A control device and method for interactive perception experience dog training

Abstract

The present invention relates to the field of dog training devices, and provides a control device and method for interactively perceiving and experiencing dog training, including a receiver and a transmitter, wherein the receiver includes a fixing device that can be worn on the neck of a pet dog, a training output device arranged on the fixing device, a first communication module and a first microprocessor, and the transmitter is a handheld remote control sensing device that can sense and operate, and the remote control sensing device includes a shell, a second microprocessor arranged on the shell, a second communication module and a sensing input module, the second microprocessor receives the information of the pressing force or gripping force of different intensities of the sensing input module and converts it into a training output signal of a corresponding intensity, and the first microprocessor controls the training output device to perform a training output operation of a corresponding intensity on the pet dog according to the received training output signal. The present invention solves the problem that when the existing dog training device is used, the operation is single and the dog trainer cannot sense and experience the training intensity of the pet dog.

Description

Technical Field

[0001] The present invention relates to the technical field of dog training devices, and in particular to a control device and a method for interactive perceptual experience dog training. Background Art

[0002] Most of the dog training devices currently on the market are one-way control training. It is impossible to know whether the receiver has received the training signal and whether the training action has been actually executed. Of course, there are a few dog training devices with a two-way communication mechanism. After the receiver receives the transmitter's operation signal, it sends a response signal to the transmitter to confirm receipt. The transmitter receives the response signal and makes a light or display indication, but this is only a visual confirmation. At the same time, the owner has no idea about the intensity of the training of the pet dog during training, that is, the pet dog cannot perceive the intensity of the training action. Summary of the invention

[0003] Therefore, in response to the above-mentioned problems, the present invention proposes a control device and method for interactive perception experience of dog training, which realizes the correspondence between the level intensity of the training action received by the pet dog according to the level intensity of the training input operation during the training operation, so that the input operation perception is different due to different training intensities, from the original visual confirmation to the current interactive perception of vision, hearing, touch, etc.

[0004] To solve this technical problem, the present invention adopts the following scheme: a control device for interactive perceptual experience dog training, including a receiver and a transmitter, the receiver including a fixing device that can be worn on the neck of a pet dog, a training output device arranged on the fixing device, a first communication module and a first microprocessor, the transmitter is a handheld perceptually operable remote control perceptual device, the remote control perceptual device including a shell, a second microprocessor arranged on the shell, a second communication module and a perceptual input module, the perceptual input module performs training output operations through pressing force or gripping force of different intensities, the second microprocessor receives the pressing force or gripping force information of different intensities of the perceptual input module and converts it into a training output signal of corresponding intensity, the second microprocessor communicates the training output signal of corresponding intensity input by the perceptual input module with the first communication module of the receiver through the second communication module, the first communication module receives the training output signal sent by the second microprocessor and sends it to the first microprocessor, and the first microprocessor controls the training output device to perform training output operations of corresponding intensity on the pet dog according to the received training output signal.

[0005] Furthermore, the receiver also includes a motion sensor, which is arranged in the training output device to monitor whether the training output device executes the training output of electrostatic pulses, vibrations, and warning sounds and sends the detection information to the first microprocessor in real time. The first microprocessor feeds back the detection information of the motion sensor to the second microprocessor of the transmitter through the first communication module and the second communication module of the transmitter.

[0006] Furthermore, the remote control sensing device also includes a second vibration output module, which is arranged in the shell, and the second vibration output module has a multi-level vibration output mode corresponding to the different intensities of pressing force or grip strength of the sensing input module. After the second microprocessor receives the detection information of the motion sensor fed back by the receiver, it controls the vibration output module to output the corresponding level of vibration according to the intensity of the training output signal.

[0007] Furthermore, the vibration output module includes a driving circuit and a cylindrical vibration motor, and the second microprocessor module adjusts the rotation speed of the cylindrical vibration motor through the driving circuit to output different levels of vibration.

[0008] Furthermore, the perception input module includes one or more combinations of a grip force input mechanism, a pressure input mechanism, and a multi-level adjustment button input mechanism.

[0009] Furthermore, the grip force input mechanism includes a grip force sensor and a pressure plate, the side of the shell is provided with a groove for accommodating the grip force sensor and the pressure plate, the grip force sensor is embedded in the groove on the side of the shell, the pressure plate is attached to the outside of the grip force sensor and covers the groove on the side of the shell, and the grip force sensor is connected to the input terminal of the second microprocessor.

