CN102520733B - Human body position detection tracking device and tracking method thereof - Google Patents
Human body position detection tracking device and tracking method thereof Download PDFInfo
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Abstract
The invention discloses a human body position detection tracking device and a tracking method thereof. According to the device, an infrared sensor and an installation assembly of the device are coaxial with a center line of a casing and are fixed over a cover plate of the casing; a shaft passes through the infrared sensor and a center of the installation assembly through a support bearing arranged on the cover plate, a top of the shaft is fixedly connected with a center of a rotating disk, and a bottom of the shaft is connected with a driving shaft of a servo control motor through a coupler; a controller is electrically connected with a driver, the infrared sensor and the installation assembly respectively; identification is arranged under an edge of the rotating disk, and the infrared sensor and an upper side plate of the installation assembly are provided with photoelectric sensors. According to the method, a human body position is detected and determined through the infrared sensor, rotation orientation and a minimum angel scope of shaking are determined according to a detection tracking criterion, and the rotation of the servo control motor is controlled. According to the device and the method of the invention, the human body position can be accurately detected, and the device and the method are suitable for household small electric appliances such as a radiator.
Description
Technical field
The invention belongs to detection control field, relate in particular to a kind of position of human body for household electrical appliance and detect tracking means and tracking.
Background technology
Household electrical appliance, as small fan, warmer etc. have all stepped into huge numbers of families, but common small fan, warmer, except possessing common air-supply or sending heating function, also has oscillating function conventionally, realizes the continous blowing to certain angle scope or send warm.As the application number utility model " the electronic type induction rotary control devices of many rotor ceiling fans " that is 200420023209.1, adopt propulsion system and an electronic type sense group, make many rotor ceiling fans group produce the back and forth action of convolution, make its pivotable back and forth between 0 degree to 360 degree, realize 360 degree wind and stroke.But in actual use,, because a people or many people position change, need to adjust in time shake the head direction and scope.Shake the head direction and the scope of general oscillating fan and the warmer of shaking the head are fixed, and cause use inconvenience, the efficiency of fan and warmer low, and energy dissipation is large.Therefore be badly in need of a kind ofly thering is position of human body and detecting oscillating fan or the warmer of shaking the head of following function, make its uses more convenient, efficiently and hommization.
There is at present the electric oscillatory fans that position of human body detects following function, as the application number utility model " a kind of Intelligent electric fan " that is 200920020891.1, two pyroelectric infrared sensors are installed on electric oscillatory fans, while starting power supply, two infrared sensors human body in certain region, according to collecting data calculative determination position of human body and shortest path, the rotor of controlling oscillating electric fan rotates, thereby when reaching people and walking about in room, the result that electric fan can automatic tracing air-supply.Invention that and for example application number is 201010241538.3 " a kind of Intelligent electric fan and realize the method for electric fan Based Intelligent Control " Intelligent electric fan comprises infrared inductor, central processing unit, displacement controller etc., collect the fan infrared signal of human body around by infrared inductor, and be sent to central processing unit, according to the infrared signal analyzing positions of indoor persons receiving, generate control information and send to displacement controller, position to fan regulates and controls, the wind direction of fan is adjusted to the position at personnel place, make user also can enjoy fan blowing to the full indoor arbitrarily walking about, guaranteeing that user walks about does not affect blowing.
Above electric fan in use, on the one hand because pyroelectric infrared sensor human body position exists induction dead angle, in the time that people leaves monitored area, cause head-shaking device not shaken the head (static), also cannot realize 360 degree and detect and shake the head, panning angle is limited.According to the infrared signal analyzing positions of indoor persons receiving, computing method are simple simultaneously, and personnel positions is determined coarse, and poor accuracy causes position of human body detection tracking accuracy and rapidity poor.
