CN103970059B - Bio-robot animal sensing circuit - Google Patents
Bio-robot animal sensing circuit Download PDFInfo
- Publication number
- CN103970059B CN103970059B CN201410224383.0A CN201410224383A CN103970059B CN 103970059 B CN103970059 B CN 103970059B CN 201410224383 A CN201410224383 A CN 201410224383A CN 103970059 B CN103970059 B CN 103970059B
- Authority
- CN
- China
- Prior art keywords
- module
- feet
- operational amplifier
- resistance
- electric capacity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 241001465754 Metazoa Species 0.000 title claims abstract description 21
- 238000002604 ultrasonography Methods 0.000 claims abstract description 22
- 230000006698 induction Effects 0.000 claims abstract description 18
- 230000009977 dual effect Effects 0.000 claims description 37
- 238000001514 detection method Methods 0.000 claims description 19
- 230000006870 function Effects 0.000 abstract description 5
- 230000008447 perception Effects 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 230000003321 amplification Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000003199 nucleic acid amplification method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
Landscapes
- Toys (AREA)
Abstract
The invention belongs to robot control circuit technical field, be specially a kind of bio-robot animal sensing circuit；Solve the technical problem that and be: provide a kind of can perception human body or animal signal and there is the bio-robot animal sensing circuit of distance displacement sensing function；The technical scheme is that a kind of bio-robot animal sensing circuit, including: main controller module, infrared induction module, ultrasonic emitting module, ultrasound wave receiver module, clock module, memory module, reset control module and power module, described main controller module controls module with infrared induction module, ultrasonic emitting module, ultrasound wave receiver module, clock module, memory module and reset respectively and is connected, and described power module is that whole circuit is powered.The present invention is applicable to robot field.
Description
Technical field
The invention belongs to robot control circuit technical field, be specially a kind of bio-robot animal sensing circuit.
Background technology
Robot is the installations automatically performing work, it both can accept mankind commander, the program of layout in advance can be run again, can also according to the principle guiding principle action formulated with artificial intelligence technology, its task is to assist or replace the work of human work, such as produce industry, building industry or the work of danger.
Existing most of robot substantially still belongs to a kind of machine can walked and pronounce, great majority do not have the phy-aware ability that " people " has, not there is the perceptive function of animal or human body, can not independent judgment people or animal near and judge the size of this object, position etc., interactivity is poor.
Summary of the invention
The present invention overcomes the deficiency that prior art exists, and to be solved technical problem is that: provide a kind of can perception animal signal and there is the bio-robot animal sensing circuit of distance displacement sensing function.
The present invention adopts the following technical scheme that realization:
A kind of bio-robot animal sensing circuit, including: main controller module, infrared induction module, ultrasonic emitting module, ultrasound wave receiver module, clock module, memory module, reset control module and power module.
Described main controller module controls module with infrared induction module, ultrasonic emitting module, ultrasound wave receiver module, clock module, memory module and reset respectively and is connected, and described power module is that whole circuit is powered.
The circuit structure of described infrared induction module is: include infra-red detection sensor IC1, it is connected with positive source VCC after the power end positive pole of described infra-red detection sensor IC1 one end of connecting resistance R1, the other end of described resistance R1 one end of connecting resistance R2 are connected with the colelctor electrode of NPN type triode Q1 with behind one end of electric capacity C1, it is connected with one end of electric capacity C2 after the signal output part of described infra-red detection sensor IC1 one end of connecting resistance R3, it is connected with the base stage of NPN type triode Q1 after the other end of the other end shunt-wound capacitance C2 of described resistance R2, ground connection after the power end negative pole of described infra-red detection sensor IC1 the other end of connecting resistance R3 and the emitter stage of NPN type triode Q1.
It is connected with the positive input terminal of operational amplifier IC2 after the other end series resistor R4 of described electric capacity C1, the negative input end of described operational amplifier IC2 one end of connecting resistance R5 are connected with one end with resistance R6 behind one end of electric capacity C3, ground connection after the other end serial capacitance C4 of described resistance R5, being connected with the outfan of operational amplifier IC2 after the other end of described electric capacity C3 the other end of connecting resistance R6, the described outfan of operational amplifier IC2 is connected with the signal input port of main controller module.
