阅读说明：本技术 一种适于鸟类的分体式手持远程神经刺激系统 (Split type handheld remote nerve stimulation system suitable for birds ) 是由 王东云 黄安穴 刘新玉 平燕娜 胡飞 于 2020-12-10 设计创作，主要内容包括：本发明提出了一种适于鸟类的分体式手持远程神经刺激系统,包括刺激生成端、中继通讯端、手持控制端和轨迹追踪端；刺激生成端包括刺激端控制模块、刺激端短程通讯模块、刺激生成模块、第一供电模块和信号指示模块；中继通讯端包括中继控制模块、第二供电模块、中继短程通讯模块和中继远程通讯模块；手持控制端包括手持端控制模块、第三供电模块、显示模块、参数设置模块和手持端远程通讯模块；轨迹跟踪端包括跟踪端控制模块、跟踪端短程通讯模块、第四供电模块和定位模块,本发明针对鸟类生理结构以及运动特点,通过不同模块之间互相配合,并分别置于动物的不同部位,可以有效减轻不同部位承受的重量,以降低背负器件对动物运动性能的影响。(The invention provides a split type handheld remote nerve stimulation system suitable for birds, which comprises a stimulation generation end, a relay communication end, a handheld control end and a track tracking end, wherein the stimulation generation end is connected with the relay communication end; the stimulation generation end comprises a stimulation end control module, a stimulation end short-range communication module, a stimulation generation module, a first power supply module and a signal indication module; the relay communication end comprises a relay control module, a second power supply module, a relay short-range communication module and a relay long-range communication module; the handheld control end comprises a handheld end control module, a third power supply module, a display module, a parameter setting module and a handheld end remote communication module; the track tracking end comprises a tracking end control module, a tracking end short-range communication module, a fourth power supply module and a positioning module.)

1. A split handheld remote neurostimulation system suitable for birds, characterized in that: the device comprises a stimulation generation end, a relay communication end, a handheld control end and a track tracking end;

the stimulation generation end: the device is used for generating a constant-current bidirectional pulse stimulation signal;

the relay communication terminal: the device is used for realizing remote communication between the handheld control end and the stimulation generation end as well as between the handheld control end and the trajectory tracking end;

the handheld control end: the constant-current bidirectional pulse stimulation signal parameter setting device is used for setting constant-current bidirectional pulse stimulation signal parameters;

the track tracking end is: for acquiring the position of the animal in real time;

the stimulation generation end comprises a stimulation end control module, a stimulation end short-range communication module, a stimulation generation module, a first power supply module and a signal indication module; the first power supply module supplies electric energy to each module of the stimulation end; the stimulation end control module comprises a stimulation end main control chip, and the stimulation end short-range communication module, the stimulation generation module and the signal indication module are all connected with the stimulation end main control chip;

the relay communication terminal comprises a relay control module, a second power supply module, a relay short-range communication module and a relay long-range communication module, wherein the second power supply module provides electric energy for each module of the intermediate communication terminal; the relay control module comprises a relay main control chip, and the relay short-range communication module and the relay long-range communication module are connected to the relay main control chip;

the handheld control end comprises a handheld control module, a third power supply module, a display module, a parameter setting module and a handheld remote communication module; the third power supply module provides electric energy for each module of the handheld control end; the handheld end control module comprises a handheld end main control chip, and the display module, the parameter setting module and the handheld end remote communication module are connected to the handheld end main control chip;

the track tracking end comprises a tracking end control module, a tracking end short-range communication module, a fourth power supply module and a positioning module; the fourth power supply module provides electric energy for each module of the trajectory tracking end; the tracking end control module comprises a tracking end main control chip, and the tracking end short-range communication module and the positioning module are connected to the tracking end main control chip;

the stimulation end short-range communication module and the tracking end short-range communication module are connected with the relay short-range communication module through wireless communication; the relay remote communication module is connected with the handheld end remote communication module through wireless communication.

2. The split handheld remote nerve stimulation system for birds of claim 1, wherein: the stimulation generating end comprises a shell and a connecting port arranged on the shell, a circuit board of the stimulation generating end is folded to form a hexahedral structure and is arranged in the shell, and a stimulation generating module on the circuit board is connected with a stimulation electrode arranged on an animal body through the connecting port.

3. The split handheld remote nerve stimulation system for birds of claim 1, wherein: the stimulation generating end is arranged at the head position of the animal, and the relay communication end and the track tracking end are arranged at the leg position of the animal.

4. The split handheld remote nerve stimulation system for birds of claim 1, wherein: each module of the stimulation generation end forms a stimulation end main circuit, and the stimulation end main circuit comprises a second short-range communication circuit, a first power supply circuit, a booster circuit, a ninth single chip microcomputer, a first indicator light circuit and two stimulation circuits;

the first power supply circuit comprises an eleventh voltage stabilizer, and the first external power supply outputs a 3.3V output end through the eleventh voltage stabilizer; the boosting circuit comprises a twelfth voltage stabilizer and a twenty-eighth triode, wherein an emitting electrode of the twenty-eighth triode is connected with a 3.3V output end and one end of a sixty-fifth resistor, a base electrode of the twenty-eighth triode is respectively connected with the other end of the sixty-fifth resistor and the ninth singlechip through a sixty-sixth resistor, a collector electrode of the twenty-eighth triode is respectively connected with one end of a forty-second capacitor, one end of a sixty-seventh resistor, a fifth pin of the twelfth voltage stabilizer and one end of a second inductor L2, the other end of the forty-second capacitor is grounded, the other end of the sixty-seventh resistor is connected with a fourth pin of the twelfth voltage stabilizer, the other end of the second inductor is respectively connected with a first pin of the twelfth voltage stabilizer and an anode of a fifteenth diode, a cathode of the fifteenth diode is connected with a 15V output end, a third pin of the twelfth voltage stabilizer is respectively connected with one end of the sixty, the other end of the sixty-eight resistor is connected with the 15V output end, the other end of the fortieth capacitor and one end of the forty-first capacitor through a sixty-nine resistor respectively, the other end of the forty-first capacitor is connected with the other end of the seventy resistor and then grounded, and the ground end of the twelfth voltage stabilizer is grounded; and a third communication chip of the first short-range communication circuit is connected to a corresponding pin of the ninth singlechip and is connected with a 3.3V output end to obtain a power supply.