Summary of the invention
The object of this invention is to provide the go forward side by side device of line trace control of a kind of accurately human body position, this device is along with end user body position, quantity difference, by the turntable rotation on control device, indirect regulation small electric apparatus towards or control its scope of shaking the head.
Another object of the present invention is to provide a kind of position of human body and detects tracking, the method detects initial position by photoelectric sensor, survey definite position of human body according to infrared sensor, according to one or more position of human body, determine follow the tracks of towards or shake minimum angles scope, its degree of accuracy is good.
Technical scheme of the present invention is: a kind of position of human body detects tracking means, comprises casing, rotating disk, infrared sensor and installation component, servocontrol motor, photoelectric sensor, driver and controller; The center line of described infrared sensor and installation component and described casing is coaxial, and is fixed on described casing cover plate top; Axle passes described infrared sensor and installation component center by the block bearing being located on described cover plate, and its top and described center of turntable are connected, and bottom is connected with the driving shaft of described servocontrol motor by shaft coupling; Described driver is electrically connected with servocontrol motor; Described controller is electrically connected with driver and infrared sensor and installation component respectively; The below, edge of described rotating disk is provided with mark, and the position that the epipleural of described infrared sensor and installation component is relative with described mark is provided with photoelectric sensor.
Further, described infrared sensor and installation component are the decile blade wheel structures of multiple infrared sensor installing plate compositions, and its epipleural and lower side panel are annular slab, between two described infrared sensor installing plates, are provided with dividing plate; Described infrared sensor installing plate is installed one group of infrared sensor.
Further, described controller comprises that infrared sensor group testing circuit, photoelectric sensor testing circuit, driver control circuit, single-chip microcomputer, keyboard and display and position of human body detect tracking module; Described keyboard is connected with the input interface of described single-chip microcomputer, and described display is connected with the output interface of described single-chip microcomputer; Described infrared sensor is by the input interface of the described single-chip microcomputer of infrared sensor group testing circuit joint access; Described photoelectric sensor accesses the input interface of described single-chip microcomputer by photoelectric sensor testing circuit; Described driver is connected with the output interface of described single-chip microcomputer by driver control circuit; Described human detection tracking module is for receiving the input signal of single-chip microcomputer, and the position of Analysis deterrmination human body, controls output drive control signal.
Further, to be 8 etc. divide blade wheel structure for described infrared sensor and installation component.
A kind of position of human body detects tracking, first detects initial position as corner initial point, sets up position signalling n and the position angle Y relation of N sensor, Y=n × 360 °/N, and wherein n is between 0 to N-1; Then survey definite position of human body by infrared sensor, according to detect follow the tracks of criterion determine rotate towards with shake minimum angles scope; Finally control servocontrol electric machine rotation.
Further, the number N of described sensor is 8, and its detection is followed the tracks of criterion and is:
(1) only have an infrared signal, determine to be Y towards angle, device is not shaken the head;
(2) have two infrared signals, its position signalling is respectively n1 and n2 simultaneously, determines that corresponding angle is Y1 and Y2, and its minimum angles scope of shaking the head is:
