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根据声波反射和电场感应的原理设计了集超声测距和电容式接近觉检测及多传感器信息融合为一体的集成化接近觉传感器，提出了变阈值超声回波时间测量方法和利用电客阵列检测机器人末端执行器与被测物体接近度的方法，给出了传感器信息融合的结构。
According to the principles of acoustic reflection and electric field induction, an integrated proximity sensor integrating ultrasonic range finding, capacitive proximity detection and multi-sensor information fusion is designed. The method of time-varying ultrasonic echo time-varying threshold and the method of using e- The method of robot end effector ’s proximity with measured object gives the structure of sensor information fusion.