[0010] Furthermore, the pressure input mechanism includes a pressure sensor and a second pressure plate, the side of the shell is provided with a second groove for accommodating the pressure sensor and the second pressure plate, the pressure sensor is embedded in the second groove on the side of the shell, the second pressure plate is attached to the outside of the pressure sensor and covers the second groove on the side of the shell, and the pressure sensor is connected to the input terminal of the second microprocessor.

[0011] Furthermore, the multi-stage adjustment key input mechanism includes a key bracket, a key, an elastic mechanism, a support plate, a limit block and a driving mechanism. The key is arranged on the PCB board and is connected to the input end of the second microprocessor. The key bracket partially protrudes from the surface of the shell and is penetrated on the upper surface of the shell. The bottom of the key bracket is arranged on the key of the PCB board through the elastic mechanism so that the key bracket can press and operate the key. The bottom of the elastic mechanism is provided with a pillar that can movably pass through the PCB board. The support plate is arranged in the shell and is located below the pillar of the elastic mechanism to support the pillar. The bottom surface of the support plate is provided with a slope. The limit block is laterally movably arranged in the lower part of the shell and is located below the support plate. The output shaft of the driving mechanism is connected and drives the limit block to move horizontally and laterally in the shell so that the limit block moves and drives the support plate to rise or fall to adjust the compression strength of the elastic mechanism so that different hand feels will be felt when the key bracket is pressed for training output operation input. The driving mechanism is connected and controlled by the second microprocessor.

[0012] Furthermore, the driving mechanism is a screw motor.

[0013] Furthermore, the upper surface of the limit block is provided with a second slope having an inclination amplitude opposite to and matching that of the slope of the bottom surface of the support plate.

[0014] Furthermore, the training output device includes electrostatic pulses, vibrations, warning sounds or ultrasonic stimulation to help the pet dog correct its bad habits.

[0015] Furthermore, the receiver also includes an electrostatic pulse output module, which is connected to the training output device, and the output end of the electrostatic pulse output module is connected to the input end of the first microprocessor. The electrostatic pulse output module detects whether the electrostatic pulse electric shock column is in contact with the skin to cause a different load, obtains the electrostatic pulse current value of the current electrostatic pulse electric shock column and compares it with a preset idle current threshold. If it is greater than the preset idle current threshold, the electrostatic pulse training is successfully executed.

[0016] Furthermore, the remote control sensing device also includes a display, and the display is connected to the second microprocessor.

[0017] An interactive perception experience dog training control method based on the above-mentioned interactive perception experience dog training control device is provided, wherein a receiver and a transmitter are provided, wherein the receiver comprises a fixing device wearable on the neck of a pet dog, a training output device arranged on the fixing device, a first communication module and a first microprocessor, wherein the training output device is arranged on the fixing device, and the transmitter is a handheld remote control perception device capable of perception operation, wherein the remote control perception device comprises a housing, a second microprocessor arranged on the housing, a second communication module and a perception input module.

[0018] Training intensity output setting, that is, dividing the training output operation of the training output device into a plurality of training output modes with different intensity levels;

[0019] The training output signal setting of the perception mode sets the perception input module of the training output operation to perform training output operations with multi-level different-intensity pressing force or multi-level different-intensity gripping force that matches the various levels of training intensity output. The second microprocessor receives the information of pressing force or gripping force of different intensities from the perception input module and converts it into a training output signal of corresponding intensity. The second microprocessor communicates the training output signal of corresponding intensity input by the perception input module with the first communication module of the receiver through the second communication module. The first communication module receives the training output signal sent by the second microprocessor and sends it to the first microprocessor. The first microprocessor controls the training output device to perform training output operations of corresponding intensity on the pet dog according to the received training output signal, so that the dog trainer can perceive the training output of corresponding intensity that he wants to perform on the pet dog through input operation.

[0020] Furthermore, the receiver also includes a motion sensor, and the remote control sensing device also includes a vibration output module. The motion sensor monitors in real time whether the training output device executes the training output and sends the detection information to the first microprocessor. The first microprocessor feeds back the detection information of the motion sensor to the second microprocessor of the transmitter through the first communication module and the second communication module of the transmitter. After receiving the detection information of the motion sensor fed back by the receiver, the second microprocessor controls the vibration output module to output the corresponding level of vibration according to the intensity of the training output signal, so that the dog trainer can feel the training output of the same intensity as the pet dog.