(2-1) work as n2-n1>4, first clockwise Y1-" Y2-360 °, rear counterclockwise Y2-360 °-" Y1; Then iterative cycles;
(2-2) work as n2-n1<=4, first counterclockwise Y1-" Y2, rear clockwise Y2-" Y1; Then iterative cycles;
Wherein: n1 is between 0-6, and n2 is between 1-7, and n2>n1;
(3) have three infrared signals, its position signalling is respectively n1, n2 and n3 simultaneously, determines that corresponding angle is Y1, Y2 and Y3, and its minimum angles scope of shaking the head is:
(3-1) work as n2-n1>=4, first clockwise Y1-" Y3-360 °-" Y2-360 °, rear counterclockwise Y2-360 °-" Y3-360 °-" Y1; Then iterative cycles;
(3-2) work as n3-n2>=4, first clockwise Y1-" Y3-360 °, rear counterclockwise Y3-360 °-" Y1-" Y2, more clockwise Y2-" Y1-" Y3-360 °; Then at Y3-360 ° to iterative cycles between Y2;
(3-3) work as n2-n1=3, and n3-n2=3, first clockwise Y1-" Y3-360 °-" Y2-360 °, rear counterclockwise Y2-360 °-" Y3-360 °-" Y1; Then iterative cycles successively;
(3-4) divided by upper outside, first counterclockwise Y1-" Y2-" Y3, rear clockwise Y3-" Y2-" Y1; Then iterative cycles;
Wherein: n1 is between 0-5, and n2 is between 1-6, and n3 is between 2-7, and n3>n2>n1;
(4) have four infrared signals, its position signalling is respectively n1, n2, n3 and n4 simultaneously, determines that corresponding angle is Y1, Y2, Y3 and Y4, and its minimum angles scope of shaking the head is:
(4-1) work as n2-n1>=4, first clockwise Y1-" Y4-360 °-" Y3-360 °-" Y2-360 °, rear counterclockwise Y2-360 °-" Y3-360 °-" Y4-360 °-" Y1; Then iterative cycles;
(4-2) work as n3-n2>=4, first clockwise Y1-" Y4-360 °-" Y3-360 °, rear counterclockwise Y3-360 °-" Y4-360 °-" Y1-" Y2, more clockwise Y2-" Y1-" Y4-360 °-" Y3-360 °; Then at Y3-360 ° to iterative cycles between Y2;
(4-3) work as n4-n3>=4, first clockwise Y1-" Y4-360 °, rear counterclockwise Y4-360 °-" Y1-" Y2-" Y3, more clockwise Y3-" Y2-" Y1-" Y4-360 °; Then iterative cycles between Y3 is to Y4-360 °;
(4-4) work as 8+n1-n4<=4, first counterclockwise Y1-" Y2-" Y3-" Y4, rear clockwise Y4-" Y3-" Y2-" Y1; Then iterative cycles;
(4-5) work as n2-n1=3, and n3-n2=3 or n4-n3=3, first clockwise Y1-" Y4-360 °-" Y3-360 °-" Y2-360 °, rear counterclockwise Y2-360 °-" Y3-360 °-" Y4-360 °-" Y1; Then iterative cycles;
(4-6) work as 8+n1-n4=5, first counterclockwise Y1-" Y2-" Y3-" Y4, rear clockwise Y4-" Y3-" Y2-" Y1; Then iterative cycles;
(4-7), divided by upper outside, iterative cycles is shaken the head within the scope of 360 °;
Wherein: establish n1 between 0-4, n2 is between 1-5, and n3 is between 2-6, and n3 is between 3-7, and n4>n3>n2>n1;
(5) have five or above infrared signal simultaneously, and continuous two or three positions nobody time, in other six or five position ranges, circulate and shake the head; Otherwise, within the scope of 360 °, circulate and shake the head.
The invention has the beneficial effects as follows: position of human body of the present invention detects tracking means, its controller position of human body detects following function program work flow process and is: gather infrared sensing group signal by input interface; Judgement has or not human body to exist; Have human body exist, determine position of human body and device to locate towards or shake minimum angles scope; By single chip microcomputer output interface and servocontrol motor driver, control servocontrol motor and turn to a certain position according to human body position or swing in a certain angular range.Can realize accurate detection and the region-wide human body real-time follow-up of the region-wide position of human body of 360 degree.Owing to having adopted many groups infrared sensor, this invention has realized the anglec of rotation computing method of many people's detection and optimization, can be widely used in the family expenses small electric apparatus such as fan, warmer, realizes more convenient, hommization and effective use.
Accompanying drawing explanation
The sensor group forming take 8 infrared sensors below, as embodiment, is described in further detail the present invention by reference to the accompanying drawings.