The infrared ray sensor that described infra-red detection sensor IC1 can adopt model to be Q74；Described operational amplifier IC2 adopts model to be the operational amplifier chip of LM358, during the infrared signal that described infra-red detection sensor IC1 detects front human body or animal body gives off, the signal of telecommunication faint by the output of infra-red detection sensor IC1 signal output part, amplify through composition first order amplifying circuits such as NPN type triode Q1, it is input in operational amplifier IC2 again through electric capacity C1 and carries out high-gain, low noise amplification, the signal now exported by operational amplifier IC2 is sufficiently strong, finally the signal of this amplification is sent to main controller module 1, main controller module 1 is through analog-to-digital conversion module, above-mentioned signal is converted into the corresponding signal of telecommunication.
nullThe circuit structure of described ultrasonic emitting module is: include time-base integrated circuit chip IC 3，It is connected with the movable end of adjustable resistance R8 after the end fixing with the one of adjustable resistance R8 of 7 feet of described time-base integrated circuit chip IC 3 one end of connecting resistance R7，The other end of described resistance R7 also connects 2 feet of time-base integrated circuit chip IC 3 and is connected with one end with electric capacity C5 after 6 feet of time-base integrated circuit chip IC 3，The other end ground connection of described electric capacity C5，8 feet of described time-base integrated circuit chip IC 3 are also connected with positive source VCC after connecing another fixing end of adjustable resistance R8，Ground connection after 5 foot serial capacitance C6 of time-base integrated circuit chip IC 3，4 feet of time-base integrated circuit chip IC 3 are connected with the signal output port of main controller module，1 foot ground connection of time-base integrated circuit chip IC 3，It is connected with 1 foot of hex inverter IC4 after 3 foot series resistor R9 of time-base integrated circuit chip IC 3.
9 feet of described hex inverter IC4 are also connected with 1 foot of hex inverter IC4 after connecing 11 feet of hex inverter IC4,2 feet of hex inverter IC4,3 feet of hex inverter IC4,5 feet of hex inverter IC4 also connect together, 8 feet of hex inverter IC4 are also connected with one end of electric capacity C7 after connecing 10 feet of hex inverter IC4, the other end of described electric capacity C7 is connected with an input of ultrasonic transducer S1, and 4 feet of described hex inverter IC4 are also connected with another input of ultrasonic transducer S1 after connecing 6 feet of hex inverter IC4.
The circuit structure of described ultrasound wave receiver module is: include acoustic wave transducer S2, it is connected with one end of electric capacity C8 after one outfan of described acoustic wave transducer S2 one end of connecting resistance R10, ground connection after another outfan of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 feet of dual operational amplifier IC5 after the other end series resistor R11 of described electric capacity C8.
It is connected with 1 foot of dual operational amplifier IC5 after the 2 foot series resistor R12 of described dual operational amplifier IC5, 1 foot of dual operational amplifier IC5 is connected with 6 feet of dual operational amplifier IC5 after being sequentially connected in series electric capacity C9 and resistance R13, it is connected with 7 feet of dual operational amplifier IC5 after the 6 foot series resistor R14 of dual operational amplifier IC5, one end of the 3 foot shunt-wound capacitance C10 of dual operational amplifier IC5, one end of resistance R15 is connected with 5 feet with dual operational amplifier IC5 behind one end of resistance R16, the other end of described electric capacity C10 and the equal ground connection of the other end of resistance R15, the other end of described resistance R16 is connected with positive source VCC.
7 feet of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6；Ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6, and the outfan of voltage comparator ic 6 is connected with the signal input port of main controller module.
The chip that described time-base integrated circuit chip IC 3 can adopt model to be NE555, the chip that described hex inverter IC4 can adopt model to be CD4049, the dual operational amplifier that described dual operational amplifier IC5 can adopt model to be TL082, the voltage comparator chip that described voltage comparator ic 6 can adopt model to be LM311.
nullAbove-mentioned time-base integrated circuit chip IC 3 is constituted without steady multivibrator，Its frequency of oscillation is by adjustable resistance R8、Resistance R7 and electric capacity C5 determines，Frequency of oscillation can be changed by regulating adjustable resistance R8，The oscillator signal of output promotes ultrasonic transducer S1 sounding through the amplification of hex inverter IC4，4 feet of time-base integrated circuit chip IC 3 are controlled by main controller module 1，When ultrasonic signal launched by needs, this foot is high level，The small-signal that above-mentioned ultrasonic transducer S2 receives，Amplify through being ac-coupled to dual operational amplifier IC5，Through signal amplification again by voltage comparator ic 6 shaping，Output signal is received by main controller module 1，By the ultrasonic emitting module 3 being connected with main controller module、The change of signal in ultrasound wave receiver module 4，Main controller module can interpolate that the size of object、Shape，And movement locus and speed etc..