[0021] By adopting the above-mentioned technical scheme, the beneficial effects of the present invention are as follows: by dividing the training output operation of the training output device into a plurality of training output modes with different intensity levels; setting a handheld remote control sensing device that can be sensed and operated, and inputting the training output operation using a sensing input module, and the sensing input module is set to perform training output operations with multiple levels of different intensity pressing strengths or multiple levels of different intensity gripping strengths that match the intensity outputs of each level of the training intensity output, so that when pre-training the pet dog, the pressure or gripping strength of different intensity levels can be directly and experientially output through the sensing input module, and the second microprocessor receives the different intensity pressing forces from the sensing input module and performs the output operation. The degree or grip strength information is converted into a training output signal of corresponding intensity, and then the second microprocessor communicates the training output signal of corresponding intensity input by the perception input module with the first communication module of the receiver through the second communication module. The first microprocessor of the receiver controls the training output device to perform a training output operation of corresponding intensity on the pet dog according to the received training output signal, so that the dog trainer can perceive the training output of corresponding intensity to the pet dog through the input operation, and feel the level intensity of the training action received by the pet dog according to the level intensity of the training input operation during the training operation, so that the input operation perception is different for different training intensities, so that the dog's feelings can be experienced at all times and the fun of dog training can be enjoyed. Through further configuration, that is, a second vibration output module is set on the remote control sensing device, and a motion sensor is set on the receiver to monitor in real time whether the static pulse, vibration, and warning sound training output are executed and the detection information is sent to the first microprocessor. The first microprocessor feeds back the detection information of the motion sensor to the second microprocessor of the transmitter through the first communication module and the second communication module of the transmitter. After receiving the detection information of the motion sensor fed back by the receiver, the second microprocessor controls the second vibration output module to output the corresponding level of vibration according to the intensity of the training output signal, so that the dog trainer can feel the vibration of the same intensity as the pet dog, thereby further enhancing the dog trainer's sense of vibration. The sensory input module is respectively provided with a grip input mechanism, a pressure input mechanism and a multi-level adjustment button input mechanism, so that the dog trainer can operate in a variety of ways and use it more conveniently; the multi-level adjustment button input mechanism uses a driving mechanism to drive the limit block to drive the support plate to lift or lower to adjust the elastic force of the elastic mechanism, so that when the button bracket presses the button, multi-level perception input with different intensities can be achieved, which changes the problem that traditional buttons cannot achieve multi-level pressing input with different intensities, and realizes that the button feel is automatically adjusted according to the set training intensity, so that when the training intensity is small, the button touch becomes lighter; when the training intensity is large, the button touch becomes heavier. The structure is simple and reasonable, and can be widely promoted and applied. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a principle block diagram of a training control device according to an embodiment of the present invention;

[0023] Figure 2 is a flowchart of the transmitter hand grip force and pressing force operation according to an embodiment of the present invention;

[0024] Figure 3 is a flowchart of a transmitter and a receiver pairing process according to an embodiment of the present invention;

[0025] Figure 4 is a circuit schematic diagram of a transmitter pressure input mechanism according to an embodiment of the present invention;

[0026] Figure 5 is a circuit schematic diagram of a wireless two-way communication module according to an embodiment of the present invention;

[0027] Figure 6 is a circuit schematic diagram of a receiver electrostatic pulse output module according to an embodiment of the present invention;

[0028] Figure 7 is a circuit schematic diagram of a vibration output module according to an embodiment of the present invention;

[0029] Figure 8 is a circuit schematic diagram of a sound output module according to an embodiment of the present invention;

[0030] Fig. 9 is a circuit schematic diagram of a motion detection module according to an embodiment of the present invention;

[0031] Fig.10 is a circuit schematic diagram of a driving mechanism according to an embodiment of the present invention;

[0032] Fig.11 is a schematic diagram of the structure of a receiver portion of an embodiment of the present invention;

[0033] Fig.12 is a 3D exploded diagram of the entire transmitter of an embodiment of the present invention;

[0034] Fig.13 It is a schematic diagram of a side sectional structure of a transmitter according to an embodiment of the present invention. Implementation

