CN112932545A - Automatic excrement collecting equipment and method - Google Patents
Automatic excrement collecting equipment and method Download PDFInfo
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- CN112932545A CN112932545A CN202110095894.7A CN202110095894A CN112932545A CN 112932545 A CN112932545 A CN 112932545A CN 202110095894 A CN202110095894 A CN 202110095894A CN 112932545 A CN112932545 A CN 112932545A
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- 238000000034 method Methods 0.000 title abstract description 14
- 210000000436 anus Anatomy 0.000 claims description 44
- 238000004806 packaging method and process Methods 0.000 claims description 15
- 210000003608 fece Anatomy 0.000 claims description 10
- 210000001217 buttock Anatomy 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 8
- 238000003709 image segmentation Methods 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 9
- 238000003912 environmental pollution Methods 0.000 abstract description 3
- 210000001624 hip Anatomy 0.000 description 44
- 238000010586 diagram Methods 0.000 description 8
- 230000003028 elevating effect Effects 0.000 description 8
- 210000002700 urine Anatomy 0.000 description 8
- 238000012545 processing Methods 0.000 description 4
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000029142 excretion Effects 0.000 description 2
- 230000002550 fecal effect Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 208000030852 Parasitic disease Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000968 intestinal effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000005180 public health Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 210000003708 urethra Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
- A61B10/0038—Devices for taking faeces samples; Faecal examination devices
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- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Bidet-Like Cleaning Device And Other Flush Toilet Accessories (AREA)
Abstract
The present invention provides an automatic excrement collecting apparatus comprising: the closestool comprises a closestool body, an image recognition component and a collection component; the image recognition component comprises a camera and a controller electrically connected with the camera; the camera is used for collecting the hip images of the user, and the controller is used for determining the excrement collecting point according to the hip images; the collecting assembly comprises a shell, a conveying assembly and a collecting box supporting frame arranged on the conveying assembly; the collection box support frame is used for placing the collection box, the collection box is used for collecting excrement of a user at an excrement collection point, and the conveying assembly can convey the collection box under the control of the controller. The technical scheme that this application provided can accurately gather user's excrement through the image recognition subassembly, and whole collection process need not the user and participates in, can improve the convenience that the user gathered the excrement, and excrement automatic acquisition equipment is professional equipment simultaneously, can also avoid the excrement to receive environmental pollution.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to automatic excrement collecting equipment and a method.
Background
The routine examination of the feces is a very basic and important examination, and a doctor can visually know the state of the digestive tract diseases and the intestinal parasitic diseases through the results of the routine examination of the feces.
At present, the routine examination process of feces in hospitals is as follows: the doctor opens the checklist for the patient, then the patient holds the checklist and gets the collection box of excrement to the clinical laboratory window, treats that medical personnel pastes the back on the collection box with patient information label, and the patient goes to public health room again by oneself and gathers the excrement, and finally, the excrement that the patient will gather is sent to excrement and urine conventional inspection window, is examined the excrement by medical personnel.
However, there are some drawbacks to the way the patient collects himself. Firstly, the excrement collection is carried out, the smell is bad, the appearance is hard to see, and therefore, a lot of people have conflicted psychology, and the problem of difficult collection is caused; second, the patient usually collects the excrement in a public toilet, and therefore, the collected excrement is easily polluted by the environment, resulting in inaccurate examination results.
Disclosure of Invention
In view of the above, the present invention provides an apparatus and a method for automatically collecting excrement, which can facilitate a patient to collect excrement and simultaneously prevent the excrement from being polluted by the environment.
In order to achieve the above object, in a first aspect, an embodiment of the present application provides an automatic excrement collecting device, including: the closestool comprises a closestool body, an image recognition component and a collection component;
the image recognition component comprises a camera and a controller electrically connected with the camera;
the camera is arranged on the inner side wall of the rear end of the inner container of the closestool body and used for collecting hip images of a user, and the controller is used for determining an excrement collecting point according to the hip images;
the collecting assembly comprises a shell, a conveying assembly arranged in the shell and a collecting box supporting frame arranged on the conveying assembly;
the collection box support frame is used for placing the collection box, the collection box is used for collecting excrement of a user at an excrement collection point, and the conveying assembly is used for conveying the collection box under the control of the controller.