5. The split handheld remote nerve stimulation system for birds of claim 4, wherein: the two stimulation circuits are respectively a first channel stimulation circuit and a second channel stimulation circuit, the first channel stimulation circuit comprises a fourteenth triode, the base electrode of the fourteenth triode is respectively connected to the ninth singlechip and one end of a fifty-sixth resistor, the other end of the fifty-sixth resistor is grounded, the emitter electrode of the fourteenth triode is grounded through a fifty-seventeenth resistor, and the collector electrode of the fourteenth triode is connected to a pin corresponding to the pulse stimulation interface through a plurality of MOS (metal oxide semiconductor) tubes which are combined;

the second channel stimulation circuit comprises a twenty-seventh triode, the base electrode of the twenty-seventh triode is respectively connected to the ninth singlechip and one end of a sixty-third resistor, the other end of the sixty-third resistor is grounded, the emitter electrode of the twenty-seventh triode is grounded through the sixty-fourteen resistor, and the collector electrode of the twenty-seventh triode is connected to the pin corresponding to the pulse stimulation interface through a plurality of MOS tubes which are additionally combined;

the first indicator light circuit comprises a ninth MOS tube, the grid electrode of the ninth MOS tube is connected with the ninth singlechip, the source electrode of the ninth MOS tube is grounded, the drain electrode of the ninth MOS tube is connected with the cathode of the first light-emitting diode, and the anode of the first light-emitting diode is connected with the 3.3V output end through a nineteenth resistor.

6. The split handheld remote nerve stimulation system for birds of claim 5, wherein: each module of the handheld end forms a handheld end main circuit, and the handheld end main circuit comprises a key circuit, a singlechip minimum system, a first remote communication circuit and a second power circuit; the second power supply circuit comprises a second voltage stabilizer, a second external power supply is respectively connected with the second contact pin, the third contact pin and the fourth contact pin through a power supply output end of the self-locking switch, and the other end of the second contact pin is connected with a second light-emitting diode through a thirty-fourth resistor of the second indicator light circuit; the fourth pin outputs 5.0V; the third contact pin is connected with a second voltage stabilizer, and the second voltage stabilizer outputs 4.0V through the first contact pin;

the singlechip minimum system comprises a fourth singlechip connected with a 5.0V output end of a fourth contact pin, the fourth singlechip is connected with a third indicator light circuit, a sixth interface used for connecting a serial port screen, a fifth interface used for connecting an Arduino download port, the sixth contact pin used for transmitting GSM (global system for mobile communications) receiving by the ARDUINO, a seventh contact pin used for bottom-layer program implantation and a clock circuit comprising a second crystal oscillator;

the key circuit comprises a matrix key sub-circuit and a confirmation key sub-circuit, wherein the matrix key sub-circuit is provided with 16 keys, and control pins of the matrix key sub-circuit are connected to the fourth single chip microcomputer;

the first remote communication circuit comprises a fifth communication chip connected with the fourth single chip microcomputer, and the fifth communication chip is connected with a state indicating lamp circuit, an SIM card circuit, a first antenna circuit and a twelfth voltage stabilizing diode.

7. The split handheld remote nerve stimulation system for birds of claim 6, wherein: each module of the track tracking end forms a tracking end main circuit, and the tracking end main circuit comprises a tracking end voltage stabilizing circuit, a positioning processing chip circuit and a third short-range communication circuit; the tracking end voltage stabilizing circuit comprises a seventh voltage stabilizing chip, and the fourth external power supply outputs a stable voltage through the seventh voltage stabilizing chip; the positioning circuit, the positioning processing chip circuit and the third short-range communication circuit are all connected to the seventh voltage stabilizing chip; and the eighth singlechip of the positioning processing chip circuit is connected with the tenth positioning chip of the positioning circuit and the second communication chip of the third short-range communication circuit.

8. The split handheld remote nerve stimulation system for birds of claim 7, wherein: each module of the relay communication terminal forms a relay terminal circuit, and the relay terminal circuit comprises a third single chip microcomputer, a second remote communication circuit in wireless connection with the first remote communication circuit and a second short-range communication circuit in wireless connection with the first short-range communication circuit and the third short-range communication circuit; the third external power supply is connected with the first voltage stabilizer through the first interface; the third singlechip, the second remote communication circuit and the second short-range communication circuit are all connected to the first voltage stabilizer; the third singlechip is connected with a first communication chip of the second short-range communication circuit and a sixth communication chip of the second long-range communication circuit, and the sixth communication chip is also connected with a second SIM card circuit, a second antenna circuit and an eleventh voltage stabilizing diode.

Technical Field

The invention relates to the technical field of animal robots and neuroscience experimental devices, in particular to a split type handheld remote nerve stimulation system suitable for birds.

Background

The nerve stimulator is a device which can be used for inducing the excitation of neurons at specific parts of the brain, and has very important effect on animal robots, epilepsy and other neurological diseases. Neurostimulators can be generally classified as proximal neurostimulators and remote neurostimulators depending on the manner in which they communicate. The communication distance of the short-range nerve stimulator is mostly within 1 kilometer, and the short-range nerve stimulator is mainly suitable for indoor environments; the remote nerve stimulator is not limited by communication distance, and can be used in indoor environment and outdoor environment, so that the remote nerve stimulator is concerned by more and more researchers.

The remote nerve stimulator has many advantages over the short-range nerve stimulator, but is limited by the device volume and communication mode, so that the volume and weight of the remote nerve stimulator are large, and the remote nerve stimulator is difficult to carry on the back of birds with small volume.

Disclosure of Invention

Aiming at solving the defects of the prior art, the invention aims to provide the split type handheld remote nerve stimulation system suitable for birds, and aiming at the physiological structure and the movement characteristics of the birds, the split type structure is adopted, the modules with different functions are separated and are respectively arranged on the head and the legs of an animal, so that the weight born by different parts can be effectively reduced, and the influence of a bearing device on the movement performance of the animal is reduced. In addition, the design of the hand-held control end can also make the operation of the operator more convenient.

In order to achieve the purpose, the invention adopts the technical scheme that:

a split type handheld remote nerve stimulation system suitable for birds comprises a stimulation generation end, a relay communication end, a handheld control end and a trajectory tracking end;

the stimulation generation end: the device is used for generating a constant-current bidirectional pulse stimulation signal;

the relay communication terminal: the device is used for realizing remote communication between the handheld control end and the stimulation generation end as well as between the handheld control end and the trajectory tracking end;

the handheld control end: the constant-current bidirectional pulse stimulation signal parameter setting device is used for setting constant-current bidirectional pulse stimulation signal parameters;

the track tracking end is: for acquiring the position of the animal in real time;

the stimulation generation end comprises a stimulation end control module, a stimulation end short-range communication module, a stimulation generation module, a first power supply module and a signal indication module; the first power supply module supplies electric energy to each module of the stimulation end; the stimulation end control module comprises a stimulation end main control chip, and the stimulation end short-range communication module, the stimulation generation module and the signal indication module are all connected with the stimulation end main control chip;