[0035] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0036] refer to Figure 1-Figure 13The preferred interactive perceptual experience dog training control device of the present invention comprises a receiver 1 and a transmitter 2, wherein the receiver 1 comprises a fixing device 11 wearable on the neck of a pet dog, a training output device 12 arranged on the fixing device 11, a first communication module 13, a first microprocessor 14 and a motion sensor 15, wherein the training output device 12 comprises a first vibration output module 121, an electrostatic pulse output module 122 and a sound output module 123, and the transmitter 2 is a handheld perceptually operable remote control perceptual device, wherein the remote control perceptual device comprises a housing 21, a second microprocessor 22 arranged on the housing 21, a second communication module 23, a perceptual input module 24, a display module 15, and a second microprocessor 22 arranged on the housing 21. The sensor input module 24 includes a grip input mechanism 241, a pressure input mechanism 242 and a multi-level adjustment key input mechanism. The grip input mechanism 241, the pressure input mechanism 242 and the multi-level adjustment key input mechanism of the sensor input module 24 are all provided with different levels of pressing force or grip force for training output operation. The second microprocessor 22 receives the different intensities of pressing force or grip force information of the sensor input module 24 and converts it into a training output signal of a corresponding intensity. The second microprocessor 22 transmits the training output signal of the corresponding intensity input by the sensor input module 24 to the first communication module 23 of the receiver 1. The first communication module 13 is connected to the training output signal sent by the second microprocessor 22, and the first microprocessor 14 receives the training output signal sent by the second microprocessor 22. The first microprocessor 14 controls the first vibration output module 121, the electrostatic pulse output module 122 or the sound output module 123 of the training output device 12 to perform a training output operation of a corresponding intensity on the pet dog according to the received training output signal. The motion sensor 15 is arranged in the training output device 12 to monitor whether the training output device 12 performs the training output and sends the detection information to the first microprocessor 14 in real time. The first microprocessor 14 transmits the detection information of the motion sensor 15 to the second communication module 2 of the transmitter 2 through the first communication module 13. 3 is connected to the second microprocessor 22 of the transmitter 2 for feedback through the communication connection, the second vibration output module 26 includes a driving circuit and a cylindrical vibration motor, the second vibration output module 26 is provided with a multi-level vibration output mode corresponding to the different intensities of the pressing force or gripping force of the perception input module 24, the second microprocessor module 22 adjusts the rotation speed of the cylindrical vibration motor through the driving circuit to output different levels of vibration, the second microprocessor 22 receives the detection information of the motion sensor 15 fed back by the receiver 1, and controls the second vibration output module 26 to output the corresponding level of vibration according to the intensity of the training output signal, the display 25 is connected to the second microprocessor 22, and the display 25 adopts a TFT liquid crystal display screen, which displays the power of the receiver and the transmitter, the volume and tone of the receiver sound, the vibration intensity and the static pulse intensity in real time.

[0037] refer to Figure 3 and Figure 5 , the first communication module of the receiver and the second communication module of the transmitter are both wireless two-way communication modules. The first communication module of the receiver and the second communication module of the transmitter must be paired first, and the address of each transmitter is unique; when pairing, the receiver enters the pairing receiving state, and the combination pairing button of the transmitter is triggered to transmit the pairing signal. The transmitter will transmit the pairing information from channel 1 to information N in sequence. After the receiver receives the pairing signal from the transmitter, the receiver generates a set of cyclic random frequency hopping channel tables according to the address of the received transmitter and sends a response to the transmitter, and the pairing process ends here. Circuit principle of wireless two-way communication module. The wireless transceiver chip adopts CMT2300A. CMT2300A is an ultra-low power consumption, high performance, OOK, (G)FSK RF transceiver suitable for various 140 to 1020 MHz wireless applications. L1 is a choke inductor; C6-C9 are power decoupling capacitors, which are used to reduce the impact of PA output on the power supply and should be adjusted appropriately according to actual application requirements; C10 is a DC blocking capacitor, and it resonates with part of the inductance of L2 at the operating frequency to suppress harmonics; Point A marked in the circuit diagram is a direct connection point, and the impedance of this point is 50Ω; L2, C11 and L3 form a TX matching network to achieve impedance matching between PA output and direct connection point. C13, L8, C14, L6, L7 form the RX balun matching network to match the input impedance of the receiver with the direct connection point, and make the received signal equal in amplitude and 180 degrees in phase when it reaches the differential input port RFIP, RFIN; L4, C12, L5 are 50Ω to 50Ω T-type low-pass filter matching network; Y1 recommends a 26MHz crystal with a frequency tolerance of ±20ppm. The acceptable crystal frequency tolerance depends on the requirements of the user's product communication system, such as frequency, channel, bandwidth, etc.; C15, C16 are crystal load capacitors. Dout is a through test point for testing the receiving sensitivity of CMT2300A. RF_SCLK, RF_SDIO, RF_CSB, RF_FCSB are the communication interfaces between the first microprocessor 14 or the second microprocessor 22 and CMT2300A, and RF_IO2 and RF_IO3 are the ports for CMT2300A to successfully trigger sending and receiving data.