Fig. 1 is that a kind of position of human body detects tracking means fundamental diagram schematic diagram;
Fig. 2 is that position of human body detects tracking means front view;
Fig. 3 is infrared sensor and installation component front view;
Fig. 4 is vertical view after infrared sensor and installation component;
Fig. 5 is that position of human body detects tracking means controller composition structural drawing;
Fig. 6 is that position of human body detects tracking means director demon process flow diagram;
Fig. 7 is that position of human body detects following function program flow diagram;
Fig. 8 is that position of human body detects schematic diagram;
Fig. 9 is that human body tracking rotation angle range is determined schematic diagram.
In figure, 1 position of human body detects tracking means, 2 small electric apparatus, 10 casings, 11 rotating disks, 12 infrared sensors and installation component, 13 servocontrol motors, 14 gib screw A, 15 shaft couplings, 16 axles, 17 block bearings, 18 photoelectric sensors, 19 servocontrol motor drivers, 20 gib screw B, 21 gib screw C, 22 controllers, 101 side panels, 102 cover plates, 103 base plates, 104 feets, 121 infrared sensors, 122 infrared sensor installing plates, 123 dividing plates, 124 epipleurals, 125 grooves, 126 lower side panels, 127 screw holes.
Embodiment
As shown in Figure 1, the principle of work that a kind of position of human body detects tracking means is: on the rotating disk 11 of position of human body detection tracking means 1, load the small electric apparatus such as fan or warmer 2, rotate by rotating disk 11, indirect regulation small electric apparatus 2 towards or control its scope of shaking the head.
As shown in Figure 2, a kind of position of human body detects tracking means 1, mainly by casing 10, and rotating disk 11, infrared sensor and installation component 12, servocontrol motor 13, driver 19, shaft coupling 15, axle 16, block bearing 17, the compositions such as photoelectric sensor 18 and controller 22.Casing 10 profiles are a positive tetrahedron or right cylinder, comprise side plate 101, cover plate 102, base plate 103 and feet 104; In casing 10, there is an axle 16, be bearing in by block bearing 17 in the cover plate 102 of casing 10 in the heart, be connected with the driving shaft of servocontrol motor 13 by shaft coupling 15, axle 16 is in cover plate 102 sections of stretching out, through infrared sensor and installation component 12, be fixedly connected with rotating disk 11 by gib screw A14; Servocontrol motor 13 is arranged on casing 10 base plates 103, drives rotating disk 11 to rotate by axle 16; Servocontrol motor driver 19 and controller 22 are installed on casing 10 inner bottom platings 103; Whether infrared sensor and installation component 12 are enclosed within on axle 16, between the cover plate 102 and rotating disk 11 of casing 10, are fixed on cover plate 102 by gib screw 21, detected and had human body to exist around by infrared sensor group on it; On infrared sensor and installation component 12, photoelectric sensor 18 is installed, on rotating disk 11, on corresponding circle, there is a place to be provided with to be different from the reflective of other positions or reflecting marking 111 not, detect by photoelectric sensor 18, and as rotating disk corner initial point (starting point) position.
As shown in Figure 3,4, infrared sensor and installation component 12 are eight equal parts blade wheel structures, have 8 infrared sensor installing plates 122 to be spliced, and fix between any two a dividing plate 123; Whether each infrared sensor installing plate 122 is installed an infrared sensor 121, and one group of 8 infrared sensor 121 is installed altogether, detect and have human body to exist around; Epipleural 124 and the lower side panel 126 of infrared sensor and installation component 12 are annular slab, on epipleural 124, there is groove 125, photoelectric sensor 18 is installed, on lower side panel 126, there are 4 uniform screw holes 127, by gib screw C21, infrared sensor and installation component 12 are fixedly mounted on the cover plate 102 of device 1 casing 10.
As shown in Figure 5, controller 22 hardware comprise infrared sensor group testing circuit, photoelectric sensor testing circuit, servocontrol motor driver control circuit, single-chip microcomputer and IO interface, keyboard, display and interface circuit thereof etc.