the relay communication terminal comprises a relay control module, a second power supply module, a relay short-range communication module and a relay long-range communication module, wherein the second power supply module provides electric energy for each module of the intermediate communication terminal; the relay control module comprises a relay main control chip, and the relay short-range communication module and the relay long-range communication module are connected to the relay main control chip;

the handheld control end comprises a handheld control module, a third power supply module, a display module, a parameter setting module and a handheld remote communication module; the third power supply module provides electric energy for each module of the handheld control end; the handheld end control module comprises a handheld end main control chip, and the display module, the parameter setting module and the handheld end remote communication module are connected to the handheld end main control chip;

the track tracking end comprises a tracking end control module, a tracking end short-range communication module, a fourth power supply module and a positioning module; the fourth power supply module provides electric energy for each module of the trajectory tracking end; the tracking end control module comprises a tracking end main control chip, and the tracking end short-range communication module and the positioning module are connected to the tracking end main control chip;

the stimulation end short-range communication module and the tracking end short-range communication module are connected with the relay short-range communication module through wireless communication; the relay remote communication module is connected with the handheld end remote communication module through wireless communication.

Preferably, the stimulation generating end comprises a shell and a connecting port arranged on the shell, the circuit board of the stimulation generating end is folded to form a hexahedron structure and is arranged in the shell, and the stimulation generating module on the circuit board is connected with the stimulation electrode arranged on the animal body through the connecting port.

Preferably, the stimulation generating end is arranged at the head position of the animal, and the relay communication end and the track tracking end are arranged at the leg position of the animal.

Preferably, each module of the stimulation generation terminal forms a stimulation terminal main circuit, and the stimulation terminal main circuit comprises a second short-range communication circuit, a first power supply circuit, a booster circuit, a ninth singlechip, a first indicator light circuit and two stimulation circuits;

the first power supply circuit comprises an eleventh voltage stabilizer, and the first external power supply outputs a 3.3V output end through the eleventh voltage stabilizer; the boosting circuit comprises a twelfth voltage stabilizer and a twenty-eighth triode, wherein an emitting electrode of the twenty-eighth triode is connected with a 3.3V output end and one end of a sixty-fifth resistor, a base electrode of the twenty-eighth triode is respectively connected with the other end of the sixty-fifth resistor and the ninth singlechip through a sixty-sixth resistor, a collector electrode of the twenty-eighth triode is respectively connected with one end of a forty-second capacitor, one end of a sixty-seventh resistor, a fifth pin of the twelfth voltage stabilizer and one end of a second inductor L2, the other end of the forty-second capacitor is grounded, the other end of the sixty-seventh resistor is connected with a fourth pin of the twelfth voltage stabilizer, the other end of the second inductor is respectively connected with a first pin of the twelfth voltage stabilizer and an anode of a fifteenth diode, a cathode of the fifteenth diode is connected with a 15V output end, a third pin of the twelfth voltage stabilizer is respectively connected with one end of the sixty, the other end of the sixty-eight resistor is connected with the 15V output end, the other end of the fortieth capacitor and one end of the forty-first capacitor through a sixty-nine resistor respectively, the other end of the forty-first capacitor is connected with the other end of the seventy resistor and then grounded, and the ground end of the twelfth voltage stabilizer is grounded; and a third communication chip of the first short-range communication circuit is connected to a corresponding pin of the ninth singlechip and is connected with a 3.3V output end to obtain a power supply.

Preferably, the two stimulating circuits are respectively a first channel stimulating circuit and a second channel stimulating circuit, the first channel stimulating circuit comprises a fourteenth triode, the base electrode of the fourteenth triode is respectively connected to the ninth singlechip and one end of a fifty-sixth resistor, the other end of the fifty-sixth resistor is grounded, the emitter electrode of the fourteenth triode is grounded through a fifty-seventeenth resistor, and the collector electrode of the fourteenth triode is connected to the pin corresponding to the pulse stimulating interface through a plurality of combined MOS (metal oxide semiconductor) tubes;

the second channel stimulation circuit comprises a twenty-seventh triode, the base electrode of the twenty-seventh triode is respectively connected to the ninth singlechip and one end of a sixty-third resistor, the other end of the sixty-third resistor is grounded, the emitter electrode of the twenty-seventh triode is grounded through the sixty-fourteen resistor, and the collector electrode of the twenty-seventh triode is connected to the pin corresponding to the pulse stimulation interface through a plurality of MOS tubes which are additionally combined;

the first indicator light circuit comprises a ninth MOS tube, the grid electrode of the ninth MOS tube is connected with the ninth singlechip, the source electrode of the ninth MOS tube is grounded, the drain electrode of the ninth MOS tube is connected with the cathode of the first light-emitting diode, and the anode of the first light-emitting diode is connected with the 3.3V output end through a nineteenth resistor.

Preferably, each module of the handheld end forms a handheld end main circuit, and the handheld end main circuit comprises a key circuit, a singlechip minimum system, a first remote communication circuit and a second power circuit; the second power supply circuit comprises a second voltage stabilizer, a second external power supply is respectively connected with the second contact pin, the third contact pin and the fourth contact pin through a power supply output end of the self-locking switch, and the other end of the second contact pin is connected with a second light-emitting diode through a thirty-fourth resistor of the second indicator light circuit; the fourth pin outputs 5.0V; the third contact pin is connected with a second voltage stabilizer, and the second voltage stabilizer outputs 4.0V through the first contact pin;

the singlechip minimum system comprises a fourth singlechip connected with a 5.0V output end of a fourth contact pin, the fourth singlechip is connected with a third indicator light circuit, a sixth interface used for connecting a serial port screen, a fifth interface used for connecting an Arduino download port, the sixth contact pin used for transmitting GSM (global system for mobile communications) receiving by the ARDUINO, a seventh contact pin used for bottom-layer program implantation and a clock circuit comprising a second crystal oscillator;

the key circuit comprises a matrix key sub-circuit and a confirmation key sub-circuit, wherein the matrix key sub-circuit is provided with 16 keys, and control pins of the matrix key sub-circuit are connected to the fourth single chip microcomputer.

The first remote communication circuit comprises a fifth communication chip connected with the fourth single chip microcomputer, and the fifth communication chip is connected with a state indicating lamp circuit, an SIM card circuit, a first antenna circuit and a twelfth voltage stabilizing diode.

Preferably, each module of the track tracking end forms a tracking end main circuit, and the tracking end main circuit comprises a tracking end voltage stabilizing circuit, a positioning processing chip circuit and a third short-range communication circuit; the tracking end voltage stabilizing circuit comprises a seventh voltage stabilizing chip, and the fourth external power supply outputs a stable voltage through the seventh voltage stabilizing chip; the positioning circuit, the positioning processing chip circuit and the third short-range communication circuit are all connected to the seventh voltage stabilizing chip; and the eighth singlechip of the positioning processing chip circuit is connected with the tenth positioning chip of the positioning circuit and the second communication chip of the third short-range communication circuit.