[0038] The sound output module 123 of the training output device 12 includes a driving circuit and a passive buzzer. The first microprocessor adjusts the output frequency and duty cycle of the passive buzzer through the driving circuit to control the volume and tone of the sound. When the sound is output, a weak vibration is generated, and then the motion sensor 15 is used for monitoring to monitor whether the sound training action output is actually executed. The final result of the monitoring is connected to the second communication module 23 of the transmitter 2 through the first communication module 13 and the feedback to the second microprocessor 22 of the transmitter 2 for operation confirmation prompt. The first vibration output module 121 of the training output device 12 includes a driving circuit and a cylindrical vibration motor. The first microprocessor adjusts the speed of the cylindrical vibration motor through the driving circuit to achieve different vibration outputs. The vibration generated by the cylindrical vibration motor output is then monitored through the motion sensor 15 to monitor whether the static pulse, vibration, and warning sound training actions are actually executed. The final result of the monitoring is connected to the second communication module 23 of the transmitter 2 through the first communication module 13 and the feedback to the second microprocessor 22 of the transmitter 2 for operation confirmation prompt. The electrostatic pulse output module 122 of the training output device 12 includes a transformer boost circuit and a current detection circuit. The first microprocessor adjusts the electrostatic pulse intensity through the transformer boost circuit. When outputting the electrostatic pulse, it also samples the output current value in real time for monitoring, and then compares it with the preset idle current thresholds of different intensities. If it is greater than the preset idle current threshold, it is considered that the execution is successful. The final monitoring result is fed back to the second microprocessor 22 of the transmitter 2 through the first communication module 13 and the second communication module 23 of the transmitter 2 for operation confirmation prompt.

[0039] refer to Figure 6 , the circuit principle of the electrostatic pulse output module 122 of the training output device 12, the first microprocessor 14 port EShickCtrl outputs a fast high-level pulse, after the voltage is divided by resistors R8 and R10, the transistor Q3 is driven to be in the on state, and the step-up transformer T1 will boost VBAT to the specified voltage, C3 is the power decoupling capacitor, R9 is the current sampling resistor, providing the Vf point reference voltage, R7 is the isolation resistor, and C5 is the filter capacitor. When the output ends of P1 and P2 touch the skin, the load changes, causing the voltage at the Vf point to change. The first microprocessor 14 samples the AD value change of the Vf voltage point through Monitoring, and judges whether the dog's skin is touched by this change.

[0040] refer to Figure 7, the circuit principle of the vibration output module 121 of the training output device 12 and the second vibration output module 26 of the remote control sensing device, the port Motor_Ctr of the first microprocessor 14 or the second microprocessor 22 outputs a switching signal with a frequency of 1KHz, and after limiting the resistance through the resistor R5, the driving transistor Q2 is in a conducting state, driving the cylindrical vibration motor M1 to rotate, and adjusting the duty cycle of the 1KHz frequency to adjust the speed of the motor, D2 is an "inverting" diode, and its function is to protect the driving transistor Q2 from being broken down by the back electromotive force of the internal inductance of the cylindrical vibration motor.

[0041] refer to Figure 8 , the circuit principle of the sound output module 123 of the training output device 12, the port Buz_Ctr of the first microprocessor 14 outputs a switching signal with a frequency of 1KHz-10KHz, which drives the transistor Q1 to be in the on state after passing through the limiting resistor R4, drives the passive buzzer B1 to beep, and adjusts the output frequency and duty cycle to control the sound volume and tone. D1 is a freewheeling diode, which plays a protective role to prevent the buzzer from generating high voltage and burning the buzzer.

[0042] refer to Fig. 9 , Circuit principle of motion sensor 15, motion sensor chip uses ADXL345, ADXL345 is a three-axis accelerometer launched by ADI using MEMS technology with SPI and I2C digital output functions, with the characteristics of small and light, ultra-low power consumption, variable range, high resolution, etc., the first microprocessor 14 uses I2C to communicate with motion sensor U5, R11, R12 are communication port pull-up resistors, C17, C18 are power supply decoupling capacitors. G_CS is the chip select port of the motion sensor chip, G_SDA and G_SCL are I2C communication interfaces, G_INT1 and G_INT2 provide a variety of internal automatic detection interrupt signals.