As shown in Figure 6, position of human body detects tracking means, and its control procedure comprises that controller hardware software resource initialize routine, display driver, keyboard scan handling procedure, position of human body detect following function module and detect etc.
As shown in Figure 7, the workflow of position of human body detection following function module is: gather infrared sensor group signal by input interface; Judgement has or not human body to exist; Have human body exist, determine position of human body and device to locate towards or shake minimum angles scope; By single chip microcomputer output interface and stepper motor driver, control servocontrol motor 13 and turn to a certain position according to human body position or swing in a certain angular range.
As shown in Fig. 1-4 and Fig. 8, the technical scheme that position of human body detects is: by central area installation infrared sensor and installation component 12 on device 1, within the scope of 360 °, even installation infrared sensor 121(is as 8), detect position of human body in 360 ° of peripheral extent of determining device; Dividing plate 123 is set between infrared sensor, makes evenly within the scope of certain angle (as 45 °) of each infrared sensor detection angle.On rotating disk 11, set initial position mark 111, detect initial position by photoelectric sensor 18, and as corner initial point; Survey definite position of human body according to infrared sensor 121, according to one or more position of human body, determining device 1 towards or shake minimum angles scope, drive rotating disk 11 by stepper motor 13, dial rotation is swung to position of human body or within the scope of the minimum angles of human body place, thereby realize, position of human body is detected and followed the tracks of.
As Fig. 8, shown in Fig. 9, determining device of the present invention towards or shake minimum angles scope method be:
(1) the position signalling n (=0,1,2,3,4,5,6,7) that sets up 8 sensors and position angle Y relation: Y=n × 45 °.
(2) when only there being a people to appear at around device, while only having an infrared sensor output signal, determining device be Y towards angle, device is not shaken the head.
(3) when there being two people to appear at around device, while having two infrared sensor output signals, position signalling is respectively n1 and n2 simultaneously, and determining device corresponding angle is Y1 and Y2, establishes n1 between 0-6, and n2 is between 1-7, and n2>n1.
The device minimum angles scope of shaking the head is:
A:n2-n1>4, first clockwise Y1-" Y2-360 °, rear counterclockwise Y2-360 °-" Y1, then iterative cycles;
B:n2-n1<=4, first counterclockwise Y1-" Y2, rear clockwise Y2-" Y1, then iterative cycles.
(4) when there being three people to appear at around device, while having three infrared sensor output signals simultaneously, position signalling is respectively n1, n2 and n3, determining device corresponding angle is Y1, Y2 and Y3, if n1 is between 0-5, n2 is between 1-6, and n3 is between 2-7, and n3>n2>n1.
The device minimum angles scope of shaking the head is:
A:n2-n1>=4, first clockwise Y1-" Y3-360 °-" Y2-360 °, rear counterclockwise Y2-360 °-" Y3-360 °-" Y1, then iterative cycles;
B:n3-n2>=4, first clockwise Y1-" Y3-360 °, rear counterclockwise Y3-360 °-" Y1-" Y2, more clockwise Y2-" Y1-" Y3-360 °, then at Y3-360 ° to iterative cycles between Y2.
C:n2-n1=3, and n3-n2=3, first clockwise Y1-" Y3-360 °-" Y2-360 °, rear counterclockwise Y2-360 °-" Y3-360 °-" Y1, then iterative cycles;
D: divided by upper outside, first counterclockwise Y1-" Y2-" Y3, rear clockwise Y3-" Y2-" Y1, then iterative cycles;
(5) when there being four people to appear at around device, while having four infrared sensor output signals simultaneously, position signalling is respectively n1, n2, n3 and n4, determining device corresponding angle is Y1, Y2, Y3 and Y4, if n1 is between 0-4, n2 is between 1-5, and n3 is between 2-6, n3 is between 3-7, and n4>n3>n2>n1.