Optionally, the housing further comprises a plastic package assembly for plastic packaging the collection box, and the plastic package assembly comprises a second motor, a lifting table and a plastic seal head arranged right above the lifting table;
the lifting platform is connected with the second motor and is used for bearing the collecting box; the second motor is connected with the controller, and the controller is also used for controlling the second motor to drive the lifting table to ascend under the condition that the collection box is positioned right above the lifting table so as to drive the collection box to ascend to the plastic packaging position of the plastic end socket;
the plastic packaging head is used for carrying out plastic packaging on the collection box located at the plastic packaging position.
Optionally, the automatic excrement collecting device further comprises a material bearing table, the material bearing table is connected with the side face of the shell, an outlet is formed in one side, connected with the material bearing table, of the shell, and the outlet is used for conveying the collecting box after plastic packaging.
Optionally, gather the box formula structure as an organic whole, gather the box and include defecate chamber and urine chamber, separate through the division board in the middle of defecate chamber and the urine chamber.
Optionally, the controller is further configured to control the transport assembly to adjust the position of the collecting box when detecting that the sitting posture of the user changes according to the hip image.
Optionally, a plurality of sighting target points facing the camera are fixedly arranged on the side wall or the top wall of the inner container close to the hip, the sighting target points are arranged in space according to a preset rule, and the sighting target points are used for determining the position of the anus in the hip image shot by the camera.
Optionally, the controller is specifically configured to:
sequentially carrying out image filtering, image enhancement and image segmentation on the hip image to obtain a hip area image;
carrying out feature matching on the hip area image and a preset human anus template to determine an anus area in the hip area image;
determining the anus coordinate according to the anus area;
and determining the excrement collecting point according to the coordinate of the sighting mark point in the hip image and the anus coordinate.
Optionally, two rows of sighting mark points are arranged, the two rows of sighting mark points are respectively located on the left side and the right side of the inner container, and each sighting mark point is arranged at equal intervals.
Optionally, the position of the anus in the hip image is the position of the central point of the anus relative to the coordinate point.
Optionally, the controller is specifically configured to:
the position of the anus is calculated by calculating the distance of the anus relative to each visual mark point.
Optionally, the camera is infrared camera, and the light that the infrared camera sent can be reflected in order to form images in the buttock image to the sighting mark point.
The application provides excrement automatic acquisition equipment includes: the closestool comprises a closestool body, an image recognition component and a collection component; the image recognition component comprises a camera and a controller electrically connected with the camera; the camera is arranged on the inner side wall of the rear end of the inner container of the closestool body and used for collecting hip images of a user, and the controller is used for determining an excrement collecting point according to the hip images; the collecting assembly comprises a shell, a conveying assembly arranged in the shell and a collecting box supporting frame arranged on the conveying assembly; the collection box support frame is used for placing the collection box, the collection box is used for collecting excrement of a user at an excrement collection point, and the conveying assembly is used for conveying the collection box under the control of the controller. The technical scheme that this application provided can accurately gather user's excrement through the image recognition subassembly, and whole collection process need not the user and participates in, can improve the convenience that the user gathered the excrement, and excrement automatic acquisition equipment is professional equipment simultaneously, can also avoid the excrement to receive environmental pollution.
Drawings
Fig. 1 is a schematic structural diagram of an automatic excrement collecting device provided in an embodiment of the present application;
fig. 2 is a schematic view of an internal structure of an automatic excrement collecting device provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a rack and a support frame of the collecting box provided in the embodiment of the present application;
fig. 4 is a schematic structural diagram of a collecting box provided in the embodiment of the present application;
fig. 5 is a schematic view illustrating a position of a viewpoint in an automatic excrement collecting apparatus according to an embodiment of the present disclosure;
fig. 6 is a schematic flow chart for determining an excrement collection point according to the embodiment of the application.