[0043] refer to Fig.12 and Fig.13The sensing input module 24 includes a grip force input mechanism 241, a pressure input mechanism 242 and a multi-level adjustment button input mechanism. The grip force input mechanism 241 includes a grip force sensor and a pressure plate. The side of the shell 21 is provided with a groove for accommodating the grip force sensor and the pressure plate. The grip force sensor is embedded in the groove on the side of the shell 21. The pressure plate is attached to the outside of the grip force sensor and covers the groove on the side of the shell. The grip force sensor is connected to the input end of the second microprocessor 22. The pressure input mechanism 242 includes a pressure sensor and a second pressure plate. The side of the shell 21 is provided with a second groove for accommodating the pressure sensor and the second pressure plate. The sensor is embedded in the second slot on the side of the shell 21, the second pressure plate is attached to the outside of the pressure sensor and covered on the second slot on the side of the shell 21, the pressure sensor is connected to the input end of the second microprocessor 22, the multi-level adjustment key input mechanism includes a key bracket 2431, a key 2432, an elastic mechanism 2433, a support plate 2434, a limit block 2435 and a driving mechanism 2436, the key 2432 is arranged on the PCB board and the key 2432 is connected to the input end of the second microprocessor 22, the key bracket 2431 partially protrudes from the surface of the shell 21 and is penetrated on the upper surface of the shell 21, the key bracket The bottom of 2431 is arranged on the button 2432 of the PCB board through the elastic mechanism 2433 so that the button bracket 2431 can press the control button 2432. The elastic mechanism 2433 includes a damping spring and a base. The lower end of the damping spring is connected to the base and the upper end of the damping spring is connected to the bottom of the button bracket 2431. The bottom of the base of the elastic mechanism 2433 is provided with a pillar 24331 that can movably pass through the PCB board. The support plate 2434 is arranged in the shell 21 below the pillar 24331 of the elastic mechanism 2433 to support the pillar 24331. The bottom surface of the support plate 2434 is provided with a slope. The upper surface of the limit block 2435 A second slope is provided with an inclination amplitude opposite to and matching that of the bottom surface slope of the support plate 2434. The limit block 2435 can be laterally movably arranged in the lower part of the shell 21 below the support plate 2434. The driving mechanism 2436 is a screw motor. The output shaft of the driving mechanism 2436 is connected to and drives the limit block 2435 to move horizontally and laterally in the shell 21, so that the limit block 2435 moves to drive the support plate 2434 to lift or lower and adjust the compression strength of the elastic mechanism 2433 so that a different feel will be felt when pressing the button bracket 2431 for training output operation input. The driving mechanism 2436 is connected to and controlled by the second microprocessor 22.

[0044] refer to Figure 4, the circuit principle of the pressure input mechanism 242 of the sensing input module 24, the pressure sensor R1 is connected in series with a fixed resistor R2, and the output voltage V+ at both ends of the fixed resistor R2 is measured, C1 is the power decoupling capacitor, and C2 is the AD sampling filter capacitor; the fixed resistor R2 is recommended to take 1 / 3 to 1 / 2 of the sensor application resistance range value, and by selecting a suitable fixed resistor R2, the pressure and the output voltage can present a certain degree of approximate linear relationship within a certain pressure range. According to the impedance requirements of the pressure sensor circuit measurement circuit, a voltage follower Vo=V+ is added after the voltage divider to improve the driving ability of the signal. The second microprocessor samples the AD value change of the Vo voltage point through Pressure_AD and converts it into pressure change.

[0045] refer to Fig.10 , the circuit principle of the drive mechanism 2436, the screw motor adopts a two-phase four-wire drive mode, the drive circuit adopts two U3, U4 single-channel H-bridge motor driver chips SC8837C, and the second microprocessor 22 controls the stepper motor forward, backward, brake and other operations through Motor_IN1-Motor_IN4. P3 is the stepper motor wiring port, C17-C20 is the power decoupling capacitor. R11 is a current sampling resistor, providing a reference voltage at the Vm point, R12 is an isolation resistor, and C18 is a filter capacitor. When the current at the Vm point increases sharply, the second microprocessor 22 samples the AD value of the Vm voltage point through Motor_Current_AD, indicating that the motor is blocked. At this time, the second microprocessor will stop the motor and retreat a distance in the opposite direction.

[0046] An interactive perception experience dog training control method based on the above-mentioned interactive perception experience dog training control device is provided, wherein a receiver and a transmitter are provided, wherein the receiver comprises a fixing device wearable on the neck of a pet dog, a training output device arranged on the fixing device, a motion sensor, a first communication module and a first microprocessor, wherein the training output device is arranged on the fixing device, and the transmitter is a handheld remote control perception device capable of perceiving operation, wherein the remote control perception device comprises a housing, a second microprocessor arranged on the housing, a second communication module, a perception input module and a second vibration output module.