The device minimum angles scope of shaking the head is:
A:n2-n1>=4, first clockwise Y1-" Y4-360 °-" Y3-360 °-" Y2-360 °, rear counterclockwise Y2-360 °-" Y3-360 °-" Y4-360 °-" Y1, then iterative cycles;
B:n3-n2>=4, first clockwise Y1-" Y4-360 °-" Y3-360 °, latter Y3-360 ° counterclockwise-" Y4-360 °-" Y1-" Y2, more clockwise Y2-" Y1-" Y4-360 °-" Y3-360 °, then at Y3-360 ° to iterative cycles between Y2.
C:n4-n3>=4, first clockwise Y1-" Y4-360 °, rear counterclockwise Y4-360 °-" Y1-" Y2-" Y3, more clockwise Y3-" Y2-" Y1-" Y4-360 °, then iterative cycles between Y3 is to Y4-360 °.
D:8+n1-n4<=4, first counterclockwise Y1-" Y2-" Y3-" Y4, rear clockwise Y4-" Y3-" Y2-" Y1, then iterative cycles.
E:n2-n1=3, and n3-n2=3 or n4-n3=3, first clockwise Y1-" Y4-360 °-" Y3-360 °-" Y2-360 °, rear counterclockwise Y2-360 °-" Y3-360 °-" Y4-360 °-" Y1, then iterative cycles;
F:8+n1-n4=5, first counterclockwise Y1-" Y2-" Y3-" Y4, rear clockwise Y4-" Y3-" Y2-" Y1, then iterative cycles.
G: otherwise divided by upper outside, iterative cycles is shaken the head within the scope of 360 °;
(6) when having five or above people to appear at around device, and while having five or above infrared sensor output signal, in continuous two or three positions nobody time, control device circulates and shakes the head in other six or five position ranges; Otherwise, within the scope of 360 °, circulate and shake the head.
Claims (1)
1. position of human body detects a tracking, first detects initial position as corner initial point, sets up position signalling n and the position angle Y relation of N sensor, Y >=n × 360 °/N, and wherein n is between 0 to N-1; Then survey definite position of human body by infrared sensor, according to detect follow the tracks of criterion determine rotate towards with shake minimum angles scope; Finally control servocontrol electric machine rotation;
The number N of described sensor is 8, and its detection is followed the tracks of criterion and is:
(1) only have an infrared signal, determine to be Y towards angle, device is not shaken the head;
(2) have two infrared signals, its position signalling is respectively n1 and n2 simultaneously, determines that corresponding angle is Y1 and Y2, and its minimum angles scope of shaking the head is:
(2-1) work as n2-n1>4, first clockwise Y1 → Y2-360 °, rear counterclockwise Y2-360 ° → Y1; Then iterative cycles;
(2-2) when n2-n1≤4, first counterclockwise Y1 → Y2, rear clockwise Y2 → Y1; Then iterative cycles;
Wherein: n1 is between 0-6, and n2 is between 1-7, and n2>n1;
(3) have three infrared signals, its position signalling is respectively n1, n2 and n3 simultaneously, determines that corresponding angle is Y1, Y2 and Y3, and its minimum angles scope of shaking the head is:
(3-1) when n2-n1 >=4, first clockwise Y1 → Y3-360 ° → Y2-360 °, rear counterclockwise Y2-360 ° → Y3-360 ° → Y1; Then iterative cycles;
(3-2) when n3-n2 >=4, first clockwise Y1 → Y3-360 °, rear counterclockwise Y3-360 ° → Y1 → Y2, more clockwise Y2 → Y1 → Y3-360 °; Then at Y3-360 ° to iterative cycles between Y2;
