest temperature value is simultaneously recorded; in the steps A2 and B2, whenever the sensor reaches the boundary, the temperature difference between the highest temperature and the lowest temperature is calculated, and if the temperature difference is greater than Set the temperature difference threshold to calculate the position of the urine.
  • the entire scanning area is divided into N sectors; in the steps A2 and B2, whenever the sensor reaches the lower boundary of one sector, the highest temperature and the lowest of the sector are calculated.
  • Temperature difference if the temperature difference is greater than the set temperature difference threshold, calculate the position of the urine.
  • step A first scan within the range of ⁇ or ⁇ , record the lowest ambient temperature in the range of ⁇ or ⁇ , and set different temperature difference thresholds according to different minimum ambient temperatures; or directly set The temperature difference threshold is 3 °C.
  • the senor is divided into three modes: full-angle scanning, small-angle scanning, and extended-range scanning in ⁇ and ⁇ ; the reading temperature is full-angle scanning in the whole ⁇ , ⁇ ; each scanning area is divided For N sectors, centered on a certain sector, the reading temperature in the range of left and right adjacent sectors is a small angle scan; with a sector as the center, the reading temperature in the range of the left and right sectors is an extended range scan.
  • the sensor Before the urine position is found for the first time, the sensor performs a full-angle scan; the urine position is found, and the sensor scans at a small angle in the adjacent sector of the sector where the urine is located; when the sensor scans at a small angle, if there is no temperature difference greater than the temperature difference threshold The sector indicates that the position of the urine has changed. The sensor scans in the extended range of the sector where the original urine is located. If the extended range scan still has no sector with the temperature difference greater than the temperature difference threshold, the sensor performs a full-angle scan again.
  • the second technical problem to be solved by the present invention is to provide an automatic positioning urine device for a health smart toilet, so that the urine can be positioned before the toilet is touched, so that the urine can be placed before the toilet is not contacted. Collect urine to prevent cross-contamination of urine samples.
  • a device for automatically positioning urine comprising automatically positioning a urine module, determining a urine position based on a temperature result scanned by a non-contact temperature sensor, and calculating a position point coordinate of the urine in the toilet.
  • the automatic positioning urine module comprises: a first scan recording and position calculation module, wherein a non-contact temperature sensor driven by a stepping motor is arranged on the left or right side wall of the toilet, and is scanned in a fan shape.
  • ⁇ internal scanning detects the temperature, calculates the X in the position coordinates (X, Y) of the urine in the toilet according to the angle and the tangent formula at the highest temperature; and/or the second scan record and position calculation module, in front of the toilet Or a non-contact temperature sensor driven by a stepping motor on the rear side wall, scanning the detected temperature in ⁇ in a fan-shaped scanning manner, and calculating the position point coordinates of the urine in the toilet according to the angle and the tangent formula at the highest temperature.
  • the first scan record and location calculation module specifically includes: a first scan record module, wherein when the sensor scans within the ⁇ , the stepper motor rotates the ⁇ angle, and the sensor reads the temperature once. Degree, and record the highest temperature value and the stepper motor angle ⁇ read to the highest temperature value; the first position calculation module calculates the position of the urine whenever the sensor reaches the boundary of ⁇ ;
  • the second scan record and position calculation module specifically includes: a second scan record module, wherein when the sensor scans within ⁇ , the stepper motor rotates the ⁇ angle, the sensor reads the temperature once, and records the highest temperature value and reads The stepper motor angle ⁇ to the highest temperature value; the second position calculation module calculates the position of the urine whenever the sensor reaches the boundary of ⁇ .
  • ), where L1 is the long axis of the toilet to the left or the right of the sensor. The distance between the center points of the wall scan, ⁇ is the angle between the scanning plane of the sensor and the horizontal plane; in the second position calculation module, the calculation method is: Y (L2/COS ⁇ )*TAN(
  • the lowest temperature value is simultaneously recorded; in the first and second position calculation modules, each time the sensor reaches the boundary, the highest temperature and the lowest temperature are calculated.
  • the temperature difference if the temperature difference is greater than the set temperature difference threshold, calculate the position of the urine.
  • the entire scan area is divided into N sectors; in the first and second position calculation modules, each time the sensor reaches the lower boundary of one sector, the fan is calculated The temperature difference between the highest temperature and the lowest temperature of the zone. If the temperature difference is greater than the set temperature difference threshold, calculate the position of the urine.
  • the method further includes a temperature difference threshold setting module: first scanning within a range of ⁇ or ⁇ , recording a minimum ambient temperature in a range of ⁇ or ⁇ , and setting different temperature difference thresholds according to different minimum ambient temperatures; or Set the temperature difference threshold directly to 3 °C.
  • the sensor is divided into three modes: full angle scanning, small angle scanning and extended range scanning in ⁇ and ⁇ ; the reading temperature is full in the whole ⁇ , ⁇ Angle scanning; each scanning area is divided into N sectors, centered on a certain sector, The reading temperature in the range of the left and right adjacent sectors is a small angle scanning; the reading temperature in the range of the left and right sectors is the extended range scanning centering on a certain sector; the sensor performs full angle scanning before finding the urine position for the first time; Find the position of the urine, the sensor scans at a small angle in the adjacent sector of the sector where the urine is located; when the sensor scans at a small angle, if there is no sector whose temperature difference is greater than the temperature difference threshold, the position of the urine changes, the sensor is in the original urine.
  • the sector in which the liquid is located is scanned in an extended range between the sectors; if the extended range scan still has no sectors whose temperature difference is greater than the temperature difference threshold, the sensor performs a full-angle scan again
  • a device for automatically positioning urine comprising a set or a set of positioning components from a solid structure perspective;
  • the positioning assembly comprises a non-contact temperature sensor, a stepping motor and a motor bracket;
  • the non-contact temperature sensor is fixed On the stepper motor main shaft, the stepping motor is fixed on the motor bracket, and the motor bracket is fixed on the toilet;
  • the stepping motor can drive the non-contact temperature sensor to perform fan-shaped scanning.
  • the positioning assembly further includes an optocoupler coupled to the non-contact temperature sensor for determining a zero point of the sensor polar coordinates.
  • a third technical problem to be solved by the present invention is to provide a health smart toilet containing a device for automatically positioning urine, so that the urine can be positioned before the toilet is touched, so that urine can be collected before the urine contacts the toilet. Liquid to prevent cross-contamination of urine samples.