[0047] Training intensity output setting, that is, dividing the training output operation of the training output device into a plurality of training output modes with different intensity levels;

[0048] The training output signal of the perception mode is set, and the perception input module of the training output operation is set to a multi-level pressure force or a multi-level grip force that matches the various levels of training intensity output to perform training output operations. The second microprocessor receives the information of the pressure force or grip force of different intensities from the perception input module and converts it into a training output signal of corresponding intensity. The second microprocessor communicates the training output signal of corresponding intensity input by the perception input module with the first communication module of the receiver through the second communication module. The first communication module receives the training output signal sent by the second microprocessor and sends it to the first microprocessor. The first microprocessor receives the training output signal sent by the second microprocessor and sends it to the first microprocessor. The training output signal controls the training output device to perform training output operations of corresponding intensity on the pet dog, so that the dog trainer can perceive the training output of corresponding intensity to the pet dog through input operations. The motion sensor monitors in real time whether the training output device executes the training output and sends the detection information to the first microprocessor. The first microprocessor feeds back the detection information of the motion sensor to the second microprocessor of the transmitter through the first communication module and the second communication module of the transmitter. After the second microprocessor receives the detection information of the motion sensor fed back by the receiver, it controls the vibration output module to output the corresponding level of vibration according to the intensity of the training output signal, so that the dog trainer feels the vibration of the same intensity as the pet dog.

[0049] The perception input module in the present invention can also be one or more combinations of a grip input mechanism, a pressure input mechanism and a multi-level adjustment button input mechanism. The microprocessor is a STM32L4 Cortex-M4 ultra-low power single-chip microcomputer or an STM32 U5 series Cortex-M33 ultra-low power MCU and other single-chip microcomputers. The training output device can also be one or more combinations of vibration output, electrostatic pulse output, warning sound or ultrasonic wave to stimulate the pet dog to correct bad habits.

[0050] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A control device for interactive perceptual experience dog training, comprising a receiver and a transmitter, characterized in that: The receiver includes a fixing device that can be worn on the neck of a pet dog, a training output device arranged on the fixing device, a first communication module and a first microprocessor. The transmitter is a handheld remote control sensing device that can sense and operate. The remote control sensing device includes a shell, a second microprocessor arranged on the shell, a second communication module and a sensing input module. The sensing input module performs training output operations through pressing force or gripping force of different intensities. The second microprocessor receives the pressing force or gripping force information of different intensities of the sensing input module and converts it into a training output signal of corresponding intensity. The second microprocessor transmits the training output signal of corresponding intensity input by the sensing input module through the second microprocessor. The second communication module is communicatively connected to the first communication module of the receiver, the first communication module receives the training output signal sent by the second microprocessor and sends it to the first microprocessor, the first microprocessor controls the training output device to perform a training output operation of corresponding intensity on the pet dog according to the received training output signal, the perception input module includes one or more combinations of a grip input mechanism, a pressure input mechanism and a multi-level adjustment button input mechanism, the grip input mechanism includes a grip sensor and a pressure plate, the side of the shell is provided with a groove for accommodating the grip sensor and the pressure plate, the grip sensor is embedded in the groove on the side of the shell, the pressure plate is attached to the outside of the grip sensor and covered on the groove on the side of the shell, The grip force sensor is connected to the second microprocessor input terminal, the pressure input mechanism includes a pressure sensor and a second pressure plate, the side of the shell is provided with a second groove for accommodating the pressure sensor and the second pressure plate, the pressure sensor is embedded in the second groove on the side of the shell, the second pressure plate is attached to the outside of the pressure sensor and covers the second groove on the side of the shell, the pressure sensor is connected to the second microprocessor input terminal, the multi-level adjustment key input mechanism includes a key bracket, a key, an elastic mechanism, a support plate, a limit block and a driving mechanism, the key is arranged on the PCB board and the key is connected to the second microprocessor input terminal, and the key bracket partially protrudes from the surface of the shell and is penetrated on the shell. On the surface, the bottom of the button bracket is arranged on the button of the PCB board through an elastic mechanism so that the button bracket can press and operate the button. A pillar that can movably pass through the PCB board is provided at the bottom of the elastic mechanism. The support plate is arranged in the shell and is located below the pillar of the elastic mechanism to support the pillar. The bottom surface of the support plate is provided with a slope. The limit block can be laterally movably arranged in the lower part of the shell and is located below the support plate. The output shaft of the driving mechanism is connected and drives the limit block to move horizontally and laterally in the shell so that the limit block moves and drives the support plate to rise or fall to adjust the compression strength of the elastic mechanism so that different hand feels will be felt when pressing the button bracket for training output operation input. The driving mechanism is connected and controlled by the second microprocessor.