Above-mentioned main controller module, clock module, memory module, reset control module and power module all can adopt existing known products.
Described infrared induction module, ultrasonic emitting module and ultrasound wave receiver module all have multiple, and described ultrasonic emitting module and ultrasound wave receiver module are arranged in pairs.
During work, bio-robot can pass through infrared induction module detection animal around, rely on ultrasonic emitting module and ultrasound wave receiver module to judge particular location and the shape size of animal around simultaneously, including: height (size), position, movement velocity etc., bio-robot is made to be provided with the perception of " people ", perfect " sensation " function of bio-robot；Described infrared induction module, ultrasonic emitting module and ultrasound wave receiver module all have multiple, described ultrasonic emitting module and ultrasound wave receiver module are arranged in pairs, it is possible to the information such as the detection position of surrounding objects of comprehensive, multi-angle, size and translational speed.
The present invention compared with prior art has the beneficial effect that in the present invention, bio-robot can pass through infrared induction module detection animal around, rely on ultrasonic emitting module and ultrasound wave receiver module to judge particular location and the shape size of people or animal simultaneously, bio-robot is made to be provided with the perception of " people ", perfect " sensation " function of bio-robot；Sensing module in the present invention all adopts Low-voltage Low-power DC circuit, and energy expenditure is low, it is possible to meets various types of bio-robot and uses, practical.
Accompanying drawing explanation
Fig. 1 is the electrical block diagram of the present invention.
Fig. 2 is the electrical block diagram of mid-infrared induction module of the present invention.
Fig. 3 is the electrical block diagram of ultrasonic emitting module in the present invention.
Fig. 4 is the electrical block diagram of ultrasound wave receiver module in the present invention.
In figure: 1-main controller module, 2-infrared induction module, 3-ultrasonic emitting module, 4-ultrasound wave receiver module, 5-clock module, 6-memory module, 7-reset and control module, 8-power module.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described in detail:
As it is shown in figure 1, a kind of bio-robot animal sensing circuit, including: main controller module 1, infrared induction module 2, ultrasonic emitting module 3, ultrasound wave receiver module 4, clock module 5, memory module 6, reset control module 7 and power module 8.
Described main controller module 1 is connected with infrared induction module 2, ultrasonic emitting module 3, ultrasound wave receiver module 4, clock module 5, memory module 6 and the control module 7 that resets respectively, and described power module 8 is powered for whole circuit.
As shown in Figure 2, the circuit structure of described infrared induction module 2 is: the power end positive pole of infra-red detection sensor IC1 is also connected with positive source VCC behind one end of connecting resistance R1, the other end of described resistance R1 one end of connecting resistance R2 are connected with the colelctor electrode of NPN type triode Q1 with behind one end of electric capacity C1, it is connected with one end of electric capacity C2 after the signal output part of described infra-red detection sensor IC1 one end of connecting resistance R3, it is connected with the base stage of NPN type triode Q1 after the other end of the other end shunt-wound capacitance C2 of described resistance R2, ground connection after the power end negative pole of described infra-red detection sensor IC1 the other end of connecting resistance R3 and the emitter stage of NPN type triode Q1.
It is connected with the positive input terminal of operational amplifier IC2 after the other end series resistor R4 of described electric capacity C1, the negative input end of described operational amplifier IC2 one end of connecting resistance R5 are connected with one end with resistance R6 behind one end of electric capacity C3, ground connection after the other end serial capacitance C4 of described resistance R5, being connected with the outfan of operational amplifier IC2 after the other end of described electric capacity C3 the other end of connecting resistance R6, the outfan of described operational amplifier IC2 is connected with the signal input port of main controller module 1.
As shown in Figure 3, the circuit structure of described ultrasonic emitting module 3 is: be connected with the movable end of adjustable resistance R8 after the end fixing with the one of adjustable resistance R8 of 7 feet of time-base integrated circuit chip IC 3 one end of connecting resistance R7, the other end of described resistance R7 also connects 2 feet of time-base integrated circuit chip IC 3 and is connected with one end with electric capacity C5 after 6 feet of time-base integrated circuit chip IC 3, the other end ground connection of described electric capacity C5；8 feet of described time-base integrated circuit chip IC 3 are also connected with positive source VCC after connecing another fixing end of adjustable resistance R8, ground connection after 5 foot serial capacitance C6 of time-base integrated circuit chip IC 3,4 feet of time-base integrated circuit chip IC 3 are connected with the signal output port of main controller module 1,1 foot ground connection of time-base integrated circuit chip IC 3, is connected with 1 foot of hex inverter IC4 after 3 foot series resistor R9 of time-base integrated circuit chip IC 3.