  • a health smart toilet comprising a toilet body, further comprising a device for automatically positioning urine according to the above-mentioned physical structure portion, the device for automatically positioning urine is mounted on a toilet body, and the stepping motor can drive a non-contact type
  • the temperature sensor performs a sector scan.
  • the positioning components are two sets, one set is mounted on the front or rear side wall of the toilet body, and the other set is mounted on the left or right side wall of the toilet body.
  • the present invention has at least the following advantages:
  • the present invention determines the point coordinates of urine by temperature (urine temperature, or urine temperature and ambient temperature), and realizes that urine is taken in the air as a health analysis sample, and is avoided in the toilet.
  • the surface absorbs the cross-contamination problem of urine samples and improves the accuracy of health data analysis.
  • the two scanning areas cooperate with each other and use the tangent formula to perform point coordinate positioning (X, Y) with higher positioning accuracy.
  • Figure 1 is a schematic view showing the position of urine in a toilet
  • Figure 2 is a schematic view of a sector scan range
  • Figure 3 is a schematic diagram of the scanning boundary (clockwise, counterclockwise);
  • Figure 4 is a schematic diagram of a divided sector
  • Figure 5 is a schematic diagram of the lower boundary of the sector (clockwise, counterclockwise);
  • Figure 6 is a schematic view of a small angle scan
  • Figure 7 is a schematic diagram of an extended range scan
  • FIGS. 10 and 11 are schematic diagrams showing the physical structure of an automatic positioning urine device at different angles
  • Figure 12 is a schematic view showing the structure of a health smart toilet containing an automatic positioning urine device
  • 13a, 13b are schematic views of the angle between the scanning plane and the horizontal plane.
  • the invention discloses a method for automatically positioning urine for a health smart toilet, mainly adopting a phenomenon that a urine temperature is higher than an ambient temperature, and a non-contact temperature sensor is used for urine scanning during use, according to the scanned The temperature result determines the position of the urine and calculates the coordinates of the position of the urine in the toilet.
  • the air can be positioned in the air, so that the urine can be collected before the urine is in contact with the toilet, the cross-contamination of the urine sample is prevented, and the accuracy of the health data analysis is improved.
  • the non-contact temperature sensor is preferably an infrared temperature sensor.
  • a horizontal + longitudinal linear scanning method or a sector scanning method may be employed.
  • the fan-shaped scanning mode mainly detects the temperature in the ⁇ scan by a non-contact temperature sensor driven by a stepping motor provided on the left or right side wall of the toilet, according to the highest temperature.
  • the angle and tangent formula calculate the X in the position coordinates (X, Y) of the urine in the toilet; the Y value can be uncertain, and the urine can be directly used to move the urine along the long axis of the toilet.
  • the Y of the coordinate point where the urine is located can be determined, and the determination method of Y is similar, by setting a non-contact temperature driven by the stepping motor on the front or rear side wall of the toilet.
  • the sensor scans the detected temperature in ⁇ in a fan-shaped scanning mode, and calculates the Y in the position coordinates (X, Y) of the urine in the toilet according to the angle and the tangent formula at the highest temperature.
  • X (L1/COS ⁇ ) * TAN ( ⁇ )
  • Y (L2 / COS ⁇ ) * TAN ( ⁇ )
  • L1 is the long axis of the toilet to the left or right of the sensor
  • L2 For the distance between the short axis of the toilet and the center point of the front or rear side of the sensor, ⁇ and ⁇ are the angles between the scanning plane of the sensor and the horizontal plane (as shown in Figures 13a and b).
  • the error in the calculation formula is small and can be ignored.
  • the above ⁇ and ⁇ may be 0 degrees.
  • the preferred way is to use two sensors, one sensor is placed at the center of the left or right side wall of the toilet, used to calculate the X in the point coordinates (X, Y), and the other sensor is placed on the front or back side of the toilet.
  • the center of the wall is used to calculate the Y in the point coordinates (X, Y).
  • the above position is only a preferred position, and the two sensors can also be placed at other positions.
  • the fan scanning method will be described in detail below as an example.
  • the sensor is mounted on the spindle of the stepper motor.
  • the sensor is scanned within ⁇ with the spindle of the stepper motor, as shown in Figure 2, preferably within 60°.
  • the stepper motor rotates the ⁇ angle every time, the sensor reads the temperature once, and records the highest temperature value and the stepping motor rotation angle ⁇ of the highest temperature value, where ⁇ is equal to an integral multiple of the ⁇ angle.
  • the priority value of the ⁇ angle is 0.04*frequency*step angle.
  • ⁇
  • X (L1/COS ⁇ )*TAN(
  • ⁇
  • Y (L2/COS ⁇ )*TAN(
  • the sensor is mounted on the spindle of the stepper motor, and the sensor is scanned within the ⁇ with the spindle of the stepper motor, as shown in Figure 2.
  • the stepper motor rotates every ⁇ angle, the sensor reads the temperature once, and records the highest temperature value and the lowest temperature, and the step motor angle ⁇ that reads the highest temperature value.
  • the temperature difference between the highest temperature and the lowest temperature of the sector is calculated. If the temperature difference is greater than 3 ° C, calculate the position of the urine. Experiments have shown that the accuracy of calculating the position of urine is higher when the temperature difference is greater than 3 °C.
  • ⁇
  • X (L1/COS ⁇ )*TAN(
  • ⁇
  • Y (L2/COS ⁇ )*TAN(
  • the sensor is mounted on the spindle of the stepper motor, and the sensor is scanned within the ⁇ with the spindle of the stepper motor, as shown in Figure 2.
  • the stepper motor rotates the ⁇ angle every time, the sensor reads the temperature once, and records the highest temperature and the lowest temperature, and the step motor angle ⁇ that reads the highest temperature.
  • the temperature difference between the highest temperature and the lowest temperature of the sector is calculated. If the temperature difference is greater than 3 ° C, calculate the position of the urine.
  • ⁇
  • X (L1/COS ⁇ )*TAN(
  • ⁇
  • Y (L2/COS ⁇ )*TAN(
  • the urine position changes and the sensor needs to find the location of the urine again.
  • the sensor is divided into three modes: full angle scan, small angle scan and extended range scan in ⁇ . Reading the temperature throughout ⁇ is called full-angle scanning. Taking a sector as the center, the reading temperature in the range of adjacent sectors is called a small angle scan, as shown in FIG. 6. Taking a sector as the center, the reading temperature in the range of the left and right sectors is called an extended range scan, as shown in FIG.
  • the sensor does a full-angle scan before finding the urine position for the first time.
  • the urine position is found and the sensor scans at a small angle in the adjacent sector around the sector in which the urine is located.
  • the sensor scans at a small angle, if there is no sector whose temperature difference is greater than the temperature difference threshold, the position of the urine changes, and the sensor expands the range scan in the sector between the left and right sectors of the original urine.
  • the sensor re-scans the full angle.
  • the sensor is mounted on the spindle of the stepper motor, and the sensor is along with the spindle of the stepper motor. ⁇ scanning, as shown in Figure 2.
  • the stepper motor rotates the ⁇ angle every time, the sensor reads the temperature once, and records the lowest temperature value.
  • the ambient temperature is reached at the boundary of the ⁇ , and the ambient temperature is the lowest temperature.
  • the stepper motor rotates the ⁇ angle every time, the sensor reads the temperature once, and records the highest temperature and the lowest temperature, and reads the stepping motor rotation angle ⁇ of the highest temperature.
  • the temperature difference between the highest temperature and the lowest temperature of the sector is calculated. If the temperature difference is greater than the temperature difference threshold, calculate the position of the urine.
  • ⁇
  • X (L1/COS ⁇ )*TAN(
  • ⁇
  • Y (L2/COS ⁇ )*TAN(
  • the urine position changes and the sensor needs to find the location of the urine again.
  • the sensor is divided into three modes: full angle scan, small angle scan and extended range scan in ⁇ . Reading the temperature throughout ⁇ is called full-angle scanning. Taking a sector as the center, the reading temperature in the range of adjacent sectors is called a small angle scan, as shown in FIG. 6. Taking a sector as the center, the reading temperature in the range of the left and right sectors is called an extended range scan, as shown in FIG.
  • the sensor does a full-angle scan before finding the urine position for the first time.
  • the urine position is found and the sensor scans at a small angle in the adjacent sector around the sector in which the urine is located.
  • the sensor scans at a small angle, if there is no sector whose temperature difference is greater than the temperature difference threshold, the position of the urine changes, and the sensor expands the range scan in the sector between the left and right sectors of the original urine.
  • the sensor re-scans the full angle.
  • the invention relates to an automatic positioning urine device for a health smart toilet. From the perspective of a virtual module structure, an automatic positioning urine module is used to determine the urine position according to the temperature result scanned by the non-contact temperature sensor and calculate the urine. The coordinates of the position point in the toilet.
  • the above automatic positioning urine module includes:
  • the first scan record and position calculation module scans and detects the temperature in the ⁇ by a fan-scan method by a non-contact temperature sensor driven by a stepping motor disposed on the left or right side wall of the toilet, according to the angle at the highest temperature And the tangent formula calculates the X in the position coordinates (X, Y) of the urine in the toilet;
  • the second scan record and position calculation module by means of a non-contact temperature sensor driven by a stepping motor disposed on the front or rear side wall of the toilet, scanning the detected temperature in the ⁇ in a sector scan manner, according to the highest temperature
  • the angle and tangent formula of the time is used to calculate the Y in the position coordinates (X, Y) of the urine in the toilet.
  • the first scan record and position calculation module specifically includes: a first scan record module, wherein when the sensor scans within the ⁇ , the stepper motor rotates the ⁇ angle, the sensor reads the temperature once, and records the highest temperature value and reads the The stepping motor rotation angle ⁇ of the highest temperature value; the first position calculation module calculates the position of the urine whenever the sensor reaches the boundary of ⁇ ;
  • the second scan record and position calculation module specifically includes: a second scan record module, wherein when the sensor scans within ⁇ , the stepper motor rotates the ⁇ angle, the sensor reads the temperature once, and records the highest temperature value and reads The stepper motor angle ⁇ of the highest temperature value; the second position calculation module calculates the position of the urine whenever the sensor reaches the boundary of ⁇ .
  • the lowest temperature value is simultaneously recorded; in the first and second position calculation modules, each time the sensor reaches the boundary, the temperature difference between the highest temperature and the lowest temperature is calculated, If the temperature difference is greater than the set temperature difference threshold, calculate the position of the urine.
  • the entire scan area is divided into N sectors; in the first and second position calculation modules, each time the sensor reaches the lower boundary of one sector, the sector is calculated.
  • the temperature difference between the highest temperature and the lowest temperature If the temperature difference is greater than the set temperature difference threshold, calculate the position of the urine.
  • the method further comprises a temperature difference threshold setting module: first scanning within a range of ⁇ or ⁇ , recording a minimum ambient temperature in a range of ⁇ or ⁇ , and setting different temperature difference thresholds according to different minimum ambient temperatures; or Set the temperature difference threshold directly to 3 °C.
  • a temperature difference threshold setting module first scanning within a range of ⁇ or ⁇ , recording a minimum ambient temperature in a range of ⁇ or ⁇ , and setting different temperature difference thresholds according to different minimum ambient temperatures; or Set the temperature difference threshold directly to 3 °C.
  • the sensor is divided into three modes: full angle scanning, small angle scanning and extended range scanning in ⁇ , ⁇ ; the whole temperature is read in the whole ⁇ , ⁇ Scanning; each scanning area is divided into N sectors, centered on a certain sector, and the reading temperature in the range of left and right adjacent sectors is a small angle scanning;
  • the internal reading temperature is an extended range scan; the sensor performs a full-angle scan before finding the urine position for the first time; the urine position is found, and the sensor scans at a small angle in the adjacent sector of the sector where the urine is located; when the sensor is scanned at a small angle If there is no sector whose temperature difference is greater than the temperature difference threshold, the position of the urine changes, and the sensor scans in the sector within the sector where the original urine is located. If the extended range scan still has no sector with the temperature difference greater than the temperature difference threshold, the sensor Perform a full angle scan again.
  • An automatic positioning urine device of the present invention comprises, as shown in FIGS. 10 and 11 , a set or a set of positioning assemblies 2 as shown in FIGS. 10 and 11 ;
  • the positioning assembly 2 includes a non-contact temperature sensor 21 and a stepping motor 23 .
  • the motor bracket 24 wherein the non-contact temperature sensor can adopt an infrared temperature sensor, which can be fixed on the main shaft of the stepping motor 23 through the sensor fixing member 22, and the stepping motor 23 It is fixed on the motor bracket 24, and the motor bracket 24 is fixed on the toilet; the stepping motor 23 can drive the non-contact temperature sensor 21 to perform sector scanning.
  • the positioning assembly 2 described above further includes an optocoupler 25 coupled to the non-contact temperature sensor 21 for determining the sensor polar zero.
  • a health smart toilet of the present invention includes a toilet body 1, and an automatic positioning urine device mounted on the toilet body 1.
  • the automatic positioning urine device adopts one set or one in the sixth embodiment.
  • the stepping motor 23 can drive the non-contact temperature sensor 21 to perform fan-shaped scanning, and the scanning plane can be at a certain angle with the horizontal plane or directly horizontally scanned.
  • the positioning assembly 2 can be a set, installed on the left or right side wall of the toilet body 1, and more preferably, the positioning assembly 2 is two sets, one set is mounted on the front or rear side wall of the toilet body 1, and the other set is installed in The left or right side wall of the toilet body 1.

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Abstract

一种自动定位尿液的方法，根据非接触式温度传感器（21）扫描到的温度结果确定尿液位置，并计算尿液在马桶（1）中的位置点坐标；以及一种自动定位尿液的装置，包括一套或一套以上定位组件（2），定位组件（2）包括非接触式温度传感器（21）、步进电机（23）和电机支架（24），非接触式温度传感器（21）固定在步进电机（23）主轴上，步进电机（23）固定在电机支架（24）上，电机支架（24）用于固定在马桶（1）上；还提供了一种含有自动定位尿液的装置的马桶。该方法通过非接触式温度传感器扫描的温度，来确定尿液的点坐标，实现了在空中吸取尿液作为健康分析样本，避免了在马桶内表面吸取尿液样本的交叉污染问题，提高了健康数据分析的准确性。

Description

一种自动定位尿液的方法、装置及含有其的健康智能马桶 技术领域
本发明涉及智能马桶领域，特别是涉及一种自动定位尿液的方法、装置及含有其的健康智能马桶。
背景技术
随着人们生活水平的提高，智能马桶逐渐走入人们的生活。除了满足舒适性之外，智能马桶更多地增加了健康监测功能，比如，通过收集尿液样本进行健康数据分析。但采用马桶内表面收集的尿液进行检测，会存在交叉污染问题，影响健康数据分析的准确性。因此，如何避免在马桶内表面吸取尿液样本存在的交叉污染问题以提高健康数据分析的准确性成了目前急需解决的问题。
发明内容
本发明要解决的第一个技术问题是提供一种用于健康智能马桶的自动定位尿液方法，使尿液在未接触马桶前即可空中定位，从而在尿液未接触马桶前即可采集尿液，防止尿液样本交叉污染，提高健康数据分析的准确性。
为解决上述技术问题，本发明采用如下技术方案：
一种自动定位尿液的方法，根据非接触式温度传感器扫描到的温度结果确定尿液位置，并计算尿液在马桶中的位置点坐标。
进一步地，包括：步骤A，通过在马桶左或右侧壁设置的一个由步进电机带动的非接触式温度传感器、以扇形扫描方式在∠γ内扫描检测温度， 根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的X；和/或步骤B，通过在马桶前或后侧壁设置的一个由步进电机带动的非接触式温度传感器，以扇形扫描方式在∠δ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的Y。
进一步地，所述步骤A具体包括：步骤A1,传感器在∠γ内扫描时，步进电机每转过φ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角λ；步骤A2,每当传感器到达∠γ的边界，计算尿液的位置；
所述步骤B的具体步骤包括：步骤B1,传感器在∠δ内扫描时，步进电机每转过θ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角ω；步骤B2,每当传感器到达∠δ的边界，计算尿液的位置。
进一步地，所述步骤A2中，计算方法为：X＝(L1/COSμ)*TAN(|γ/2-λ|)；式中，L1为马桶长轴至传感器所在左或右侧壁扫描中心点之间的距离，μ为传感器扫描平面与水平面夹角；所述步骤B2中,计算方法为：Y＝(L2/COSξ)*TAN(|δ/2-ω|)；式中，L2为马桶短轴至传感器所在前或后侧壁扫描中心点之间的距离，ξ为传感器扫描平面与水平面夹角。
进一步地，所述步骤A1、B1中，在传感器读取温度时，同时记录最低温度值；所述步骤A2、B2中，每当传感器到达边界，计算最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
进一步地，所述步骤A1、B1中，整个扫描区被划分为N个扇区；所述步骤A2、B2中，每当传感器到达一个扇区的下边界，计算该扇区的最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
进一步地，在步骤A前，先在∠γ或∠δ范围内扫描，记录∠γ或∠δ范围内的最低环境温度，根据不同的最低环境温度，设定不同的温差阈值；或直接设定温差阈值为3℃。
进一步地，传感器在∠γ、∠δ内分为全角度扫描、小角度扫描和扩大范围扫描三种模式；在整个∠γ、∠δ内读取温度为全角度扫描；每个扫描区被划分为N个扇区，以某一扇区为中心，左右相邻扇区范围内读取温度为小角度扫描；以某一扇区为中心，左右相隔扇区范围内读取温度为扩大范围扫描；首次找到尿液位置之前，传感器做全角度扫描；找到尿液位置，传感器在尿液所在扇区左右相邻扇区内小角度扫描；传感器在小角度扫描时，如果没有温差大于温差阈值的扇区，说明尿液位置发生变化，传感器在原本尿液所在扇区左右相隔扇区内扩大范围扫描；如果扩大范围扫描依然没有温差大于温差阈值的扇区，传感器重新进行全角度扫描。
此外，本发明要解决的第二个技术问题是提供一种用于健康智能马桶的自动定位尿液装置，使尿液在未接触马桶前即可定位，从而在尿液未接触马桶前即可采集尿液，防止尿液样本交叉污染。
为解决上述技术问题，本发明采用如下技术方案：
一种自动定位尿液的装置，包括自动定位尿液模块，根据非接触式温度传感器扫描到的温度结果确定尿液位置，并计算尿液在马桶中的位置点坐标。
进一步地，所述自动定位尿液模块包括：第一扫描记录及位置计算模块，通过在马桶左或右侧壁设置的一个由步进电机带动的非接触式温度传感器、以扇形扫描方式在∠γ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的X；和/或第二扫描记录及位置计算模块，通过在马桶前或后侧壁设置的一个由步进电机带动的非接触式温度传感器，以扇形扫描方式在∠δ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的Y。
进一步地，所述第一扫描记录及位置计算模块具体包括：第一扫描记录模块,传感器在∠γ内扫描时，步进电机每转过φ角，传感器读取一次温 度，并记录最高温度值和读取到最高温度值的步进电机转角λ；第一位置计算模块,每当传感器到达∠γ的边界，计算尿液的位置；
所述第二扫描记录及位置计算模块具体包括：第二扫描记录模块,传感器在∠δ内扫描时，步进电机每转过θ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角ω；第二位置计算模块,每当传感器到达∠δ的边界，计算尿液的位置。
进一步地，所述第一位置计算模块中，计算方法为：X＝(L1/COSμ)*TAN(|γ/2-λ|)，式中，L1为马桶长轴至传感器所在左或右侧壁扫描中心点之间的距离，μ为传感器扫描平面与水平面夹角；所述第二位置计算模块中,计算方法为：Y＝(L2/COSξ)*TAN(|δ/2-ω|)；式中，L2为马桶短轴至传感器所在前或后侧壁扫描中心点之间的距离，ξ为传感器扫描平面与水平面夹角。
进一步地，所述第一、二扫描记录模块中，在传感器读取温度时，同时记录最低温度值；所述第一、二位置计算模块中，每当传感器到达边界，计算最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
进一步地，所述第一、二扫描记录模块中，整个扫描区被划分为N个扇区；所述第一、二位置计算模块中，每当传感器到达一个扇区的下边界，计算该扇区的最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
进一步地，还包括温差阈值设定模块：先在∠γ或∠δ范围内扫描，记录∠γ或∠δ范围内的最低环境温度，根据不同的最低环境温度，设定不同的温差阈值；或直接设定温差阈值为3℃。
进一步地，所述自动定位尿液模块中，传感器在∠γ、∠δ内分为全角度扫描、小角度扫描和扩大范围扫描三种模式；在整个∠γ、∠δ内读取温度为全角度扫描；每个扫描区被划分为N个扇区，以某一扇区为中心， 左右相邻扇区范围内读取温度为小角度扫描；以某一扇区为中心，左右相隔扇区范围内读取温度为扩大范围扫描；首次找到尿液位置之前，传感器做全角度扫描；找到尿液位置，传感器在尿液所在扇区左右相邻扇区内小角度扫描；传感器在小角度扫描时，如果没有温差大于温差阈值的扇区，说明尿液位置发生变化，传感器在原本尿液所在扇区左右相隔扇区内扩大范围扫描；如果扩大范围扫描依然没有温差大于温差阈值的扇区，传感器重新进行全角度扫描。
一种自动定位尿液的装置，从实体结构角度，包括一套或一套以上定位组件；所述定位组件包括非接触式温度传感器、步进电机和电机支架；所述非接触式温度传感器固定在步进电机主轴上，步进电机固定在电机支架上，电机支架用于固定在马桶上；所述步进电机可带动非接触式温度传感器进行扇形扫描。
进一步地，所述定位组件还包括与非接触式温度传感器连接的、用于确定传感器极坐标零点的光耦。
本发明要解决的第三个技术问题是提供一种含有自动定位尿液的装置的健康智能马桶，使尿液在未接触马桶前即可定位，从而在尿液未接触马桶前即可采集尿液，防止尿液样本交叉污染。
为解决上述技术问题，本发明采用如下技术方案：
一种健康智能马桶，包括马桶本体，还包括上述实体结构部分所述的自动定位尿液的装置，所述自动定位尿液的装置安装在马桶本体上，所述步进电机可带动非接触式温度传感器进行扇形扫描。
进一步地，所述定位组件为两套，一套安装在马桶本体的前或后侧壁，另一套安装在马桶本体的左或右侧壁。
采用这样的设计后，本发明至少具有以下优点：
1、本发明通过温度(尿液温度，或尿液温度及环境温度)，来确定尿液的点坐标，实现了在空中吸取尿液作为健康分析样本，避免了在马桶内 表面吸取尿液样本的交叉污染问题，提高健康数据分析的准确性。
2、采用非接触式温度传感器配合步进电机进行扇形扫描，利用正切公式进行点坐标定位，提供了一种新的定位方法，简单实用，且误差较小可忽略不计。
3、两个扫描区相互配合并利用正切公式进行点坐标定位(X、Y)定位准确度更高。
4、在全角度扫描的基础上，通过计算温差，提高了定位准确性及定位效率。
5、通过设置多个扇区，并设置在扇区下边界进行比较计算，提高了定位准确性。
6、通过全角度扫描配合小角度扫描或扩大范围扫描，解决了尿液位置改变的问题。
7、通过首先进行扫描确定扫描范围内的最低环境温度，根据最低环境温度设定不同的温差阈值，可提高定位准确性。
附图说明
上述仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，以下结合附图与具体实施方式对本发明作进一步的详细说明。
图1是尿液在马桶中的位置示意图；
图2是扇形扫描范围示意图；
图3是扫描边界示意图(顺时针、逆时针)；
图4是划分扇区示意图；
图5是扇区下边界示意图(顺时针、逆时针)；
图6是小角度扫描示意图；
图7是扩大范围扫描示意图；
图8是实施例3的方法控制流程图；
图9是实施例4的方法控制流程图；
图10、图11是不同角度的自动定位尿液装置的实体结构示意图；
图12是含有自动定位尿液装置的健康智能马桶结构示意图；
图13a、13b是扫描平面与水平面的夹角示意图。
具体实施方式
本发明一种用于健康智能马桶的自动定位尿液方法，主要是利用尿液温度较环境温度高这一现象，采用非接触式的温度传感器在使用过程中进行尿液扫描，根据扫描到的温度结果确定尿液位置并计算尿液在马桶中的位置点坐标。通过上述方法可以实现尿液的空中定位，从而在尿液未接触马桶前即可采集尿液，防止尿液样本交叉污染，提高健康数据分析的准确性。其中的非接触式温度传感器优选红外温度传感器。
根据以上温度定位原理，可以采用横向+纵向直线扫描的方式，也可以采用扇形扫描方式。
如图1所示，扇形扫描方式，主要是通过在马桶左或右侧壁设置的一个由步进电机带动的非接触式温度传感器、以扇形扫描方式在∠γ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的X；Y值可以不确定，直接采用接尿装置沿马桶长轴运动接尿即可。为了进一步更准确的定位尿液的位置，可以对尿液所在坐标点的Y进行确定，Y的确定方法类似，通过在马桶前或后侧壁设置的一个由步进电机带动的非接触式温度传感器，以扇形扫描方式在∠δ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的Y。点坐标(X,Y)中，X＝(L1/COSμ)*TAN(α)，Y＝(L2/COSξ)*TAN(β)，式中，L1为马桶长轴至传感器所在左或右侧壁扫描中心点之间的距离；L2 为马桶短轴至传感器所在前或后侧壁扫描中心点之间的距离，μ、ξ为传感器扫描平面与水平面的夹角(配合图13a、b所示)。计算公式中的误差较小，可忽略不计。上述μ、ξ可以为0度。
优选的方式是采用两个传感器，一个传感器设置在马桶的左侧或右侧壁中心位置，用来计算点坐标(X，Y)中的X，另一个传感器设置在马桶的前侧或后侧壁中心位置，用来计算点坐标(X，Y)中的Y。上述位置仅为优选的位置，两个传感器也可以设置在其他位置。
下面以扇形扫描方式为例进行详细描述。
实施例1
传感器安装固定在步进电机的主轴上，传感器随着步进电机的主轴在∠γ内扫描，如图2所示，优选在60°范围内进行扫描。
传感器在∠γ内扫描时，步进电机每转过φ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角λ，其中λ等于φ角的整数倍，φ角的优先值为0.04*频率*步距角。
每当传感器到达∠γ的边界，如图所示3，计算尿液的位置。
α＝|γ/2-λ|，X＝(L1/COSμ)*TAN(|γ/2-λ|)。
同理，可计算出β＝|δ/2-ω|，Y＝(L2/COSξ)*TAN(|δ/2-ω|)。
实施例2
传感器安装固定在步进电机的主轴上，传感器随着步进电机的主轴在∠γ内扫描，如图2所示。
传感器在∠γ内扫描时，步进电机每转过φ角，传感器读取一次温度，并记录最高温度值和最低温度，以及读取到最高温度值的步进电机转角λ。
每当传感器到达∠γ的边界，如图3所示，计算该扇区的最高温度与最低温度的温差。如果温差大于3℃，计算尿液的位置。实验表明，温差大于3℃时计算尿液位置的准确性较高。
α＝|γ/2-λ|，X＝(L1/COSμ)*TAN(|γ/2-λ|)。
同理，可计算出β＝|δ/2-ω|，Y＝(L2/COSξ)*TAN(|δ/2-ω|)。
实施例3
传感器安装固定在步进电机的主轴上，传感器随着步进电机的主轴在∠γ内扫描，如图2所示。
在∠γ中，每5°为一个扇区，整个∠γ被划分为N个扇区，如图4所示，实验证明5°为一个扇区，计算效率较高。
传感器在∠γ内扫描时，步进电机每转过φ角，传感器读取一次温度，并记录最高温度和最低温度，以及读取到最高温度的步进电机转角λ。
每当传感器到达一个扇区的下边界，如图5所示，计算该扇区的最高温度与最低温度的温差。如果温差大于3℃，计算尿液的位置。
α＝|γ/2-λ|，X＝(L1/COSμ)*TAN(|γ/2-λ|)。
同理，可计算出β＝|δ/2-ω|，Y＝(L2/COSξ)*TAN(|δ/2-ω|)。
尿液位置发生变化，传感器需要重新找到尿液的位置。
传感器在∠γ内分为全角度扫描、小角度扫描和扩大范围扫描三种模式。在整个∠γ内读取温度称为全角度扫描。以某一扇区为中心，左右相邻扇区范围内读取温度称为小角度扫描，如图6所示。以某一扇区为中心，左右相隔扇区范围内读取温度称为扩大范围扫描，如图7所示。
首次找到尿液位置之前，传感器做全角度扫描。
找到尿液位置，传感器在尿液所在扇区左右相邻扇区内小角度扫描。
传感器在小角度扫描时，如果没有温差大于温差阈值的扇区，说明尿液位置发生变化，传感器在原本尿液所在扇区左右相隔扇区内扩大范围扫描。
如果扩大范围扫描依然没有温差大于温差阈值的扇区，传感器重新进行全角度扫描。
整个方法的控制流程图如图8所示。
实施例4
传感器安装固定在步进电机的主轴上，传感器随着步进电机的主轴在 ∠γ内扫描，如图2所示。
传感器在∠γ内做第一次扫描时，步进电机每转过φ角，传感器读取一次温度，并记录最低温度值。到达∠γ的边界计算环境温度，环境温度就是最低温度。根据不同的环境温度，设定不同的温差阈值。
传感器在∠γ内第二次及以上扫描时，步进电机每转过φ角，传感器读取一次温度，并记录最高温度和最低温度，以及读取到最高温度的步进电机转角λ。
在∠γ中，每5°为一个扇区，整个∠γ被划分为N个扇区，如图4所示。
每当传感器到达扇区的下边界，如图5所示，计算该扇区的最高温度与最低温度的温差。如果温差大于温差阈值，计算尿液的位置。
α＝|γ/2-λ|，X＝(L1/COSμ)*TAN(|γ/2-λ|)。
同理，可计算出β＝|δ/2-ω|，Y＝(L2/COSξ)*TAN(|δ/2-ω|)。
尿液位置发生变化，传感器需要重新找到尿液的位置。
传感器在∠γ内分为全角度扫描、小角度扫描和扩大范围扫描三种模式。在整个∠γ内读取温度称为全角度扫描。以某一扇区为中心，左右相邻扇区范围内读取温度称为小角度扫描，如图6所示。以某一扇区为中心，左右相隔扇区范围内读取温度称为扩大范围扫描，如图7所示。
首次找到尿液位置之前，传感器做全角度扫描。
找到尿液位置，传感器在尿液所在扇区左右相邻扇区内小角度扫描。
传感器在小角度扫描时，如果没有温差大于温差阈值的扇区，说明尿液位置发生变化，传感器在原本尿液所在扇区左右相隔扇区内扩大范围扫描。