(3-3) work as n2-n1=3, and n3-n2=3, first Y1 → Y3-360 ° → Y2-360 ° clockwise, rear counterclockwise Y2-360 ° → Y3-360 ° → Y1; Then iterative cycles successively;
(3-4) divided by upper outside, first counterclockwise Y1 → Y2 → Y3, rear clockwise Y3 → Y2 → Y1; Then iterative cycles;
Wherein: n1 is between 0-5, and n2 is between 1-6, and n3 is between 2-7, and n3>n2>n1;
(4) have four infrared signals, its position signalling is respectively n1, n2, n3 and n4 simultaneously, determines that corresponding angle is Y1, Y2, Y3 and Y4, and its minimum angles scope of shaking the head is:
(4-1) when n2-n1 >=4, first clockwise Y1 → Y4-360 ° → Y3-360 ° → Y2-360 °, rear counterclockwise Y2-360 ° → Y3-360 ° → Y4-360 ° → Y1; Then iterative cycles;
(4-2) when n3-n2 >=4, first clockwise Y1 → Y4-360 ° → Y3-360 °, rear counterclockwise Y3-360 ° → Y4-360 ° → Y1 → Y2, then Y2 → Y1 → Y4-360 ° → Y3-360 ° clockwise; Then at Y3-360 ° to iterative cycles between Y2;
(4-3) when n4-n3 >=4, first clockwise Y1 → Y4-360 °, rear counterclockwise Y4-360 ° → Y1 → Y2 → Y3, more clockwise Y3 → Y2 → Y1 → Y4-360 °; Then iterative cycles between Y3 is to Y4-360 °;
(4-4) when 8+n1-n4≤4, first counterclockwise Y1 → Y2 → Y3 → Y4, rear clockwise Y4 → Y3 → Y2 → Y1; Then iterative cycles;
(4-5) work as n2-n1=3, and n3-n2=3 or n4-n3=3, first Y1 → Y4-360 ° → Y3-360 ° → Y2-360 ° clockwise, rear counterclockwise Y2-360 ° → Y3-360 ° → Y4-360 ° → Y1; Then iterative cycles;
(4-6) work as 8+n1-n4=5, first counterclockwise Y1 → Y2 → Y3 → Y4, rear clockwise Y4 → Y3 → Y2 → Y1; Then iterative cycles;
(4-7), divided by upper outside, iterative cycles is shaken the head within the scope of 360 °;
Wherein: establish n1 between 0-4, n2 is between 1-5, and n3 is between 2-6, and n4 is between 3-7, and n4>n3>n2>n1;
(5) have five or above infrared signal simultaneously, and continuous two or three positions nobody time, in other six or five position ranges, circulate and shake the head; Otherwise, within the scope of 360 °, circulate and shake the head.
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| CN104615154A (en) * | 2015-01-16 | 2015-05-13 | 南京航空航天大学 | Device for tracking single human body position |
| CN104791883A (en) * | 2015-03-30 | 2015-07-22 | 深圳市福田区青少年科技教育协会 | Environmentally-friendly electric heater |
| CN105466574A (en) * | 2015-12-17 | 2016-04-06 | 深圳市艾特智能科技有限公司 | Human body positioning induction module group and apparatus |
| CN106444850B (en) * | 2016-09-26 | 2019-03-29 | 西安应用光学研究所 | A kind of azimuth rotating platform and its installation method suitable for vehicle-mounted reconnaissance system |
| CN108459624B (en) * | 2018-03-12 | 2020-09-22 | 西安应用光学研究所 | Self-adaptive stabilizing device for photoelectric tracker rotating at small angle |
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| CN101696697A (en) * | 2009-10-15 | 2010-04-21 | 浙江大学 | Intelligent vertical oscillating fan with automatic tracking capability |
| CN201574962U (en) * | 2010-01-29 | 2010-09-08 | 王庆栩 | Tracking-type intelligent oscillating fan |
| CN202421896U (en) * | 2011-12-07 | 2012-09-05 | 江苏大学 | Human body position detecting and tracking device |
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