Description of reference numerals:
1-a toilet body; 3-a collection assembly;
4-a base; 5-carrying platform;
11-an inner container; 12-a barrel body;
13-toilet seat ring; 14-a downcomer;
21-a camera; 22-a viewpoint;
31-a housing; 33-collection box support;
35-a collection box;
51-an outlet;
321-a first motor; 322-a rack;
323-gear; (ii) a
341-a second electric machine; 342-a lifting platform;
343-plastic end sockets;
351-fecal chamber; 352-urinary chamber;
353-separation plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme of the invention is described in detail in the following with reference to the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Fig. 1 is a schematic structural diagram of an automatic excrement collection device provided in an embodiment of the present application, fig. 2 is a schematic structural diagram of an internal structure of the automatic excrement collection device provided in the embodiment of the present application, fig. 3 is a schematic structural diagram of a collection box support frame and a rack provided in the embodiment of the present application, fig. 4 is a schematic structural diagram of a collection box provided in the embodiment of the present application, and fig. 5 is a schematic position diagram of a coordinate point in the automatic excrement collection device provided in the embodiment of the present application.
As shown in fig. 1 to 5, the automatic excrement collecting apparatus may include: the closestool comprises a closestool body 1, an image recognition assembly and a collection assembly 3. Wherein, the image recognition component can comprise a camera 21 and a controller (not shown) electrically connected with the camera 21, the camera 21 is arranged on the inner side wall of the rear end of the inner container 11 of the toilet body 1 and is used for collecting the hip image of the user, and the controller is used for determining the excrement collecting point according to the hip image.
The collection assembly 3 may include a housing 31, a transport assembly disposed within the housing 31, a collection cartridge support frame 33 disposed on the transport assembly, and a plastic package assembly disposed within the housing 31. The shell 31 can be connected with the rear end of the closestool body 1, a channel can be arranged between the inner container 11 and the shell 31, and the conveying assembly can move back and forth through the channel under the control of the controller. The collection box 35 can be placed in the collection box support frame 33, the collection box 35 can collect excrement of a user at an excrement collection point, and the plastic package assembly is used for plastically packaging the collection box.
The controller is also respectively electrically connected with the conveying assembly and the plastic package assembly, and after a user sits on the seat, the camera 21 can start to shoot hip images of the user. The hip image comprises the anus of the user, the controller can determine the anus in the hip image according to an image recognition technology and calculate the spatial position of the anus relative to the camera 21, and the position of the camera 21 is fixed, so that the controller can obtain the optimal collection point for collecting excrement (namely the excrement collection point).
The controller can control the conveying assembly to drive the collecting box 35 on the collecting box supporting frame 33 to move forwards to the excrement collecting point after the excrement collecting point is determined according to the hip image; and after the collection is completed, the conveying assembly is controlled to drive the collection box 35 on the collection box support frame 33 to move backwards into the shell 31, and then the plastic package assembly is controlled to plastically package the collection box 35. In the process of using the automatic excrement collecting equipment, a user can automatically complete the process from sitting to plastic packaging box taking without the participation of the user, so that the convenience of the user for collecting excrement can be improved; meanwhile, the automatic excrement collecting equipment is special equipment, so that the excrement can be prevented from being polluted by the environment.
The shell 31 can be of a box-type structure, and a movable door plate can be arranged on the top or the side of the shell 31, so that workers can conveniently overhaul the interior of the shell 31.
In order to improve the rigidity of the automatic excrement collecting device, the automatic excrement collecting device may further include a base 4, and both the toilet body 1 and the collecting assembly 3 may be disposed on the base 4. The toilet body 1 may adopt a common toilet structure, for example, a main structure is an inner container 11 and a toilet bowl 12. The closestool body 1 can also comprise a closestool ring 13 so as to improve the aesthetic property and the comfort in use; the toilet seat 13 can be arranged at the top of the barrel body 12, and the rear end of the toilet seat 13 can be hinged with the barrel body 12, so that the toilet seat is convenient to open and close. In order to clean the inner container 11 conveniently, the toilet body 1 may further include a sewer pipe 14, the sewer pipe 14 may be connected to a sewer through the base 4, and when the inner container 11 needs to be cleaned with water, the cleaned water may flow into the sewer through the sewer pipe 14.