如果扩大范围扫描依然没有温差大于温差阈值的扇区，传感器重新进行全角度扫描。
整个方法的控制流程图如图9所示。
实施例5(配合图1-9所示)
本发明的一种用于健康智能马桶的自动定位尿液装置，从虚拟模块构架角度，包括自动定位尿液模块，根据非接触式温度传感器扫描到的温度结果确定尿液位置并计算尿液在马桶中的位置点坐标。
上述自动定位尿液模块包括：
第一扫描记录及位置计算模块，通过在马桶左或右侧壁设置的一个由步进电机带动的非接触式温度传感器、以扇形扫描方式在∠γ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的X；
和/或第二扫描记录及位置计算模块，通过在马桶前或后侧壁设置的一个由步进电机带动的非接触式温度传感器，以扇形扫描方式在∠δ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的Y。
上述第一扫描记录及位置计算模块具体包括：第一扫描记录模块,传感器在∠γ内扫描时，步进电机每转过φ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角λ；第一位置计算模块,每当传感器到达∠γ的边界，计算尿液的位置；
上述第二扫描记录及位置计算模块具体包括：第二扫描记录模块,传感器在∠δ内扫描时，步进电机每转过θ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角ω；第二位置计算模块,每当传感器到达∠δ的边界，计算尿液的位置。
上述第一扫描记录模块中的第一位置计算模块中，计算方法为：X＝(L1/COSμ)*TAN(|γ/2-λ|)；式中，L1为马桶长轴至传感器所在左或右侧壁扫描中心点之间的距离；
上述第二扫描记录模块中的第二位置计算模块中,计算方法为：Y＝(L2/COSξ)*TAN(|δ/2-ω|)；式中，L2为马桶短轴至传感器所在前或后 侧壁扫描中心点之间的距离。
优选地，上述第一、二扫描记录模块中，在传感器读取温度时，同时记录最低温度值；第一、二位置计算模块中，每当传感器到达边界，计算最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
优选地，上述第一、二扫描记录模块中，整个扫描区被划分为N个扇区；上述第一、二位置计算模块中，每当传感器到达一个扇区的下边界，计算该扇区的最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
优选地，还包括温差阈值设定模块：先在∠γ或∠δ范围内扫描，记录∠γ或∠δ范围内的最低环境温度，根据不同的最低环境温度，设定不同的温差阈值；或直接设定温差阈值为3℃。
优选地，上述自动定位尿液模块中，传感器在∠γ、∠δ内分为全角度扫描、小角度扫描和扩大范围扫描三种模式；在整个∠γ、∠δ内读取温度为全角度扫描；每个扫描区被划分为N个扇区，以某一扇区为中心，左右相邻扇区范围内读取温度为小角度扫描；以某一扇区为中心，左右相隔扇区范围内读取温度为扩大范围扫描；首次找到尿液位置之前，传感器做全角度扫描；找到尿液位置，传感器在尿液所在扇区左右相邻扇区内小角度扫描；传感器在小角度扫描时，如果没有温差大于温差阈值的扇区，说明尿液位置发生变化，传感器在原本尿液所在扇区左右相隔扇区内扩大范围扫描；如果扩大范围扫描依然没有温差大于温差阈值的扇区，传感器重新进行全角度扫描。
实施例6
本发明的一种自动定位尿液装置，从实体结构角度，如图10、11所示，包括一套或一套以上定位组件2；定位组件2包括非接触式温度传感器21、步进电机23和电机支架24；其中，非接触式温度传感器可采用红外温度传感器，其可通过传感器固定件22固定在步进电机23主轴上，步进电机23 固定在电机支架24上，电机支架24用于固定在马桶上；步进电机23可带动非接触式温度传感器21进行扇形扫描。
上述定位组件2还包括与非接触式温度传感器21连接的、用于确定传感器极坐标零点的光耦25。
实施例7
本发明的一种健康智能马桶，配合图12所示，包括马桶本体1，还包括安装在马桶本体1上的自动定位尿液装置，自动定位尿液装置采用实施例6中的一套或一套以上定位组件2，步进电机23可带动非接触式温度传感器21进行扇形扫描，扫描平面可以与水平面呈一定夹角或直接水平扫描。
定位组件2可以为一套，安装在马桶本体1的左或右侧壁，更优选地，定位组件2为两套，一套安装在马桶本体1的前或后侧壁，另一套安装在马桶本体1的左或右侧壁。
以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，本领域技术人员利用上述揭示的技术内容做出些许简单修改、等同变化或修饰，均落在本发明的保护范围内。

Claims (20)

  1. 一种自动定位尿液的方法，其特征在于，根据非接触式温度传感器扫描到的温度结果确定尿液位置，并计算尿液在马桶中的位置点坐标。
  2. 根据权利要求1所述的自动定位尿液的方法，其特征在于，包括：
    步骤A，通过在马桶左或右侧壁设置的一个由步进电机带动的非接触式温度传感器、以扇形扫描方式在∠γ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的X；
    和/或步骤B，通过在马桶前或后侧壁设置的一个由步进电机带动的非接触式温度传感器，以扇形扫描方式在∠δ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的Y。
  3. 根据权利要求2所述的自动定位尿液的方法，其特征在于:
    所述步骤A具体包括：
    步骤A1,传感器在∠γ内扫描时，步进电机每转过φ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角λ；
    步骤A2,每当传感器到达∠γ的边界，计算尿液的位置；
    所述步骤B的具体步骤包括：
    步骤B1,传感器在∠δ内扫描时，步进电机每转过θ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角ω；
    步骤B2,每当传感器到达∠δ的边界，计算尿液的位置。
  4. 根据权利要求3所述的自动定位尿液的方法，其特征在于:
    所述步骤A2中，计算方法为：X＝(L1/COSμ)*TAN(|γ/2-λ|)；式中，L1为马桶长轴至传感器所在左或右侧壁扫描中心点之间的距离，μ为传感器扫描平面与水平面夹角；
    所述步骤B2中,计算方法为：Y＝(L2/COSξ)*TAN(|δ/2-ω|)；式中， L2为马桶短轴至传感器所在前或后侧壁扫描中心点之间的距离，ξ为传感器扫描平面与水平面夹角。