2. The interactive sensory experience dog training control device according to claim 1, characterized in that: The receiver also includes a motion sensor, which is arranged in the training output device to monitor whether the training output device performs training output of electrostatic pulses, vibrations, and warning sounds and sends the detection information to the first microprocessor in real time. The first microprocessor feeds back the detection information of the motion sensor to the second microprocessor of the transmitter through the first communication module and the second communication module of the transmitter.

3. The interactive perceptual experience dog training control device according to claim 2, characterized in that: The remote control sensing device also includes a second vibration output module, which is arranged in the shell. The second vibration output module has a multi-level vibration output mode corresponding to the different intensities of pressing force or grip strength of the sensing input module. After the second microprocessor receives the detection information of the motion sensor fed back by the receiver, it controls the vibration output module to output the corresponding level of vibration according to the intensity of the training output signal.

4. The interactive perceptual experience dog training control device according to claim 3, characterized in that: The vibration output module includes a driving circuit and a cylindrical vibration motor. The second microprocessor module adjusts the rotation speed of the cylindrical vibration motor through the driving circuit to output vibrations of different levels.

5. The interactive perceptual experience dog training control device according to claim 1, characterized in that: The driving mechanism is a screw motor.

6. The interactive perceptual experience dog training control device according to claim 1, characterized in that: The upper surface of the limit block is provided with a second slope which is opposite to and matches the slope of the bottom surface of the support plate.

7. The interactive perceptual experience dog training control device according to claim 1, characterized in that: The training output device includes electrostatic pulses, vibrations, warning sounds or ultrasonic stimulation to enable the pet dog to correct its bad habits.

8. The interactive perceptual experience dog training control device according to claim 7, characterized in that: The receiver also includes an electrostatic pulse output module, which is connected to the training output device. The output end of the electrostatic pulse output module is connected to the input end of the first microprocessor. The electrostatic pulse output module detects whether the electrostatic pulse shock column contacts the skin to cause a different load, obtains the electrostatic pulse current value of the current electrostatic pulse shock column and compares it with a preset idle current threshold. If it is greater than the preset idle current threshold, the electrostatic pulse training is successfully executed.

9. The interactive sensory experience dog training control device according to claim 1, characterized in that: The remote control sensing device also includes a display, which is connected to the second microprocessor.

10. A control method for the interactive perceptual experience dog training control device according to any one of claims 1 to 9, characterized in that: A receiver and a transmitter are provided, wherein the receiver comprises a fixing device that can be worn on the neck of a pet dog, a training output device arranged on the fixing device, a first communication module and a first microprocessor, wherein the training output device is arranged on the fixing device, and the transmitter is a handheld remote control sensing device that can sense and operate, wherein the remote control sensing device comprises a housing, a second microprocessor arranged on the housing, a second communication module and a sensing input module. Training intensity output setting, that is, dividing the training output operation of the training output device into a plurality of training output modes with different intensity levels; The training output signal setting of the perception mode sets the perception input module of the training output operation to perform training output operations with multi-level different-intensity pressing force or multi-level different-intensity gripping force that matches the various levels of training intensity output. The second microprocessor receives the information of pressing force or gripping force of different intensities from the perception input module and converts it into a training output signal of corresponding intensity. The second microprocessor communicates the training output signal of corresponding intensity input by the perception input module with the first communication module of the receiver through the second communication module. The first communication module receives the training output signal sent by the second microprocessor and sends it to the first microprocessor. The first microprocessor controls the training output device to perform training output operations of corresponding intensity on the pet dog according to the received training output signal, so that the dog trainer can perceive the training output of corresponding intensity that he wants to perform on the pet dog through input operation.

11. The control method according to claim 10, characterized in that: The receiver also includes a motion sensor, and the remote control sensing device also includes a vibration output module. The motion sensor monitors in real time whether the training output device executes the training output and sends the detection information to the first microprocessor. The first microprocessor feeds back the detection information of the motion sensor to the second microprocessor of the transmitter through the first communication module and the second communication module of the transmitter. After receiving the detection information of the motion sensor fed back by the receiver, the second microprocessor controls the vibration output module to output the corresponding level of vibration according to the intensity of the training output signal, so that the dog trainer can feel the training output of the same intensity as the pet dog.

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