In order to protect the privacy of the user, the camera 21 of the present embodiment may adopt an infrared camera 21, and further, in order to increase the service life of the camera 21, an infrared camera having a waterproof function may also be adopted. The camera 21 according to the embodiment of the present application may be disposed above the channel formed between the inner container 11 and the housing 31. The controller may be disposed in the housing 31, and the specific installation position may be set as required.
In order to facilitate the user to place the collecting box 35 on the collecting box supporting frame 33, the outer surface of the shell 31 can be further provided with a starting switch, and the starting switch can be connected with the controller. When starting switch is triggered by the user, the controller can control transfer assembly to stretch out collection box support frame 33 to the inner chamber, and the user can directly place collection box 35 on collection box support frame 33. By setting the starting switch, the user can be prompted in a concise and clear manner as to how to control the conveying assembly. Or, can set up the inductor in toilet seat 13, inductor connection controller, the user can trigger the inductor through the mode of lifting toilet seat 13, then, the controller can control conveying assembly and stretch out collection box support frame 33 to the inner chamber in, the user can directly place collection box 35 on collection box support frame 33. The inductor is arranged in the toilet seat ring 13, so that the appearance of the shell 31 can be simplified, and the attractiveness of the automatic excrement collecting device is improved.
Specifically, the conveying assembly in the embodiment of the present application may include a first motor 321, a rack 322, and a gear 323. The collecting box supporting frame 33 can be arranged on the rack 322, the gear 323 is meshed with the rack 322, the gear 323 can be connected with the first motor 321, the first motor 321 can be connected with the controller, and the first motor 321 can drive the gear 323 to rotate under the control of the controller, so as to drive the rack 322 to move back and forth. The cassette holder 33 may be fully advanced into the interior cavity when the rack 322 is extended and the cassette holder 33 may be fully advanced into the interior of the housing 31 when the rack 322 is retracted. The first motor 321 and the gear 323 can also transmit power through a transmission component, for example, a belt pulley structure, a gear 323 set structure, or a worm and gear structure. In addition, the conveying assembly can also move back and forth through other structures, such as a gear chain structure and the like.
Further, in order to reduce the space occupied by the rack 322 in the housing 31, the common rack 322 in the conveying assembly may be replaced by a two-segment rack, which has the advantages of large stroke and small volume. Specifically, the two-stage rack may include an upper rack and a lower rack, and the gear 323 may be located between the upper rack and the lower rack and engaged with the upper rack and the lower rack, respectively. The lower rack is fixedly connected to the housing 31, the gear 323 is fixedly connected to the bracket, and the upper rack is slidable relative to the bracket. When the gear 323 rotates forwards, the gear 323 can roll forwards relative to the lower rack and drive the whole bracket to move forwards, and the gear 323 can roll and drive the upper rack to move forwards; the gear 323 can roll backwards relative to the lower rack when rotating reversely, and drives the whole bracket to move backwards, and the gear 323 can also drive the upper rack to move backwards when rolling, so that the overall extension length of the two-section rack is the length of the upper rack plus the length of the lower rack, and the length when retracting is the length of a single rack.