9 feet of described hex inverter IC4 are also connected with 1 foot of hex inverter IC4 after connecing 11 feet of hex inverter IC4,2 feet of hex inverter IC4,3 feet of hex inverter IC4,5 feet of hex inverter IC4 also connect together, 8 feet of hex inverter IC4 are also connected with one end of electric capacity C7 after connecing 10 feet of hex inverter IC4, the other end of described electric capacity C7 is connected with an input of ultrasonic transducer S1, and 4 feet of described hex inverter IC4 are also connected with another input of ultrasonic transducer S1 after connecing 6 feet of hex inverter IC4.
As shown in Figure 4, the circuit structure of described ultrasound wave receiver module 4 is: an outfan of acoustic wave transducer S2 and behind one end of connecting resistance R10 one end with electric capacity C8 be connected, ground connection after another outfan of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 feet of dual operational amplifier IC5 after the other end series resistor R11 of described electric capacity C8.
It is connected with 1 foot of dual operational amplifier IC5 after the 2 foot series resistor R12 of described dual operational amplifier IC5, 1 foot of dual operational amplifier IC5 is connected with 6 feet of dual operational amplifier IC5 after being sequentially connected in series electric capacity C9 and resistance R13, it is connected with 7 feet of dual operational amplifier IC5 after the 6 foot series resistor R14 of dual operational amplifier IC5, one end of the 3 foot shunt-wound capacitance C10 of dual operational amplifier IC5, one end of resistance R15 is connected with 5 feet with dual operational amplifier IC5 behind one end of resistance R16, the other end of described electric capacity C10 and the equal ground connection of the other end of resistance R15, the other end of described resistance R16 is connected with positive source VCC.
7 feet of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6；Ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6, and the outfan of voltage comparator ic 6 is connected with the signal input port of main controller module 1.
When being embodied as, described infra-red detection sensor IC1 adopts model to be the infrared ray sensor of Q74；Described operational amplifier IC2 adopts model to be the operational amplifier chip of LM358.
The chip that described time-base integrated circuit chip IC 3 adopts model to be NE555, described hex inverter IC4 adopts model to be the chip of CD4049.
Described dual operational amplifier IC5 adopts model to be the dual operational amplifier of TL082, the voltage comparator chip that described voltage comparator ic 6 adopts model to be LM311.
Above-mentioned main controller module 1, clock module 5, memory module 6, the control module 7 that resets and power module 8 all can directly be commercially available.
Above-mentioned positive source VCC can adopt the DC source of below+36V, this detailed description of the invention adopts+12V power supply, above-mentioned components and parts are Low-voltage Low-power direct current components and parts, energy expenditure is low, the short slab problem of robot existing power supply can be adapted to very well, disclosure satisfy that various types of bio-robot uses, practical.
Claims (3)
1. a bio-robot animal sensing circuit, it is characterised in that: main controller module (1), infrared induction module (2), ultrasonic emitting module (3), ultrasound wave receiver module (4), clock module (5), memory module (6), reset control module (7) and power module (8)；
Described main controller module (1) is connected with infrared induction module (2), ultrasonic emitting module (3), ultrasound wave receiver module (4), clock module (5), memory module (6) and control module (7) that resets respectively, and described power module (8) is powered for whole circuit；
Described infrared induction module (2) includes infra-red detection sensor IC1, it is connected with positive source VCC after the power end positive pole of described infra-red detection sensor IC1 one end of connecting resistance R1, the other end of described resistance R1 one end of connecting resistance R2 are connected with the colelctor electrode of NPN type triode Q1 with behind one end of electric capacity C1, it is connected with one end of electric capacity C2 after the signal output part of described infra-red detection sensor IC1 one end of connecting resistance R3, it is connected with the base stage of NPN type triode Q1 after the other end of the other end shunt-wound capacitance C2 of described resistance R2, ground connection after the power end negative pole of described infra-red detection sensor IC1 the other end of connecting resistance R3 and the emitter