Preferably, each module of the relay communication terminal forms a relay terminal circuit, and the relay terminal circuit comprises a third single chip microcomputer, a second remote communication circuit wirelessly connected with the first remote communication circuit, and a second short-range communication circuit wirelessly connected with the first short-range communication circuit and the third short-range communication circuit; the third external power supply is connected with the first voltage stabilizer through the first interface; the third singlechip, the second remote communication circuit and the second short-range communication circuit are all connected to the first voltage stabilizer; the third singlechip is connected with a first communication chip of the second short-range communication circuit and a sixth communication chip of the second long-range communication circuit, and the sixth communication chip is also connected with a second SIM card circuit, a second antenna circuit and an eleventh voltage stabilizing diode.

The invention has the following beneficial effects:

1. the invention adopts a split structure aiming at the physiological structure and the movement characteristics of birds, separates modules with different functions and arranges the modules at different parts of animals, thereby not only greatly reducing the influence of the stimulator on the movement performance of the animals, but also increasing the carrying capacity of the animals. In addition, different functional modules adopt wireless communication mode, have reduced wired connection for it is more convenient to wear.

2. The invention adopts a handheld control end, and different parameters are independently adjustable, thereby greatly improving the convenience of operators.

Drawings

FIG. 1 is a schematic view of the installation of the present invention;

FIG. 2 is a schematic view of a handheld end structure of the present invention;

FIG. 3 is a circuit diagram of a first power circuit of the present invention;

FIG. 4 is a circuit diagram of a ninth singlechip of the present invention;

FIG. 5 is a circuit diagram of a first channel stimulation circuit of the present invention;

FIG. 6 is a circuit diagram of a second channel stimulation circuit of the present invention;

FIG. 7 is a circuit diagram of a second power circuit of the present invention;

FIG. 8 is a circuit diagram of a fourth single-chip microcomputer of the present invention;

FIG. 9 is a circuit diagram of a second communication circuit according to the present invention;

FIG. 10 is a circuit diagram of a matrix key of the present invention;

FIG. 11 is a circuit diagram of a confirm key sub-circuit of the present invention;

FIG. 12 is a circuit diagram of a fifth communication chip of the handheld device according to the present invention;

FIG. 13 is a circuit diagram of a sixth communication chip of the relay communication terminal according to the present invention;

fig. 14 is a circuit diagram of an eighth mcu of the trajectory tracking terminal of the present invention.

Detailed Description

The invention provides a split type handheld remote nerve stimulation system suitable for birds, which comprises a stimulation generation end, a relay communication end 2, a handheld control end and a trajectory tracking end.

A stimulation generation end: the device is used for generating a constant-current bidirectional pulse stimulation signal;

the relay communication terminal 2: the device is used for realizing remote communication between the handheld control end and the stimulation generation end as well as between the handheld control end and the trajectory tracking end;

the hand-held control end: the constant-current bidirectional pulse stimulation signal parameter setting device is used for setting constant-current bidirectional pulse stimulation signal parameters;

a track tracking end: for acquiring the position of the animal in real time;

the stimulation generation end comprises a stimulation end 1 control module, a stimulation end 1 short-range communication module, a stimulation generation module, a first power supply module and a signal indication module; the first power supply module supplies electric energy to each module of the stimulation end 1; the stimulation end 1 control module comprises a stimulation end 1 main control chip, and the stimulation end 1 short-range communication module, the stimulation generation module and the signal indication module are all connected with the stimulation end 1 main control chip;

the relay communication terminal 2 comprises a relay control module, a second power supply module, a relay short-range communication module and a relay long-range communication module, wherein the second power supply module provides electric energy for each module of the intermediate communication terminal; the relay control module comprises a relay main control chip, and the relay short-range communication module and the relay long-range communication module are connected to the relay main control chip;

the handheld control end comprises a handheld end 4 control module, a third power supply module, a display module, a parameter setting module and a handheld end 4 remote communication module; the third power supply module provides electric energy for each module of the handheld control end; the control module of the handheld end 4 comprises a main control chip of the handheld end 4, and the display module, the parameter setting module and the remote communication module of the handheld end 4 are connected to the main control chip of the handheld end 4;

the track tracking terminal 3 comprises a tracking terminal control module, a tracking terminal short-range communication module, a fourth power supply module and a positioning module; the fourth power supply module provides electric energy for each module of the trajectory tracking terminal 3; the tracking end control module comprises a tracking end main control chip, and the tracking end short-range communication module and the positioning module are connected to the tracking end main control chip;

wherein, the stimulating end 1 short-range communication module and the tracking end short-range communication module are connected with the relay short-range communication module through wireless communication; the relay remote communication module is connected with the handheld end 4 remote communication module through wireless communication.

The stimulation generating end comprises a shell and a connecting port arranged on the shell, a circuit board of the stimulation generating end is folded to form a hexahedral structure and is arranged in the shell, and a stimulation generating module on the circuit board is connected with a stimulation electrode arranged on an animal body through the connecting port.

The stimulation generating end is arranged at the head position of the animal, and the relay communication end 2 and the track tracking end 3 are arranged at the leg position of the animal.

Each module of the stimulation generation end forms a stimulation end 1 main circuit, and the stimulation end 1 main circuit comprises a first short-range communication circuit, a first power supply circuit, a booster circuit, a ninth singlechip U9, a first indicator light circuit and two stimulation circuits which are wirelessly connected with a second short-range communication circuit of the relay end main circuit; the first short-range communication circuit, the ninth singlechip U9 (the model can adopt C8051F410-GQR _ C15808), the first indicator light circuit and the two stimulation circuits are connected with the 3.3V output end of the first power supply circuit.