The molding assembly may include a second motor 341, a lifting table 342, and a molding head 343. In order to plastically package the collection box 35, the lifting platform 342 can drive the plastic sealing head 343 to move up and down, and the lifting platform 342 can also drive the collection box 35 to move up and down. The mode that this application embodiment adopted lets elevating platform 342 drive and gathers box 35 and reciprocate, and is concrete, and the plastic envelope subassembly can include second motor 341, elevating platform 342 and set up the plastic envelope head 343 directly over elevating platform 342. The elevating platform 342 can be arranged under the position when the collecting box supporting frame 33 retracts into the shell 31, the elevating platform 342 can be connected with the second motor 341, the second motor 341 can be connected with the controller, the controller can also control the second motor 341 to drive the elevating platform 342 to ascend under the condition that the collecting box 35 is positioned over the elevating platform 342, so as to drive the collecting box 35 to ascend to the plastic package position of the plastic package head 343, and the plastic package head 343 can carry out plastic package on the collecting box 35 positioned at the plastic package position. In practical application, in order to facilitate the ascending and descending of the lifting platform 342, the shape of the platform surface of the lifting platform 342 can be designed according to the shape of the inner frame of the collecting box support frame 33, and the area of the platform surface of the lifting platform 342 needs to be smaller than the area of the inner frame of the collecting box support frame 33, so that the lifting platform 342 can penetrate through the collecting box support frame 33. After the collection box 35 is lifted to the plastic package position, the plastic package film in the plastic package head 343 is pressed on the collection box 35, at this time, the plastic package film covered on the collection box 35 can be locally heated by the plastic package head 343, the locally heated plastic package film is adhered to the collection box 35, then the lifting table 342 is lifted for a short distance again, so that the plastic package film is cut off by a blade on the plastic package head 343, and finally the lifting table 342 drives the plastic packaged collection box 35 to descend.
In order to improve the convenience of the automatic excrement collecting device, the automatic excrement collecting device may further include a material receiving platform 5 and an output assembly (not shown), the material receiving platform 5 may be connected to a side surface of the housing 31, an outlet 51 may be provided at a side of the housing 31 connected to the material receiving platform 5, and the outlet 51 is used for conveying the collection box 35 after plastic encapsulation. The output assembly can include third motor and flexible arm, and flexible arm can be connected with the third motor to the level setting is in the casing 31 one side relative with export 51, and the third motor can be connected with the controller, and the controller can also be in gather the box 35 and descend to with the same horizontal plane's of flexible arm the condition, control the flexible arm of third motor drive and stretch out, will gather box 35 from elevating platform 342 propelling movement to holding on the thing platform 5. Through setting up the thing platform 5 and the output assembly, excrement automatic acquisition equipment can export the collection box 35 that the plastic envelope is good automatically, and convenience of customers takes.
Since the general stool examination is classified into a stool examination and a urine examination, in order to separate the excrement of the user, referring to fig. 4, the collection box 35 may be an integrated structure and include a stool chamber 351 and a urine chamber 352, the stool chamber 351 and the urine chamber 352 being partitioned by a partition 353 therebetween. The transfer assembly can move the collection box 35 to a waste collection point, at which time the anus of the user is facing the feces cavity 351 and the urethra is facing the urine cavity 352, and when the user excretes, the feces and urine can fall into different cavities respectively.
In this application embodiment, camera 21 can periodically gather the buttock image, and the controller can also be when detecting user's position of sitting according to the buttock image and change, the position of gathering box 35 is gathered in the control conveying assembly adjustment.
In order to improve the accuracy of the controller in locating the excrement collection points, referring to fig. 5, a plurality of sighting mark points 22 facing the camera 21 can be fixedly arranged on the side wall or the top wall of the inner container 11 close to the buttocks, and all the sighting mark points 22 are positioned in the collection area of the camera 21 and are arranged according to a preset rule in space and are used for determining the position of the anus in the image of the buttocks shot by the camera. When the camera 21 collects the hip image, the sighting mark point can reflect the light emitted by the infrared camera to form an image in the hip image. An image of the buttocks including the eyepoint 22 may be acquired. The controller can acquire the position relation between the anus and the sighting mark point 22 through processing the hip image, and the position relation of the sighting mark point 22 relative to the conveying assembly is fixed, so the controller can more accurately determine the position relation of the anus and the conveying assembly according to the position information of the sighting mark point 22 in the hip image, and finally determine the excrement collecting point. Further, two rows of visual mark points 22 can be arranged in the inner container 11, the two rows of visual mark points 22 are respectively positioned at the left side and the right side of the inner container 11, and the visual mark points 22 are arranged at equal intervals to enhance the positioning effect.
The anus of the user can be accurately identified by adopting an image identification technology in the embodiment of the application, so that the excretion removing position of the user can be accurately calculated, and finally the collection assembly 3 is controlled to collect the excretion. Specific image recognition process can refer to fig. 6, and fig. 6 is a schematic flow chart of determining a fecal collection point according to the embodiment of the present application.