stage of NPN type triode Q1；It is connected with the positive input terminal of operational amplifier IC2 after the other end series resistor R4 of described electric capacity C1, the negative input end of described operational amplifier IC2 one end of connecting resistance R5 are connected with one end with resistance R6 behind one end of electric capacity C3, ground connection after the other end serial capacitance C4 of described resistance R5, being connected with the outfan of operational amplifier IC2 after the other end of described electric capacity C3 the other end of connecting resistance R6, the outfan of described operational amplifier IC2 is connected with the signal input port of main controller module (1)；
nullDescribed ultrasonic emitting module (3) includes time-base integrated circuit chip IC 3，It is connected with the movable end of adjustable resistance R8 after the end fixing with the one of adjustable resistance R8 of 7 feet of described time-base integrated circuit chip IC 3 one end of connecting resistance R7，The other end of described resistance R7 also connects 2 feet of time-base integrated circuit chip IC 3 and is connected with one end with electric capacity C5 after 6 feet of time-base integrated circuit chip IC 3，The other end ground connection of described electric capacity C5，8 feet of described time-base integrated circuit chip IC 3 are also connected with positive source VCC after connecing another fixing end of adjustable resistance R8，Ground connection after 5 foot serial capacitance C6 of time-base integrated circuit chip IC 3，4 feet of time-base integrated circuit chip IC 3 are connected with the signal output port of main controller module (1)，1 foot ground connection of time-base integrated circuit chip IC 3，It is connected with 1 foot of hex inverter IC4 after 3 foot series resistor R9 of time-base integrated circuit chip IC 3；9 feet of described hex inverter IC4 are also connected with 1 foot of hex inverter IC4 after connecing 11 feet of hex inverter IC4,2 feet of hex inverter IC4,3 feet of hex inverter IC4,5 feet of hex inverter IC4 also connect together, 8 feet of hex inverter IC4 are also connected with one end of electric capacity C7 after connecing 10 feet of hex inverter IC4, the other end of described electric capacity C7 is connected with an input of ultrasonic transducer S1, and 4 feet of described hex inverter IC4 are also connected with another input of ultrasonic transducer S1 after connecing 6 feet of hex inverter IC4；Described hex inverter IC4 adopts model to be the chip of CD4049；
Described ultrasound wave receiver module (4) includes acoustic wave transducer S2, it is connected with one end of electric capacity C8 after one outfan of described acoustic wave transducer S2 one end of connecting resistance R10, ground connection after another outfan of ultrasonic transducer S2 the other end of connecting resistance R10, is connected with 2 feet of dual operational amplifier IC5 after the other end series resistor R11 of described electric capacity C8；It is connected with 1 foot of dual operational amplifier IC5 after the 2 foot series resistor R12 of described dual operational amplifier IC5, 1 foot of dual operational amplifier IC5 is connected with 6 feet of dual operational amplifier IC5 after being sequentially connected in series electric capacity C9 and resistance R13, it is connected with 7 feet of dual operational amplifier IC5 after the 6 foot series resistor R14 of dual operational amplifier IC5, one end of the 3 foot shunt-wound capacitance C10 of dual operational amplifier IC5, one end of resistance R15 is connected with 5 feet with dual operational amplifier IC5 behind one end of resistance R16, the other end of described electric capacity C10 and the equal ground connection of the other end of resistance R15, the other end of described resistance R16 is connected with positive source VCC；7 feet of described dual operational amplifier IC5 are connected with the positive input terminal of voltage comparator ic 6；Ground connection after the negative input end series resistor R17 of voltage comparator ic 6, is connected with positive source VCC after the negative input end series resistor R18 of voltage comparator ic 6, and the outfan of voltage comparator ic 6 is connected with the signal input port of main controller module (1)；Described dual operational amplifier IC5 adopts model to be the dual operational amplifier of TL082.
2. bio-robot animal sensing circuit according to claim 1, it is characterized in that: described infrared induction module (2), ultrasonic emitting module (3) and ultrasound wave receiver module (4) all have multiple, described ultrasonic emitting module (3) and ultrasound wave receiver module (4) are arranged in pairs.