  5. 根据权利要求3所述的自动定位尿液的方法，其特征在于：
    所述步骤A1、B1中，在传感器读取温度时，同时记录最低温度值；
    所述步骤A2、B2中，每当传感器到达边界，计算最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
  6. 根据权利要求5所述的自动定位尿液的方法，其特征在于：
    所述步骤A1、B1中，整个扫描区被划分为N个扇区；
    所述步骤A2、B2中，每当传感器到达一个扇区的下边界，计算该扇区的最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
  7. 根据权利要求5或6所述的自动定位尿液的方法，其特征在于：
    在步骤A前，先在∠γ或∠δ范围内扫描，记录∠γ或∠δ范围内的最低环境温度，根据不同的最低环境温度，设定不同的温差阈值；
    或直接设定温差阈值为3℃。
  8. 根据权利要求5或6任一项所述的自动定位尿液的方法，其特征在于：
    传感器在∠γ、∠δ内分为全角度扫描、小角度扫描和扩大范围扫描三种模式；在整个∠γ、∠δ内读取温度为全角度扫描；每个扫描区被划分为N个扇区，以某一扇区为中心，左右相邻扇区范围内读取温度为小角度扫描；以某一扇区为中心，左右相隔扇区范围内读取温度为扩大范围扫描；
    首次找到尿液位置之前，传感器做全角度扫描；
    找到尿液位置，传感器在尿液所在扇区左右相邻扇区内小角度扫描；
    传感器在小角度扫描时，如果没有温差大于温差阈值的扇区，说明尿液位置发生变化，传感器在原本尿液所在扇区左右相隔扇区内扩大范围扫描；
    如果扩大范围扫描依然没有温差大于温差阈值的扇区，传感器重新进行全角度扫描。
  9. 一种自动定位尿液的装置，其特征在于，包括自动定位尿液模块，根据非接触式温度传感器扫描到的温度结果确定尿液位置，并计算尿液在马桶中的位置点坐标。
  10. 根据权利要求9所述的自动定位尿液的装置，其特征在于，所述自动定位尿液模块包括：
    第一扫描记录及位置计算模块，通过在马桶左或右侧壁设置的一个由步进电机带动的非接触式温度传感器、以扇形扫描方式在∠γ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的X；
    和/或第二扫描记录及位置计算模块，通过在马桶前或后侧壁设置的一个由步进电机带动的非接触式温度传感器，以扇形扫描方式在∠δ内扫描检测温度，根据最高温度时的角度及正切公式计算尿液在马桶中的位置点坐标(X，Y)中的Y。
  11. 根据权利要求10所述的自动定位尿液的装置，其特征在于:
    所述第一扫描记录及位置计算模块具体包括：
    第一扫描记录模块,传感器在∠γ内扫描时，步进电机每转过φ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角λ；
    第一位置计算模块,每当传感器到达∠γ的边界，计算尿液的位置；
    所述第二扫描记录及位置计算模块具体包括：
    第二扫描记录模块,传感器在∠δ内扫描时，步进电机每转过θ角，传感器读取一次温度，并记录最高温度值和读取到最高温度值的步进电机转角ω；
    第二位置计算模块,每当传感器到达∠δ的边界，计算尿液的位置。
  12. 根据权利要求11所述的自动定位尿液的装置，其特征在于:
    所述第一位置计算模块中，计算方法为：X＝(L1/COSμ)*TAN(|γ/2-λ|)；式中，L1为马桶长轴至传感器所在左或右侧壁扫描中心点之间的距离，μ为传感器扫描平面与水平面夹角；
    所述第二位置计算模块中,计算方法为：Y＝(L2/COSξ)*TAN(|δ/2-ω|)；式中，L2为马桶短轴至传感器所在前或后侧壁扫描中心点之间的距离，ξ为传感器扫描平面与水平面夹角。
  13. 根据权利要求11所述的自动定位尿液的装置，其特征在于：
    所述第一、二扫描记录模块中，在传感器读取温度时，同时记录最低温度值；
    所述第一、二位置计算模块中，每当传感器到达边界，计算最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
  14. 根据权利要求13所述的自动定位尿液的装置，其特征在于：
    所述第一、二扫描记录模块中，整个扫描区被划分为N个扇区；
    所述第一、二位置计算模块中，每当传感器到达一个扇区的下边界，计算该扇区的最高温度与最低温度的温差，如果温差大于设定的温差阈值，计算尿液的位置。
  15. 根据权利要求13或14所述的自动定位尿液的装置，其特征在于：
    还包括温差阈值设定模块：先在∠γ或∠δ范围内扫描，记录∠γ或∠δ范围内的最低环境温度，根据不同的最低环境温度，设定不同的温差阈值；或直接设定温差阈值为3℃。
  16. 根据权利要求13或14任一项所述的自动定位尿液的装置，其特征在于：
    所述自动定位尿液模块中，传感器在∠γ、∠δ内分为全角度扫描、小角度扫描和扩大范围扫描三种模式；在整个∠γ、∠δ内读取温度为全 角度扫描；每个扫描区被划分为N个扇区，以某一扇区为中心，左右相邻扇区范围内读取温度为小角度扫描；以某一扇区为中心，左右相隔扇区范围内读取温度为扩大范围扫描；
    首次找到尿液位置之前，传感器做全角度扫描；
    找到尿液位置，传感器在尿液所在扇区左右相邻扇区内小角度扫描；
    传感器在小角度扫描时，如果没有温差大于温差阈值的扇区，说明尿液位置发生变化，传感器在原本尿液所在扇区左右相隔扇区内扩大范围扫描；
    如果扩大范围扫描依然没有温差大于温差阈值的扇区，传感器重新进行全角度扫描。
  17. 一种自动定位尿液的装置，其特征在于，包括一套或一套以上定位组件；所述定位组件包括非接触式温度传感器、步进电机和电机支架；
    所述非接触式温度传感器固定在步进电机主轴上，步进电机固定在电机支架上，电机支架用于固定在马桶上；
    所述步进电机可带动非接触式温度传感器进行扇形扫描。
  18. 根据权利要求17所述的自动定位尿液的装置，其特征在于，所述定位组件还包括与非接触式温度传感器连接的、用于确定传感器极坐标零点的光耦。
  19. 一种健康智能马桶，包括马桶本体，其特征在于，还包括权利要求17或18所述的自动定位尿液的装置，所述自动定位尿液的装置安装在马桶本体上，所述步进电机可带动非接触式温度传感器进行扇形扫描。
  20. 根据权利要求19所述的健康智能马桶，其特征在于，所述定位组件为两套，一套安装在马桶本体的前或后侧壁，另一套安装在马桶本体的左或右侧壁。
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