Firstly, after the controller acquires the hip image, the image filtering, the image enhancement and the image segmentation processing can be sequentially carried out on the hip image to obtain a hip area image.
The image filtering is a process of removing Gaussian noise generated by insufficient brightness and insufficient uniformity of the environment during shooting in the image acquisition process by using a Gaussian filter operator. Subsequent image recognition can be facilitated by image filtering the hip images. Image enhancement refers to increasing the sharpness and contrast of an image. In the embodiment of the application, the hip image is an infrared image, the hip image can be subjected to image enhancement by using a gray histogram equalization mode, and the gray value of each pixel in the hip image after image filtering can be changed by the mode, so that the gray distribution of the hip image is changed, the contrast of the hip image is further increased, the processed hip image is clearer, and subsequent image segmentation is facilitated. And (4) image segmentation, namely, separating the image of the human hip (including the anus position) and the background. In this embodiment, the image segmentation may adopt a self-adaptive threshold method, and the controller may automatically set a threshold of the grayscale image according to the hip image, separate an interested region in the hip image based on an image background, set image contents except the interested region as a background, extract an image region of the whole human hip, and finally obtain a hip region image. Unnecessary image content can be reduced through image segmentation, and the efficiency of subsequent image processing is improved.
And secondly, the controller can perform feature matching on the hip area image and a preset human anus template to determine the anus area in the hip area image.
If the feature matching is successful, considering that the anus area is found; if the feature matching fails, the anus is considered to have the excrement, and at the moment, the image with the failed matching needs to be identified again. In the case where excrement is present at the anus, since the anal region has excrement, the pixel information of the anal region is made more than that of other regions, and thus, the controller may determine the edge of the anal region by means of edge detection and determine the region surrounded by the edge as the anal region.
And thirdly, determining the anus coordinate according to the anus area.
The controller may take the central coordinates of the anal area as the anal coordinates. Specifically, the controller may divide the sum of the abscissa of each pixel in the anal region by the number of pixels to obtain the abscissa of the central coordinate; and dividing the sum of the vertical coordinates of each pixel point in the anus area by the number of the pixel points to obtain the vertical coordinate of a central coordinate, wherein the central coordinate is the anus coordinate. The calculation formula of the center coordinates is as follows:
wherein, XsumIs the sum of the abscissas of each pixel point in the anal region, x is the abscissa of the central coordinate, YsumIs the sum of the vertical coordinates of each pixel point in the anus area, y is the vertical coordinate of the central coordinate, and S is the number of the pixel points.
Fourth, the controller may determine the fecal collection site based on the coordinates of the landmark point 22 in the hip image and the anal coordinates.
First, the position of the anus in the hip image is the position of the central point of the anus relative to the visual mark point, so that the controller can calculate the position of the anus by calculating the distance of the anus relative to each visual mark point respectively. Specifically, the controller may obtain the pixel coordinates of the landmark point 22 through processing the hip image, and then may convert the pixel coordinates in the hip image into actual coordinates according to a homography matrix mapping manner, where the position relationship of the landmark point 22 with respect to the transport assembly is fixed, and a certain position relationship exists between the anus coordinate and the landmark point 22, so the controller may output the anus coordinate as an actual spatial coordinate. Finally, the point of collection of the waste can be determined from the spatial coordinates of the anus.
The automatic excrement collecting device provided by the application can comprise: the closestool comprises a closestool body, an image recognition assembly and a collection assembly. The image recognition component comprises a camera and a controller electrically connected with the camera; the camera is arranged on the inner side wall of the rear end of the inner container of the closestool body and used for collecting hip images of a user, and the controller is used for determining an excrement collecting point according to the hip images; the collecting assembly comprises a shell, a conveying assembly arranged in the shell, a collecting box supporting frame arranged on the conveying assembly and a plastic package assembly arranged in the shell; the shell is connected with the rear end of the closestool body, a channel is formed between the inner container and the shell, and the conveying assembly can move back and forth through the channel under the control of the controller; the collection box support frame is used for placing the collection box, and the collection box is used for collecting excrement of a user at an excrement collection point; the plastic package assembly is used for plastic packaging the collection box. The technical scheme that this application provided can accurately gather user's excrement and carry out the plastic envelope to gathering the box through the image recognition subassembly, and whole collection process need not the user and participates in, can improve the convenience that the user gathered the excrement, and excrement automatic acquisition equipment is professional equipment simultaneously, can also avoid the excrement to receive environmental pollution.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In addition, in the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations and positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In addition, in the present invention, unless otherwise explicitly specified or limited, the terms "connected", and the like are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection; the terms may be directly connected or indirectly connected through an intermediate, and may be used for communicating between two elements or for interacting between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic excreta collection device, comprising: the closestool comprises a closestool body, an image recognition component and a collection component;
the image recognition component comprises a camera and a controller electrically connected with the camera;
the camera is arranged on the inner side wall of the rear end of the inner container of the closestool body and used for collecting a hip image of a user, and the controller is used for determining an excrement collecting point according to the hip image;
the collecting assembly comprises a shell, a conveying assembly arranged in the shell and a collecting box supporting frame arranged on the conveying assembly;
the collection box support frame is used for placing a collection box, the collection box is used for collecting excrement of the user at the excrement collection point, and the conveying assembly is used for conveying the collection box under the control of the controller.
2. The automatic excrement collection device according to claim 1, further comprising a plastic package assembly for plastic packaging of the collection box in the housing, wherein the plastic package assembly comprises a second motor, a lifting table and a plastic sealing head disposed directly above the lifting table;
the lifting platform is connected with the second motor and is used for bearing the collecting box; the second motor is connected with the controller, and the controller is also used for controlling the second motor to drive the lifting table to ascend under the condition that the collection box is positioned right above the lifting table so as to drive the collection box to ascend to the plastic packaging position of the plastic packaging head;
the plastic packaging head is used for carrying out plastic packaging on the collection box located at the plastic packaging position.
3. The automatic excrement collecting device according to claim 1, further comprising a material holding table connected to a side surface of the housing, wherein an outlet is provided at a side of the housing connected to the material holding table, and the outlet is used for conveying the collection box after being molded.
4. The automatic excrement collection device of claim 1, wherein the controller is further configured to control the conveying assembly to adjust the position of the collection box when a change in the sitting posture of the user is detected based on the hip image.
5. The automatic excrement collection device according to claim 1, wherein a plurality of sighting mark points facing the camera are fixedly arranged on a side wall or a top wall of the inner container close to the buttocks, the sighting mark points are arranged according to a preset rule in space, and the sighting mark points are used for determining the position of an anus in a buttocks image shot by the camera.
6. The automatic excreta collection device of claim 5, wherein the controller is specifically configured to:
sequentially carrying out image filtering, image enhancement and image segmentation on the hip image to obtain a hip area image;
carrying out feature matching on the hip area image and a preset human anus template to determine an anus area in the hip area image;
determining anal coordinates according to the anal area;
and determining the excrement collecting point according to the coordinate of the sighting mark point in the hip image and the anus coordinate.
7. The automatic excrement collecting device according to claim 6, wherein said two rows of said visual target points are respectively located at left and right sides of said inner container, and each of said visual target points is arranged at equal intervals.
8. The automatic excreta collection device of claim 6 wherein the position of the anus in the hip image is the position of the central point of the anus relative to the landmark point.
9. Automatic excreta collection device according to claim 6, wherein the controller is specifically configured to:
and calculating the position of the anus by calculating the distance of the anus relative to each visual mark point.
10. The automatic excreta collection device of claim 5 wherein the camera is an infrared camera and the sighting mark point can reflect the light emitted from the infrared camera to image in the image of the buttocks.
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| CN202110095894.7A CN112932545A (en) | 2021-01-25 | 2021-01-25 | Automatic excrement collecting equipment and method |
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| CN202110095894.7A CN112932545A (en) | 2021-01-25 | 2021-01-25 | Automatic excrement collecting equipment and method |
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