The first power supply circuit comprises an eleventh voltage stabilizer U11 (model is ME6209A33 PG), a first pin of the eleventh voltage stabilizer U11 is grounded, a second pin is connected with a positive electrode terminal P2 of a first external power supply, a third pin is connected with a 3.3V output terminal, one end of a thirty-ninth capacitor C39 (model parameters can be 4.7uF (475) 20% 10V), and the other end of the thirty-ninth capacitor C39 is grounded after a negative electrode terminal P3 of the first external power supply is connected with the other end of the thirty-ninth capacitor C39; wherein, the first external power supply can adopt a 3.7-4.2V lithium battery. The booster circuit comprises a twelfth voltage stabilizer U12 (the model can be LM27313 XMF/NOPB) and a twenty-eighth triode Q28 (the model can be S9012_ C111633), an emitter of the twenty-eighth triode Q28 is connected with a 3.3V output end and one end of a sixteenth resistor R65 (the model parameter can be 5.1K omega), a base is respectively connected with the other end of a sixteenth resistor R65 and the twenty-fifth pin of a ninth singlechip U9 through a sixteenth resistor R66 (the model parameter can be 5.1K omega), a collector is respectively connected with one end of a forty-second capacitor C42 (the model parameter can be 2.2 uF), one end of a sixteenth resistor R67 (the model parameter can be 51K omega), a fifth pin of the twelfth voltage stabilizer U12 and one end of a second inductor L2, the other end of the forty-second capacitor C42 is grounded, the other end of the sixteenth resistor R67 is connected with the twelfth voltage stabilizer U12, and the fourth pin of the twelfth voltage stabilizer U12 is connected with the fifteenth inductor L12U 36 The anode of a diode D15 (the model parameter may be D2MBR0520_ C475717), the cathode of a fifteenth diode D15 are connected to the 15V output terminal, the third pin of a twelfth voltage stabilizer U12 is respectively connected to one end of a sixty-eight resistor R68 (the model parameter may be 51K Ω), one end of a forty-eight capacitor C40 and one end of a seventy resistor R70 (the model parameter may be 13.3K Ω), the other end of the sixty-eight resistor R68 is respectively connected to the 15V output terminal, the other end of a forty-capacitor C40 (the model parameter may be 330 p) and one end of a forty-first capacitor C41 (the model parameter may be 4.7uF _ (25V)) through a sixty-nine resistor R69 (the model parameter may be 100K Ω), the other end of the forty-first capacitor C41 is connected to the other end of the seventy resistor R70 and then grounded, and the ground terminal of the twelfth voltage stabilizer U12 is grounded.

The first short-range communication circuit comprises a third communication chip M3, wherein the first pin, the twenty-fifth pin and the twenty-seventh pin of the third communication chip M3 are all grounded, the second pin is connected with a 3.3V output end, the twentieth pin and the twenty-first pin are respectively and correspondingly connected with the twenty-second pin and the twenty-first pin of a ninth singlechip U9, the first pin of the ninth singlechip U9 is connected with a 3.3V output end, the sixth pin is grounded, the seventh pin is connected with a thirty-fifth capacitor C35 and a thirty-sixth capacitor C36 which are arranged in parallel and then grounded, and the eighth pin is connected with a 3.3V output end; the parameters of the component model are as follows: m3: z151PA-P/Z151PA-T, C35: 0.1Uf, C36: 4.7 Uf.

The two stimulation circuits are respectively a first channel stimulation circuit and a second channel stimulation circuit, the first channel stimulation circuit comprises a fourteenth triode Q14, the base electrode of the fourteenth triode Q14 is respectively connected with the seventeenth pin of the ninth singlechip U9 and one end of a fifty-sixth resistor R56, the other end of the fifty-sixth resistor R56 is grounded, the emitter electrode of the fourteenth triode Q14 is grounded through a fifty-seventeenth resistor R57, and the collector electrode of the fourteenth triode Q14 is respectively connected with the source electrode of the tenth MOS tube Q10, the source electrode of the eleventh MOS tube Q11, the source electrode of the tenth MOS tube Q10 and the source electrode of the thirteenth MOS tube Q13; the grid electrode of the tenth MOS tube Q10 is connected with the tenth pin of the ninth singlechip U9, and the drain electrode of the tenth MOS tube Q10 is connected with the drain electrode of the first MOS tube Q1 and the eighth pin of the pulse stimulation interface P1; wherein the pulse stimulation interface P1 is connected with the connection interface. The source electrode of the first MOS transistor Q1 is connected with the 15V output end and one end of the fifty-th resistor R50, and the gate electrode of the first MOS transistor Q1 is connected with the other end of the fifty-th resistor R50 and the drain electrode of the fifth MOS transistor Q5; the source electrode of the fifth MOS tube Q5 is grounded, and the grid electrode of the fifth MOS tube Q5 is connected with the thirteenth pin of the ninth singlechip U9; the grid electrode of the eleventh MOS tube Q11 is connected with the thirteenth pin of the ninth singlechip U9, and the drain electrode of the eleventh MOS tube Q11 is connected with the drain electrode of the second MOS tube Q2 and the sixth pin of the pulse stimulation interface P1; the source electrode of the second MOS transistor Q2 is connected with the 15V output end and one end of the fifty-first resistor R51, and the gate electrode of the second MOS transistor Q2 is connected with the other end of the fifty-first resistor R51 and the drain electrode of the sixth MOS transistor Q6; the source electrode of the sixth MOS tube Q6 is grounded, and the grid electrode of the sixth MOS tube Q6 is connected with the fourteenth pin of the ninth singlechip U9; the grid electrode of the twelfth MOS tube Q12 is connected with the sixteenth pin of the ninth singlechip U9, and the drain electrode of the twelfth MOS tube Q12 is connected with the drain electrode of the third MOS tube Q3 and the fourth pin of the pulse stimulation interface P1; the source electrode of the third MOS transistor Q3 is connected with the 15V output end and one end of the fifty-second resistor R52, and the grid electrode of the third MOS transistor Q3 is connected with the other end of the fifty-second resistor R52 and the drain electrode of the seventh MOS transistor Q7; the source electrode of the seventh MOS tube Q7 is grounded, and the grid electrode of the seventh MOS tube Q7 is connected with the fifteenth pin of the ninth singlechip U9; the grid electrode of the thirteenth MOS tube Q13 is connected with the eleventh pin of the ninth singlechip U9, and the drain electrode of the thirteenth MOS tube Q13 is connected with the drain electrode of the fourth MOS tube Q4 and the second pin of the pulse stimulation interface P1; the source electrode of the fourth MOS transistor Q4 is connected with the 15V output end and one end of a fifty-third resistor R53, and the grid electrode of the fourth MOS transistor Q4 is connected with the other end of the fifty-third resistor R53 and the drain electrode of the eighth MOS transistor Q8; the source electrode of the eighth MOS tube Q8 is grounded, and the grid electrode of the eighth MOS tube Q8 is connected with the sixteenth pin of the ninth singlechip U9; the specific types of the components can be as follows: r56- -1K Ω, R57- -500 Ω, R50/R51/R52/R53 are all 10K Ω, Q1-Q4 is BSS84, Q5-Q8 and Q10-Q13 are all 2N7002, and Q14 is S9013.

The second channel stimulation circuit comprises a twenty-seventh triode Q27, the base of the twenty-seventh triode Q27 is respectively connected with the eighteenth pin of the ninth singlechip U9 and one end of a sixty-third resistor R63, the other end of the sixty-third resistor R63 is grounded, the emitter of the twenty-seventh triode Q27 is grounded through a sixty-fourth resistor R64, and the collector of the twenty-seventh triode Q27 is respectively connected with the source of the twenty-third MOS tube Q23, the source of the twenty-fourth MOS tube Q24, the source of the twenty-fifth MOS tube Q25 and the source of the twenty-sixth MOS tube Q26; the grid electrode of the twenty-third MOS tube Q23 is connected with the tenth pin of the ninth singlechip U9, and the drain electrode of the twenty-third MOS tube Q15 is connected with the drain electrode of the fifteenth MOS tube Q15 and the seventh pin of the pulse stimulation interface P1; the source electrode of the fifteenth MOS transistor Q15 is connected with the 15V output end and one end of the fifty-eighth resistor R58, respectively, and the gate electrode of the fifteenth MOS transistor Q15 is connected with the other end of the fifty-eighth resistor R58 and the drain electrode of the nineteenth MOS transistor Q19, respectively; the source electrode of the nineteenth MOS tube Q19 is grounded, and the grid electrode of the nineteenth MOS tube Q19 is connected with the ninth pin of the ninth singlechip U9; the grid electrode of the twenty-fourth MOS tube Q24 is connected with the ninth pin of the ninth singlechip U9, and the drain electrode of the twenty-fourth MOS tube Q16 is connected with the drain electrode of the sixteenth MOS tube Q16 and the fifth pin of the pulse stimulation interface P1; the source electrode of the sixteenth MOS transistor Q16 is connected with the 15V output end and one end of the fifty-ninth resistor R59, and the gate electrode of the sixteenth MOS transistor Q16 is connected with the other end of the fifty-ninth resistor R59 and the drain electrode of the twentieth MOS transistor R20; the source electrode of the twentieth MOS tube R20 is grounded, and the grid electrode of the twentieth MOS tube R20 is connected with the tenth pin of the ninth singlechip U9; the grid electrode of the twenty-fifth MOS tube Q25 is connected with the twelfth pin of the ninth singlechip U9, and the drain electrode of the twenty-fifth MOS tube Q17 is connected with the drain electrode of the seventeenth MOS tube Q17 and the third pin of the pulse stimulation interface P1; the source electrode of the seventeenth MOS transistor Q17 is connected with the 15V output end and one end of the sixty resistor R60, and the grid electrode of the seventeenth MOS transistor Q17 is connected with the other end of the sixty resistor R60 and the drain electrode of the twenty-first MOS transistor Q21; the source electrode of the twenty-first MOS tube Q21 is grounded, and the grid electrode of the twenty-first MOS tube Q21 is connected with the eleventh pin of the ninth singlechip U9; the grid electrode of the twenty-sixth MOS tube Q26 is connected with the eleventh pin of the ninth singlechip U9, and the drain electrode of the twenty-sixth MOS tube Q18 is connected with the drain electrode of the eighteenth MOS tube Q18 and the first pin of the pulse stimulation interface P1; the source electrode of the eighteenth MOS transistor Q18 is connected with the 15V output end and one end of the sixty-first resistor R61, and the grid electrode of the eighteenth MOS transistor Q18 is connected with the other end of the sixty-first resistor R61 and the drain electrode of the twenty-second MOS transistor Q22; the source electrode of the twenty-second MOS tube Q22 is grounded, and the grid electrode of the twenty-second MOS tube Q22 is connected with the twelfth pin of the ninth singlechip U9; the specific types of the components can be as follows: r63- -1K Ω, R64- -500 Ω, R58/R59/R60/R61 are all 10K Ω, Q15-Q18 are BSS84, Q19-Q26 are all 2N7002, and Q27 is S9013.

The first indicator lamp circuit comprises a ninth MOS tube Q9 (model 2N7002), the grid electrode of the ninth MOS tube Q9 is connected with the twenty-seventh pin of the ninth singlechip U9, the source electrode of the ninth MOS tube Q9 is grounded, the drain electrode of the ninth MOS tube Q9 is connected with the cathode of a first light-emitting diode LED1, and the anode of the first light-emitting diode LED1 is connected with the 3.3V output end through a nineteenth resistor R49 (1K omega).

Each module of the handheld end 4 forms a handheld end 4 general circuit, the handheld end 4 general circuit comprises a key circuit, a single chip microcomputer minimum system, a first remote communication circuit and a second power circuit, the first remote communication circuit and the second power circuit are in wireless connection with a second remote communication circuit of the relay end general circuit, the second power circuit comprises a second voltage stabilizer U2 (model MP 1482M/TR), a second external power supply is respectively connected with one end of a second contact pin H2, a third contact pin H3 and a fourth contact pin H4 through a power output end of a self-locking switch K1, the other end of the second contact pin H2 is connected with the anode of a second light emitting diode D2 through a thirty-fourth resistor R34 of a second indicating lamp circuit, and the cathode of the second light emitting diode D2 is grounded; the other end of the fourth pin H4 outputs 5.0V. The component models adopt: H2/H3/H4 are double rows of pins, and R34 is 2K.

The other end of the third pin H3 is connected to the second pin of the second regulator U2 and the third pin of the first pin H1, the second pin of the second regulator U2 is further connected to ground through an eleventh capacitor C11, the third pin is connected to one end of a sixteenth capacitor C16 and one end of a first inductor L1, the other end of a sixteenth capacitor C16 is connected to the first pin of the second regulator U2 and the negative electrode of a first diode D1, the positive electrode of the first diode D1 is connected to the other end of the first inductor L1 and then connected to one end of a nineteenth capacitor C19, one end of a twentieth capacitor C20 and one end of a twenty-eighth resistor R28, and thirty-fifth and thirty-fourth pins of a fifth communication chip U5, the other ends of the nineteenth capacitor C19 and the twenty-second capacitor C20 are connected to ground, the other end of the twenty-eighth resistor R28 is connected to the fifth pin of the second regulator U2 and one end of the twenty-ninth resistor R29, and the seventeenth capacitor C599 of the sixth resistor U599 are connected to the sixth resistor U599, The twenty-sixth resistor R26 is connected with the other end of the twenty-ninth resistor R29 and then grounded; the seventh pin of the second regulator U2 is connected to the second and fourth pins of the first pin H1 through a seventeenth resistor R17, and the first pin of the first pin H1 outputs 4.0V. The models of the elements are as follows: h1 is double row pin, D1 is 1N4148, L1 is 10uH, C11 is 10uH, U2 is MP1482M/TR, R28 is 33.2K, R29 is 10K, R26 is 5.6K, R17 is 100K. GSM input voltage range: DC3.5-4.5V, output 4.0V and output current 1A, and the main determinants are the proportion of the two resistors of 33.2K and 10K of R28 and R29.

The minimum system of the single-chip microcomputer comprises a fourth single-chip microcomputer U4 (model number ATMEGA2560-16 AU), a third indicator light circuit, a sixth interface J6 used for connecting a serial port screen, a fifth interface J5 used for connecting an Arduino download port, a sixth pin H6 used for transmitting GSM reception by the ARDUINO and a seventh pin H7 used for implanting bottom-layer programs are connected to the fourth single-chip microcomputer U4. The first pin of the fifth interface J5 is connected to the 5.0V end of the fourth pin H4, the second pin is grounded, and the third pin and the fourth pin are correspondingly connected to the third pin and the second pin of the fourth monolithic computer U4, respectively. The cathode of the fourth light emitting diode D4 of the third indicator light circuit is grounded, and the anode is connected to the 5.0V terminal of the fourth pin H4 through the fourth eleventh resistor R41. The first pin of the sixth interface J6 is connected to the 4.0V end of the first pin H1, the second pin and the third pin are respectively connected to the sixteenth pin and the sixty-fourth pin of the fourth singlechip U4 through the fifth pin H5, and the fourth pin is grounded. The first pin and the third pin of the sixth pin H6 are respectively and correspondingly connected with the twelfth pin and the thirteenth pin of the fourth singlechip U4, and the second pin and the fourth pin are respectively and correspondingly connected with the first pin and the second pin of the fifth communication chip U5 of the first remote communication circuit. The first pin, the third pin, the fourth pin and the fifth pin of the seventh pin H7 are respectively and correspondingly connected with the twenty-second pin, the twenty-first pin and the thirty-third pin of the fourth singlechip U4, the second pin is connected with the 5.0V end of the fourth pin H4, and the sixth pin is grounded. A twenty-sixth pin of the fourth singlechip U4 is connected to the anode of the fifth light emitting diode D5 through a forty-third resistor R43, and the cathode of the fifth light emitting diode D5 is grounded; a thirtieth pin of the fourth singlechip U4 is respectively connected with the anode of a twelfth diode D10, one end of a forty-eighth resistor R48 and one end of a patch button, the other end of the patch button is grounded, and the anode of the twelfth diode D10 and the other end of the forty-eighth resistor R48 are connected and then grounded; a thirty-fourth pin of the fourth singlechip U4 is respectively connected with one end of a twenty-ninth capacitor R29 and one end of a second crystal oscillator X2, the other end of the second crystal oscillator X2 is connected with one end of a thirty-first capacitor C31 and the thirty-third pin of the fourth singlechip U4, and the other end of the thirty-first capacitor C31 is connected with the other end of the twenty-ninth capacitor C29 and then grounded; the eleventh, thirty-two, sixty-two, eighty-one and ninety-nine pins of the fourth singlechip U4 are all grounded, the ninety-eight pin is grounded through a twenty-eight capacitor C28, and the eighty, sixty-one, thirty-one and ten pins are all connected with the 5.0V end of the fourth pin H4. The models of the elements are as follows: H5/H6/H7 are double rows of pins, J6 is 4 rows of pins, R41/R43 is 2K, R48 is 10K, D10 is LL4148, C29/C31 is 27PF, and X2 is 16M.

The key circuit comprises a matrix key sub-circuit and a confirmation key sub-circuit, wherein the matrix key sub-circuit is provided with 16 keys, and control pins of the matrix key sub-circuit are respectively connected to eighty two to ninety seven pins and seventy eight pins of the fourth single chip microcomputer U4.

A fifth communication chip U5 (model SIM800C 24 Mbit) of the first remote communication circuit is also connected with a status indicator lamp circuit, a SIM card circuit and a first antenna circuit, and twenty-seventh, thirty-first, thirty-second and thirty-third pins of the fifth communication chip U5 are connected with a first antenna terminal RF1 (model KH-IPEX-K501-29) of the first antenna circuit and are grounded; the cathodes of a sixth light emitting diode D6, a seventh light emitting diode D7 and an eighth light emitting diode D8 of the status indicator light circuit are connected and then grounded, the anode of the sixth light emitting diode D6 is connected to the 4.0V end of the first pin H1 through a fourteenth resistor R44 (parameter 2K), the seventh light emitting diode D7 is connected to the forty-first pin of the fifth communication chip U5 through a fifteenth resistor R45 (parameter 2K), and the eighth light emitting diode D8 is connected to the thirty-fourth and thirty-fifth pins through a forty-sixth resistor R46 (parameter 2K); the fifteenth, sixteenth, seventeenth and eighteenth pins of the fifth communication chip U5 are respectively and correspondingly connected to the fourth, fifth, sixth and one pin of a twelfth zener diode U12 (model SMF05CT 2G), and the second pin of the twelfth zener diode U12 is grounded; the SIM card circuit comprises a second SIM card chip (model HYC75-SIM 06-135), wherein the seventh pin, the third pin, the first pin of the second SIM card chip are respectively and correspondingly connected to the fifteenth pin, the sixteenth pin, the seventeenth pin and the eighteenth pin of the fifth communication chip U5, the fifth pin of the second SIM card chip is grounded, and the first pin is grounded through a thirty-th capacitor C30 (parameter 0.1 uf). The eighth, thirteenth, nineteen, twenty-one, thirty-six, thirty-seven and thirty-nine pins of the fifth communication chip U5 are all grounded.

Each module of the relay communication terminal 2 constitutes a relay circuit, and the relay circuit includes a third single chip microcomputer U3 (model TC12le5a60s 2), a second remote communication circuit wirelessly connected to the first remote communication circuit, and a second short-range communication circuit wirelessly connected to the first short-range communication circuit. The third external power supply is connected with a first voltage regulator U1 (model ME6209A33 PG) through a first interface J1 (model HDR _ 1.27); the second pin of the first interface J1 is connected with the second pin of the first voltage stabilizer U1, the first pin is grounded, the third pin is respectively connected with the thirty-eighth pin of the third singlechip U3 and is grounded through a fifth capacitor C5, and the fourth, twelfth and forty-third pins of the third singlechip U3 are respectively connected with the twentieth and twenty-first pins of the first communication chip M1 (model Z151PA-T or Z151 PA-P) of the second short-range communication circuit; the fourth pin is respectively connected with the ground through a twenty-seventh resistor R27 (parameter 10K) and the third pin of the first voltage stabilizer U1 through an eighteenth capacitor C18; the fifth pin and the seventh pin are connected with the second pin and the first pin of the second interface J2 (model number HDR _ 1.27); the fourteenth pin is respectively connected with a twenty-sixth C26 (parameter 22 pf) capacitor and one end of a first crystal oscillator X1, the other end of the first crystal oscillator X1 is respectively connected with a fifteenth pin of a third single chip microcomputer U3 and one end of a twenty-fifth capacitor C25, and the other end of the twenty-fifth capacitor C25 is respectively connected with the other ends of the sixteenth pin and the twenty-sixth capacitor C26 and then grounded. The first pin of the first communication chip M1 is grounded, the second pin is connected to the third pin of the first voltage stabilizer U1, the fifteenth pin is connected to the cathode of the third light emitting diode D3, and the anode of the fifteenth pin is connected to the third pin of the first voltage stabilizer U1 through a thirty-nine resistor R39 (parameter 1K).

The second remote telecommunication circuit comprises a sixth communication chip U6 (model SIM 804 Mbit), and a third external power supply is connected to thirty-fourth and thirty-fifth pins of the sixth communication chip U6 through a third interface J3 (model HDR _ 1.27) and a power switch SW1 (K3-1290S-J1). The third interface J3 is connected to the first interface J1 as a power input port. The first pin and the second pin of the fourth interface J4 (model number HDR _ 1.27) are respectively and correspondingly connected to the first pin and the second pin of the sixth communication chip U6. The sixth communication chip U6 is further connected to a second SIM card circuit, a second antenna circuit, and an eleventh zener diode D11 (SMF 05CT 2G), wherein the first, second, third, and seventh pins of the second SIM card chip (HYC 75-SIM 06-135) of the second SIM card circuit are respectively and correspondingly connected to the eighteenth to fifteenth pins of the sixth communication chip U6, and the fifth pin thereof is grounded. The fourth, fifth, sixth and one pins of the eleventh zener diode D11 are respectively and correspondingly connected to the eighteenth to fifteenth pins of the sixth communication chip U6, and the second pin thereof is grounded. The twenty-seventh, thirty-first, thirty-second, thirty-third pins of the sixth communication chip U6 are connected to the second antenna terminal RF2 (model No. KH-IPEX-K501-29) of the second antenna circuit and grounded. The thirty-ninth, thirty-seventh and thirty-sixth pins of the sixth communication chip U6 are grounded, the forty-first pin is connected to the anode of the ninth led D9 through a forty-seventeenth resistor R47 (parameter 1K), and the cathode thereof is grounded.

Each module of the track tracking terminal 3 forms a tracking terminal main circuit, and the tracking terminal main circuit comprises a tracking terminal voltage stabilizing circuit, a positioning chip circuit, a positioning processing chip circuit and a third short-range communication circuit in wireless connection with the second short-range communication circuit. The tracking end voltage stabilizing circuit comprises a seventh voltage stabilizing chip U7, a fourth external power supply is connected to the second pin of a seventh voltage stabilizing chip U7 (ME 6209A33 PG) through a sixth interface J6 (model HDR _ 1.27), the first pin of the fourth external power supply is grounded, the third pin is connected to an eighth singlechip U8 (STC 12le5a60s 2) in the positioning chip circuit and is grounded through a twelfth capacitor C32, the positioning chip circuit comprises a tenth positioning chip U10(ATGM332D-5N 11), the third pin of the tenth positioning chip U10 is connected to the cathode of a thirteenth light emitting diode D13, the anode of the tenth positioning chip U10 is connected to the third pin of the seventh voltage stabilizing chip U7 through a fifteenth resistor R55 (parameter 1K omega), the tenth, twelfth and thirteenth pins are grounded, the eleventh pin is connected to a third antenna terminal RF3 (model KH-IPEX-K-29), the twenty-fourth pin is connected to the thirty-fourth capacitor C34, one end of the thirty-fourth pin is connected to the third pin of the seventh voltage stabilizing chip U7 and is connected to the fourth voltage stabilizing chip U34, the twentieth pin and the twenty-first pin are correspondingly connected to the fifth pin and the seventh pin of the eighth singlechip U8. The fourth interface J4 is correspondingly connected to the second interface J2, and is used as a data transmission interface. The third short-range communication circuit comprises a second communication chip M2 (model Z151PA-T or Z151 PA-P), a first pin of the second short-range communication chip M2 is grounded, a second pin of the second short-range communication chip M2 is connected with a third pin of a seventh voltage stabilizing chip U7, a fifteenth pin of the second short-range communication chip M2 is connected with the negative electrode of a fourteenth light emitting diode D14 and is connected with a third pin of a seventh voltage stabilizing chip U7 through a sixteenth resistor R62 (parameter 1K omega), and the twentieth and twenty-first pins are correspondingly connected with the forty-two and forty-three pins of an eighth singlechip U8. The fourth pin of the eighth monolithic computer U8 is grounded through a fifty-fourth resistor R54 (parameter 10K Ω), and is connected to the third pin of the seventh voltage stabilization chip U7 through a thirty-third capacitor C33, the fourteenth pin is connected to one end of a thirty-eighth capacitor C38 (parameter 22 pf) and one end of a third crystal oscillator X3, the other end of the third crystal oscillator X3 is connected to one end of a fifteenth pin and one end of a thirty-seventh capacitor C37 (parameter 22 pf) respectively, and the other end of the thirty-seventh capacitor C37 is grounded after being connected to the other end of the thirty-eighth capacitor C38 and the sixteenth pin thereof respectively.

When the stimulation device is used, firstly, parameters are adjusted remotely through the handheld end 4, after proper parameters are set, data are sent to a GSM communication device (namely a relay remote communication module) of a relay communication end through a GSM communication device (namely a handheld end 4 remote communication module) of the handheld end 4, the data are received and then processed by a processing chip (namely the third single chip microcomputer U3) of the relay communication end 2, the processed data are sent to a short-distance wireless communication device (namely a stimulation end 1 short-distance communication module) of a stimulation generation end through a short-distance wireless communication device (namely a relay short-distance communication module), a main control chip (namely the ninth single chip microcomputer U9) of the stimulation generation end receives signals and then processes the signals, two stimulation circuits generate stimulation waveforms, and stimulation is transmitted to stimulation electrodes arranged on an animal body through a connecting port on a shell.

The track tracking terminal 3 starts positioning after being started, the collected effective positioning information is sent to a short-distance wireless communication device (namely a relay short-distance communication module) of the relay communication terminal through a short-distance wireless device (namely a tracking terminal short-distance communication module), the relay communication terminal processes the data after receiving the data, and the processed data is sent to a GSM communication device (namely a handheld terminal 4 remote communication module) of the handheld terminal 4 through the GSM communication device (namely a relay remote communication module), and then a display module of the handheld terminal 4 displays a track path.