3. bio-robot animal sensing circuit according to claim 2, it is characterised in that:
Described infra-red detection sensor IC1 adopts model to be the infrared ray sensor of Q74；
Described operational amplifier IC2 adopts model to be the operational amplifier chip of LM358；
The chip that described time-base integrated circuit chip IC 3 adopts model to be NE555；
The voltage comparator chip that described voltage comparator ic 6 adopts model to be LM311.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410224383.0A CN103970059B (en) | 2014-05-26 | 2014-05-26 | Bio-robot animal sensing circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410224383.0A CN103970059B (en) | 2014-05-26 | 2014-05-26 | Bio-robot animal sensing circuit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103970059A CN103970059A (en) | 2014-08-06 |
| CN103970059B true CN103970059B (en) | 2016-07-13 |
Family
ID=51239695
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410224383.0A Active CN103970059B (en) | 2014-05-26 | 2014-05-26 | Bio-robot animal sensing circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103970059B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390294A (en) * | 2017-08-28 | 2017-11-24 | 惠州市元盛科技有限公司 | A kind of ultrasonic movement detection method and circuit |
| CN108157284B (en) * | 2018-01-03 | 2021-02-05 | 湖南湘西牧业有限公司 | Method for raising pigs on ground |
| CN108142317B (en) * | 2018-01-03 | 2021-02-23 | 长沙拓扑陆川新材料科技有限公司 | Device is raised to pig on ground |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030029780A (en) * | 2003-04-01 | 2003-04-16 | 김미현 | Energy saving automatic illumination dimming control device using combination senor |
| CN101713971A (en) * | 2009-11-16 | 2010-05-26 | 邹鹏幼 | Control system for detecting safety areas by combining infra-red technology and ultrasonic technology |
| CN103019245A (en) * | 2013-01-07 | 2013-04-03 | 西北农林科技大学 | Obstacle avoidance system of mountain farming robot on basis of multi-sensor information fusion |
| CN203909535U (en) * | 2014-05-26 | 2014-10-29 | 国家电网公司 | Animal sensing circuit of bionic robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR0152096B1 (en) * | 1992-10-26 | 1998-10-15 | 윤종용 | Obstacle detecting device of movable watching robot |
-
2014
- 2014-05-26 CN CN201410224383.0A patent/CN103970059B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030029780A (en) * | 2003-04-01 | 2003-04-16 | 김미현 | Energy saving automatic illumination dimming control device using combination senor |
| CN101713971A (en) * | 2009-11-16 | 2010-05-26 | 邹鹏幼 | Control system for detecting safety areas by combining infra-red technology and ultrasonic technology |
| CN103019245A (en) * | 2013-01-07 | 2013-04-03 | 西北农林科技大学 | Obstacle avoidance system of mountain farming robot on basis of multi-sensor information fusion |
| CN203909535U (en) * | 2014-05-26 | 2014-10-29 | 国家电网公司 | Animal sensing circuit of bionic robot |
Non-Patent Citations (1)
| Title |
|---|
| 基于超声波传感器与红外传感器的;丁立军等;《南通大学学报（自然科学版）》;20080630;第7卷(第2期);13-17页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103970059A (en) | 2014-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203909295U (en) | Ultrasonic wave transmitting module used for bionic robot | |
| CN203167902U (en) | Multifunctional intelligent mosquito repelling device | |
| CN103970059B (en) | Bio-robot animal sensing circuit | |
| CN205585814U (en) | Intelligence temperature display pronunciation pot | |
| CN103947635B (en) | Intelligent bird expelling device | |
| CN205814066U (en) | A kind of intelligence playback seat | |
| CN104586614A (en) | Cavity/barrier detection walking stick for blind people | |
| CN103978486B (en) | Bio-robot ultrasonic wave receiver module | |
| CN103978496B (en) | Bio-robot ultrasonic wave sensing circuit | |
| CN103970057A (en) | Bionic robot sensing circuit | |
| CN203909535U (en) | Animal sensing circuit of bionic robot | |
| CN203901301U (en) | Ultrasonic sensing circuit for bionic robot | |
| CN203909315U (en) | Infrared sensing module used for bionic robot | |
| CN203901288U (en) | Ultrasonic receiving modules for bionic robots | |
| CN203909534U (en) | Bionic robot sensing circuit | |
| CN103983965B (en) | Bionic machine people uses ultrasonic emitting module | |
| CN103984039A (en) | Infrared induction module for bionic robot | |
| CN203985764U (en) | Intelligent bird-repeller circuit | |
| CN203897129U (en) | Intelligent anti-bird instrument | |
| CN204072684U (en) | A kind of solar energy blind waveguided shoe | |
| CN207704613U (en) | Register guide | |
| CN206453588U (en) | A kind of intelligent bed | |
| CN201624952U (en) | Special walking stick of blindman | |
| CN202030952U (en) | Water level detection circuit for washing machine steam generator | |
| CN203985763U (en) | Simple and easy ultrasonic drive circuit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |