Mosquito and fly killing method and device based on audio signal and electronic equipment

Abstract

The invention relates to the technical field of sound source positioning, in particular to a mosquito and fly killing method and device based on an audio signal and electronic equipment. The method comprises the following steps: acquiring multiple paths of array audio signals acquired by a preset sound array; inputting the multiple paths of array audio signals into a preset first matched filter and a preset second matched filter respectively to obtain multiple paths of first filtering signals and multiple paths of second filtering signals; after the multiple paths of first filtering signals and the multiple paths of second filtering signals are subjected to enhancement processing, whether mosquito and fly killing objects exist in the current area or not is determined according to enhancement processing results; and if the mosquito and fly killing object exists, positioning and tracking the killing object according to array signals detected by each array element of the sound array, and controlling a preset laser transmitter to strike the mosquito and fly killing object according to a positioning and tracking result. The problems that existing mosquito and fly killing is repeated, specific object types cannot be recognized, and the killing effect is poor are solved.

Description

Technical Field

[0001] The present application relates to the technical field of mosquito disinfecting, and in particular to a method, device and electronic equipment for killing mosquitoes and flies based on audio signals. Background Art

[0002] Mosquitoes and flies are one of the targets of infectious disease prevention and control, and have always troubled human life. In the existing technology, mosquitoes and flies are mainly killed by spraying drugs, but the killing effect of mosquitoes and flies is not ideal. It is necessary to increase the concentration of drugs to improve the killing effect, but high concentrations of drugs will cause harm to the human body. Summary of the invention

[0003] In view of this, one of the technical problems solved by the embodiments of the present application is to provide a method, device and electronic device for killing mosquitoes and flies based on audio signals, so as to overcome the problem of poor killing effect of existing mosquito and fly killing technologies.

[0004] In a first aspect of the embodiments of the present application, a method for killing mosquitoes and flies based on audio signals is disclosed, the method comprising:

[0005] Acquire multi-channel array audio signals collected by a preset sound array;

[0006] Inputting the multi-channel array audio signals into a preset first matched filter and a preset second matched filter respectively to obtain a multi-channel first filtered signal and a multi-channel second filtered signal;

[0007] After respectively performing enhancement processing on the multiple first filtered signals and the multiple second filtered signals, determining whether there is a mosquito and fly killing object in the current area according to the enhancement processing results;

[0008] If there is a mosquito and fly killing object, the killing object is positioned and tracked according to the array signals detected by each array element of the acoustic array, and the preset laser transmitter is controlled to strike the mosquito and fly killing object according to the positioning and tracking result.

[0009] In a second aspect of the embodiment of the present application, an exoskeleton power-assistance control device with power compensation is disclosed, which is applied to a pan / tilt platform carrying a laser emitter and an acoustic array, wherein the laser emitter is located at the center of the acoustic array, and is characterized in that the device comprises:

[0010] An audio signal acquisition module is used to acquire multi-channel array audio signals collected by a preset sound array;

[0011] A signal filtering processing module, used for inputting the multi-channel array audio signals into a preset first matched filter and a second matched filter respectively, to obtain a multi-channel first filtered signal and a multi-channel second filtered signal;

[0012] A signal enhancement judgment module is used to perform enhancement processing on the multiple first filtered signals and the multiple second filtered signals respectively, and determine whether there is a mosquito and fly killing object in the current area according to the enhancement processing results;

[0013] The positioning and tracking processing module is used to locate and track the mosquito and fly killing object according to the array signals detected by each array element of the acoustic array if there is a mosquito and fly killing object, and control the preset laser transmitter to attack the mosquito and fly killing object according to the positioning and tracking results.

[0014] In a third aspect of an embodiment of the present application, an electronic device is disclosed. The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0015] In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is disclosed, which stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

[0016] The present application has the following advantages: by acquiring the multi-channel array audio signals collected by the preset acoustic array, and using the preset two types of matched filters to complete the filtering and then perform the enhancement processing, a preliminary judgment on whether there are mosquitoes and flies is completed according to the signal strength after the enhancement processing, and then the existing mosquito and fly killing objects are located and tracked according to the array signals detected by each array element of the acoustic array, and the preset laser transmitter is controlled to strike the mosquito and fly killing objects according to the positioning and tracking results, so as to achieve the purpose of accurately locating and killing the mosquito and fly killing objects. This method of filtering and enhancing the collected multi-channel array audio signals using two types of pre-trained filters can not only prepare to identify the type of mosquito and fly killing objects, but also improve the subsequent tracking efficiency of the mosquito and fly killing objects, and further improve the killing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A system block diagram of a mosquito and fly killing method based on audio signals provided in one embodiment of the present application;

[0018] Figure 2 A schematic diagram of a process for obtaining a filter sequence in a mosquito and fly killing method based on an audio signal provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of a flow chart of determining the filtering and enhancement of a signal in a mosquito and fly killing method based on an audio signal provided in an embodiment of the present application;

[0020] Figure 4 A schematic diagram of an acoustic array used in a mosquito and fly killing method based on audio signals provided in one embodiment of the present application;

[0021] Figure 5 A schematic diagram of another acoustic array used in a mosquito and fly killing method based on audio signals provided in one embodiment of the present application;

[0022] Figure 6 A schematic diagram of the relative positions of each array element of an acoustic array and a target used in a mosquito and fly killing method based on an audio signal provided in an embodiment of the present application;

[0023] Figure 7 A schematic diagram of the block diagram of a mosquito and fly killing device based on audio signals provided in one embodiment of the present application. DETAILED DESCRIPTION

[0024] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0025] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0026] It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0027] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0028] According to one embodiment of the present application, a method for killing mosquitoes and flies based on audio signals is provided, which is applied to a pan / tilt platform carrying a laser transmitter and an acoustic array, wherein the laser transmitter is located at the center of the acoustic array, such as Figure 1 As shown, the method includes steps S101 to S104.

[0029] Step S101: obtaining multi-channel array audio signals collected by a preset sound array.

[0030] Step S102: inputting multiple channels of array audio signals into a preset first matched filter and a preset second matched filter respectively to obtain multiple channels of first filtered signals and multiple channels of second filtered signals.

[0031] Specifically, the first matched filter is used to filter the sound signal of the mosquito, and the second matched filter is used to filter the sound signal of the fly.

[0032] Specifically, the audio samples of mosquitoes can be collected in advance, and the audio samples of mosquitoes can be processed to obtain the filter sequence of the mosquito filter, so that the mosquito filter can be convolved with the filter sequence of the mosquito filter after receiving the input signal to complete the filtering. Similarly, the audio samples of flies can be collected in advance, and the audio samples of flies can be processed to obtain the filter sequence of the fly filter to complete the filtering by convolution.

[0033] Step S103: After performing enhancement processing on the multiple first filtered signals and the multiple second filtered signals respectively, it is determined whether there are mosquito and fly killing objects in the current area according to the enhancement processing results.

[0034] Specifically, the signal strength value after the enhancement process can be used to determine whether there are mosquitoes and flies to be killed in the current area and the type of mosquitoes and flies to be killed. For example, when the signal amplitude is greater than a preset amplitude threshold, it indicates that there are mosquitoes and flies near the current area, and when the signal amplitude is not greater than the preset amplitude threshold, it indicates that there are no mosquitoes and flies near the current area. The comparison between the signal amplitude and the amplitude threshold plays a role in the preliminary positioning and judgment of whether there are mosquitoes and flies in the current area.

[0035] Step S104: If there is a mosquito and fly killing object, the mosquito and fly killing object is located and tracked according to the array signals detected by each array element of the acoustic array, and the preset laser transmitter is controlled to strike the mosquito and fly killing object according to the positioning and tracking result.

[0036] The embodiment of the present application obtains a multi-channel array audio signal collected by a preset acoustic array, and uses two preset matched filters to complete the filtering and then enhance the processing, so as to complete the preliminary judgment of whether there are mosquitoes and flies according to the signal strength after the enhancement processing, and then locate and track the existing mosquito and fly killing objects according to the array signals detected by each array element of the acoustic array, and control the preset laser transmitter to attack the mosquito and fly killing objects according to the positioning and tracking results, so as to achieve the purpose of accurately locating and killing the mosquito and fly killing objects. This method of using two types of pre-trained filters to filter and enhance the collected multi-channel array audio signals can not only prepare to identify the type of mosquito and fly killing objects, but also improve the subsequent tracking efficiency of the mosquito and fly killing objects, thereby further improving the killing effect.

[0037] In some embodiments, step S103 further includes: performing Fourier transform on multiple first filtered signals and multiple second filtered signals respectively to obtain multiple first spectra and multiple second spectra; superimposing multiple first spectra to obtain a first superimposed spectrum, and when the amplitude of the first superimposed spectrum is greater than a preset first amplitude threshold, determining that mosquitoes exist in the current area; superimposing multiple second spectra to obtain a second superimposed spectrum, and when the amplitude of the second superimposed spectrum is greater than a preset second amplitude threshold, determining that flies exist in the current area.

[0038] Specifically, after obtaining the first superimposed spectrum and the second superimposed spectrum, noise filtering processing can also be performed on the first superimposed spectrum and the second superimposed spectrum to avoid interference or noise caused by signal superposition affecting the amplitude of the signal, thereby affecting the preliminary judgment result of whether there are mosquitoes or flies in the regional content. When applied, a preset high-pass filter can be used to perform noise filtering processing.

[0039] In some embodiments, before step S102, the method further includes: obtaining multiple mosquito sample audio sequences and multiple fly sample audio sequences; pre-processing the multiple mosquito sample audio sequences and the multiple fly sample audio sequences respectively to obtain multiple equal-length mosquito audio sequences and multiple equal-length fly audio sequences; performing Fourier transform on the multiple equal-length mosquito audio sequences and the multiple equal-length fly audio sequences, and then performing small signal removal and denoising processing to obtain multiple denoised mosquito spectra and multiple denoised fly spectra; superimposing the multiple denoised mosquito spectra and the multiple denoised fly spectra respectively to obtain corresponding mosquito characteristic spectra and fly characteristic spectra; performing inverse Fourier transform on the mosquito characteristic spectra to obtain a first filter sequence, and determining a first matched filter based on the first filter sequence; performing inverse Fourier transform on the fly characteristic spectrum to obtain a second filter sequence, and determining a second matched filter based on the second filter sequence.

[0040] Specifically, the filter sequence of the matched filter can be obtained by the following method: first, the sound signal sequences of multiple mosquitoes and flies are obtained multiple times in the soundproof room, and the mosquito and fly sequences are distinguished as:

[0041] ; ,in, is the mosquito sound sequence, For the fly sound sequence.

[0042] Taking mosquito filtering as an example, first make the sequence lengths the same, take a moderate length as the basis, repeatedly add the same sequence to increase the length of the short sequence, and cut off the fragments to shorten the length of the long sequence. Figure 2 , perform fast Fourier transform on each sequence, manually intercept the repeated frequency bands, subtract unnecessary frequency band data, and achieve preliminary filtering. Add the amplitude signals of all transformation results (excluding phase signals) to obtain a spectrum, perform inverse Fourier transform on the spectrum, and obtain a time series. Since the sequence is a complex sequence, take the amplitude value of the sequence as the final sequence. In general, the sequence is a gradually decaying sequence, and intercept the first section of the sequence as the final filter sequence H(k).

[0043] The following mathematical expressions are combined Figure 2 The process is described below, and the process includes steps 1-4.

[0044] Step 1: Sampling equal length transformation: Take the kth sequence in the sequence as the fixed length standard, that is, the sequence length is , if the sequence length Less than , and greater than / 2 fill for:

[0045] .

[0046] Jordi The length of the sequence Greater than , then intercept for:

[0047] .

[0048] Step 2: Perform fast Fourier transform and add. The fast Fourier transform formula is as follows:

[0049] , .

[0050] Step 3: Filter the frequency domain noise. The formula is as follows:

[0051] .

[0052] Step 4: Get the filter sequence:

[0053] H ;

[0054] H , where is the filter length.

[0055] When applying the obtained matched filter, the audio sequence input of each array element in the array needs to pass through the mosquito and fly filters first. For the output of each filter, first perform FFT and add the amplitude to determine whether its intensity exceeds the threshold. Figure 3 middle is the audio input signal of the array element, is the mosquito matched filter output, is the mosquito matched filter output, N is the number of array elements, and are the judgment thresholds for mosquitoes and flies, respectively.

[0056] In some embodiments, step S104 further includes:

[0057] Step S1041 (not shown in the figure): performing delay estimation according to array signals detected by each array element of the acoustic array to obtain horizontal delay distribution and elevation delay distribution;

[0058] Step S1042 (not shown in the figure): inputting the horizontal delay distribution and the pitch delay distribution into the preset horizontal dynamics model and the pitch dynamics model respectively to obtain the horizontal deviation and the pitch deviation;

[0059] Step S1043 (not shown in the figure): control the laser transmitter to aim at the mosquito and fly killing target and strike it according to the horizontal deviation value and the pitch deviation value.

[0060] Specifically, the horizontal delay distribution and the elevation delay distribution may be calculated according to the type of the acoustic array.

[0061] For example, Figure 4 The figure shows a cross-shaped acoustic wave detection array. The horizontal delay calculation formula is: , Figure 5 The circular acoustic wave detection array is shown, and the horizontal delay calculation formula is: .

[0062] under Figure 4 The tracking process is explained by taking the horizontal direction tracking as an example. ,in, It is the total delay in the horizontal direction. , represents the left array element, Indicates the right array element, i=1,2,3,4. Continuously track and record the target's horizontal flight trajectory , and input the total delay calculated during the flight trajectory into the horizontal flight trajectory, and calculate the horizontal flight trajectory The output of is used to adjust the horizontal direction of the aiming target. When the arrival time of the corresponding array elements of the left sequence and the right sequence in the array is the same, and the arrival time of the corresponding array elements of the upper sequence and the lower sequence is the same, it indicates that the target has been aimed at. It is expressed as: =0; =0; where and They represent the delay values ​​of the i-th array element in the horizontal direction and the pitch direction respectively, T() represents the delay estimation operation, represents the left array element, represents the right array element, represents the upper array element, Represents the lower array element, i=1,2,3,4.

[0063] Below Figure 5 The tracking process is explained by taking horizontal tracking as an example. is the total horizontal delay value, , continuously track and record the target's horizontal flight trajectory , and the flight trajectory Figure 5 The calculation results Input into the horizontal flight trajectory and calculate the horizontal flight trajectory The output of is used to adjust the horizontal direction of the aiming target.

[0064] In the above embodiment, step S1042 further includes:

[0065] Determine the horizontal deviation value of the horizontal time delay distribution, and input the horizontal deviation value into the first trajectory characteristic function of the mosquito and fly killing object flying in the horizontal direction to obtain a horizontal deviation adjustment value to eliminate the horizontal error, wherein the first trajectory characteristic function is obtained by performing a pull-type transformation result based on the horizontal time delay distribution;

[0066] The horizontal deviation value of the pitch delay distribution is determined, and the pitch deviation value is input into the second trajectory characteristic function of the mosquito and fly killing object flying in the pitch direction to obtain the pitch deviation adjustment value for eliminating the pitch error. The second trajectory characteristic function is obtained by performing a pull-type transformation on the pitch delay distribution.

[0067] Specifically, assuming that the horizontal flight of mosquitoes and flies is , take the pull-type transformation of the sequence, and take its denominator to form the horizontal flight characteristic function:

[0068] ;therefore, .

[0069] In the above embodiment, step S1043 further includes:

[0070] The attitude of the laser transmitter is adjusted according to the horizontal deviation value and the pitch deviation value so as to aim the laser transmitter at the mosquito and fly killing object;

[0071] Distance estimation is performed based on horizontal delay distribution and elevation delay distribution to obtain the target distance between the laser transmitter and the mosquito and fly killing object;

[0072] The laser intensity required for striking is determined according to the target distance, and the laser emitter is controlled to strike the mosquito and fly killing target according to the laser intensity.

[0073] In the above embodiment, distance estimation is performed based on the horizontal delay distribution and the pitch delay distribution to obtain the target distance between the laser transmitter and the mosquito and fly killing object, including:

[0074] If the acoustic array is a linear array, determine the total delay error e of the linear array;

[0075] Based on the preset error estimation algorithm, the minimum value of the total delay error e is solved to obtain the target distance;

[0076] in, ;

[0077] ;

[0078] ;

[0079] ;

[0080] In the formula, The error of the 1st and 2nd array elements on the left, The error of the 1st and 3rd array elements on the left, The error between the 1st and nth elements on the left, is the target distance, d is the array element spacing, c is the propagation speed of sound waves in the air, T(2,1) is the horizontal delay between the 1st and 2nd array elements on the left, T(3,1) is the horizontal delay between the 1st and 3rd array elements on the left, and T(n,1) is the horizontal delay between the 1st and nth array elements on the left.

[0081] When applied, Figure 4 The linear array shown in the figure is used as an example. Figure 6 The target shown in the figure is used for distance estimation. The target facing forward has been realized in the figure, and the distance from the target to the striking hole is , the distances to the four array elements on the left are , , , , then:

[0082] , , , .

[0083] When applied, method 1 can be used to solve the problem. The process is as follows:

[0084] First, calculate the sum of squared errors: .

[0085] ;

[0086] Next, ask for right The derivative of :

[0087] ;

[0088] Seek to make of , we can get the estimated value of the target distance. The above equation is still a nonlinear equation, so the solution can be obtained by Newton or Lagrange iteration method.

[0089] When applied, method 2 can be used to solve the problem. The process is as follows:

[0090] Figure 4 The delay formula between array elements is shown as:

[0091] - - ;

[0092] - - ;

[0093] - - , where c is the speed of sound in air.

[0094] When applied, particle swarm algorithm, Newton iteration, genetic algorithm, bee colony algorithm, etc. can be used for solution. The following uses particle swarm algorithm solution as an example to illustrate. The particle encoding in the particle swarm contains only one length data, and the target fitness evaluation function is: .

[0095] The specific calculation process includes the following steps.

[0096] 1. Initialize the particle swarm. Since the problem is relatively simple, 10 particles can be evenly arranged in the possible distance space. Each particle consists of three scalar data, which are:

[0097] Position quantity = , the optimal position vector is the historical optimal position of the particle, and the velocity .

[0098] 2. Location Update:

[0099] ,in, = + , Represents particles The current speed of movement is a vector whose dimension is determined by the dimension of the solution space. is the historical optimal position of the particle, is the global optimal position, and are the local and global correction coefficients.

[0100] Calculate the fitness evaluation correspondence of each particle The process is: if the evaluation value is better than the evaluation value of its own historical best position, then record this evaluation value as its own historical best value, and record the point position as its own historical best position, and at the same time, record the global historical best position , the speed and position after each iteration are determined by the following formula.

[0101] 3. Determine whether the iteration is complete, when the optimal position When the value is less than the threshold or the number of iterations reaches the set limit, the error ends and the optimal position is reported and error .

[0102] In some embodiments, before step S104 controls a preset laser emitter to strike a mosquito and fly killing target according to the positioning and tracking results, it also includes: determining whether there is a biological signal near the target direction of the mosquito and fly killing target based on data collected by a preset infrared detection device; step S104 controls a preset laser emitter to strike a mosquito and fly killing target according to the positioning and tracking results, including: when there is a biological signal near the target direction, the process of striking the mosquito and fly killing target is terminated.

[0103] Specifically, the target direction of the mosquito and fly killing object is determined according to the horizontal deviation adjustment value and the pitch deviation adjustment value.

[0104] The embodiment of the present application controls the process of attacking mosquitoes and flies through the detection of biological signals, thereby preventing damage to the human body during the attack on mosquitoes and flies.

[0105] An embodiment of the present application provides a mosquito and fly killing device based on audio signals, such as Figure 7 As shown, the device 70 includes: an audio signal acquisition module 701, a signal filtering processing module 702, a signal enhancement judgment module 703 and a positioning tracking processing module 704.

[0106] The audio signal acquisition module 701 is used to acquire the multi-channel array audio signals collected by the preset sound array;

[0107] The signal filtering processing module 702 is used to input the multi-channel array audio signals into the preset first matched filter and the second matched filter respectively to obtain the multi-channel first filtered signals and the multi-channel second filtered signals;

[0108] The signal enhancement judgment module 703 is used to perform enhancement processing on the multiple first filtered signals and the multiple second filtered signals respectively, and determine whether there is a mosquito and fly killing object in the current area according to the enhancement processing results;

[0109] The positioning and tracking processing module 704 is used to locate and track the mosquito and fly killing object according to the array signals detected by each array element of the acoustic array if there is a mosquito and fly killing object, and control the preset laser transmitter to strike the mosquito and fly killing object according to the positioning and tracking result.

[0110] The embodiment of the present application obtains a multi-channel array audio signal collected by a preset acoustic array, and uses two preset matched filters to complete the filtering and then enhance the processing, so as to complete the preliminary judgment of whether there are mosquitoes and flies according to the signal strength after the enhancement processing, and then locate and track the existing mosquito and fly killing objects according to the array signals detected by each array element of the acoustic array, and control the preset laser transmitter to attack the mosquito and fly killing objects according to the positioning and tracking results, so as to achieve the purpose of accurately locating and killing the mosquito and fly killing objects. This method of using two types of pre-trained filters to filter and enhance the collected multi-channel array audio signals can not only prepare to identify the type of mosquito and fly killing objects, but also improve the subsequent tracking efficiency of the mosquito and fly killing objects, thereby further improving the killing effect.

[0111] Furthermore, the signal enhancement judgment module includes:

[0112] A spectrum conversion submodule, used for performing Fourier conversion on the multiple first filtered signals and the multiple second filtered signals respectively, to obtain multiple first spectra and multiple second spectra;

[0113] A first enhanced identification submodule, configured to superimpose the multiple first frequency spectra to obtain a first superimposed frequency spectrum, and determine that mosquitoes exist in the current area when the amplitude of the first superimposed frequency spectrum is greater than a preset first amplitude threshold;

[0114] The second enhanced identification submodule is used to superimpose the multiple second frequency spectra to obtain a second superimposed frequency spectrum, and determine that flies exist in the current area when the amplitude of the second superimposed frequency spectrum is greater than a preset second amplitude threshold.

[0115] Furthermore, the signal filtering processing module includes:

[0116] A sample acquisition submodule, used for acquiring multiple mosquito sample audio sequences and multiple fly sample audio sequences;

[0117] A sample processing submodule, used for preprocessing the multiple mosquito sample audio sequences and the multiple fly sample audio sequences respectively, to obtain multiple mosquito audio sequences of equal length and multiple fly audio sequences of equal length;

[0118] A sample deduplication submodule is used to perform Fourier transform on multiple equal-length mosquito audio sequences and multiple equal-length fly audio sequences, and then perform small signal removal and denoising processing to obtain multiple denoised mosquito spectrums and multiple denoised fly spectrums;

[0119] The spectrum conversion submodule is used to perform superposition processing on multiple denoised mosquito spectra and multiple denoised fly spectra respectively to obtain corresponding mosquito characteristic spectra and fly characteristic spectra;

[0120] A first filter determination submodule, configured to perform an inverse Fourier transform on the mosquito characteristic spectrum to obtain a first filter sequence, and determine a first matched filter according to the first filter sequence;

[0121] The second filter determination submodule is used to perform inverse Fourier transform on the fly characteristic spectrum to obtain a second filter sequence, and determine a second matched filter according to the second filter sequence.

[0122] Furthermore, the positioning tracking processing module includes:

[0123] An array element delay estimation submodule is used to perform delay estimation based on array signals detected by each array element of the acoustic array to obtain horizontal delay distribution and elevation delay distribution;

[0124] The azimuth deviation determination submodule is used to input the horizontal delay distribution and the pitch delay distribution into the preset horizontal dynamics model and the pitch dynamics model respectively to obtain the horizontal deviation and the pitch deviation;

[0125] The aiming and striking processing submodule is used to control the attitude of the laser transmitter to aim at the mosquito and fly killing object and strike it according to the horizontal deviation value and the pitch deviation value.

[0126] Furthermore, the azimuth deviation determination submodule includes:

[0127] A first deviation determination unit is used to determine a horizontal deviation value of a horizontal time delay distribution, and input the horizontal deviation value into a first trajectory characteristic function of a mosquito and fly killing object flying in a horizontal direction, so as to obtain a horizontal deviation adjustment value to eliminate a horizontal error, wherein the first trajectory characteristic function is obtained by performing a pull-type transformation on the horizontal time delay distribution;

[0128] The second deviation determination unit is used to determine the pitch deviation value of the pitch delay distribution, and input the pitch deviation value into the second trajectory characteristic function of the mosquito and fly killing object flying in the pitch direction to obtain the pitch deviation adjustment value for eliminating the pitch error. The second trajectory characteristic function is obtained by performing a pull-type transformation result based on the pitch delay distribution.

[0129] Furthermore, the aiming and striking processing submodule includes:

[0130] An azimuth adjustment unit is used to adjust the attitude of the laser transmitter according to the horizontal deviation value and the pitch deviation value so as to aim the laser transmitter at the mosquito and fly killing object;

[0131] A distance estimation unit, used to perform distance estimation based on the horizontal delay distribution and the pitch delay distribution to obtain the target distance between the laser transmitter and the mosquito and fly killing object;

[0132] The strike control unit is used to determine the laser intensity required for the strike according to the target distance, and control the laser emitter to strike the mosquito and fly killing target according to the laser intensity.

[0133] Furthermore, the distance estimation unit comprises:

[0134] an error determination subunit, for determining a total delay error e of the linear array if the acoustic array is a linear array;

[0135] The distance solving subunit is used to solve the minimum value of the delay error sum e based on a preset error estimation algorithm to obtain the target distance;

[0136] in, ;

[0137] ;

[0138] ;

[0139] ; In the formula, The error of the 1st and 2nd array elements on the left, The error of the 1st and 3rd array elements on the left, The error between the 1st and nth elements on the left, is the target distance, d is the array element spacing, c is the propagation speed of sound waves in the air, T(2,1) is the horizontal delay between the 1st and 2nd array elements on the left, T(3,1) is the horizontal delay between the 1st and 3rd array elements on the left, and T(n,1) is the horizontal delay between the 1st and nth array elements on the left.

[0140] Furthermore, the positioning tracking processing module also includes:

[0141] The biological judgment submodule is used to determine whether there is a biological signal near the target direction of the mosquito and fly killing object based on the data collected by the preset infrared detection device before controlling the preset laser transmitter to strike the target mosquito and fly according to the positioning and tracking results;

[0142] The termination strike submodule is used to terminate the process of striking the mosquito and fly killing object when there is a biological signal near the target direction.

[0143] The above-mentioned device of this embodiment can execute the method shown in the first embodiment of the present application, and its implementation principle is similar, which will not be repeated here.

[0144] Another embodiment of the present application provides a terminal, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned search engine-based data processing method when executing the computer program.

[0145] Specifically, the processor may be a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0146] Specifically, the processor is connected to the memory via a bus, and the bus may include a path for transmitting information. The bus may be a PCI bus or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0147] The memory can be a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, or an EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0148] Optionally, the memory is used to store the code of the computer program for executing the solution of the present application, and the execution is controlled by the processor. The processor is used to execute the application program code stored in the memory to realize the action of the above-mentioned device.

[0149] The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0150] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0151] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present application. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A mosquito and fly killing method based on audio signals, applied to a pan / tilt platform carrying a laser transmitter and an acoustic array, wherein the laser transmitter is located at the center of the acoustic array, characterized in that: The method comprises: Acquire multi-channel array audio signals collected by a preset sound array; Inputting the multi-channel array audio signals into a preset first matched filter and a second matched filter respectively to obtain a multi-channel first filtered signal and a multi-channel second filtered signal; After respectively performing enhancement processing on the multiple first filtered signals and the multiple second filtered signals, determining whether there is a mosquito and fly killing object in the current area according to the enhancement processing results; If there is a mosquito and fly killing object, the mosquito and fly killing object is located and tracked according to the array signals detected by each array element of the acoustic array, and the preset laser transmitter is controlled to strike the mosquito and fly killing object according to the positioning and tracking result.

2. The method according to claim 1, characterized in that After the enhancement processing is performed on the multiple first filter signals and the multiple second filter signals respectively, determining whether there is an object to be killed in the current area according to the enhancement processing result includes: Performing Fourier transformation on the multiple first filtered signals and the multiple second filtered signals respectively to obtain multiple first spectra and multiple second spectra; Superimposing the multiple first frequency spectra to obtain a first superimposed frequency spectrum, and determining that mosquitoes exist in the current area when the amplitude of the first superimposed frequency spectrum is greater than a preset first amplitude threshold; A plurality of second frequency spectra are superimposed to obtain a second superimposed frequency spectrum, and when the amplitude of the second superimposed frequency spectrum is greater than a preset second amplitude threshold, it is determined that flies exist in the current area.

3. The method according to claim 1, characterized in that Before inputting the multi-channel array audio signals into the preset first matched filter and the second matched filter respectively to obtain the multi-channel first filtered signals and the multi-channel second filtered signals, the method further includes: Obtain multiple mosquito sample audio sequences and multiple fly sample audio sequences; Preprocessing the multiple mosquito sample audio sequences and the multiple fly sample audio sequences respectively to obtain multiple mosquito audio sequences of equal length and multiple fly audio sequences of equal length; Performing Fourier transform on multiple equal-length mosquito audio sequences and multiple equal-length fly audio sequences respectively, and then performing small signal removal and denoising processing to obtain multiple denoised mosquito spectrums and multiple denoised fly spectrums; Multiple denoised mosquito spectra and multiple denoised fly spectra are superimposed to obtain corresponding mosquito characteristic spectra and fly characteristic spectra; Performing an inverse Fourier transform on the mosquito characteristic spectrum to obtain a first filter sequence, and determining the first matched filter according to the first filter sequence; Perform an inverse Fourier transform on the fly characteristic spectrum to obtain a second filter sequence, and determine the second matched filter according to the second filter sequence.

4. The method according to claim 1, characterized in that The method of positioning and tracking the mosquito and fly killing object according to the array signals respectively detected by the array elements of the acoustic array, and controlling a preset laser transmitter to strike the mosquito and fly killing object according to the positioning and tracking result, comprises: Performing delay estimation according to array signals detected by each array element of the acoustic array to obtain horizontal delay distribution and elevation delay distribution; Inputting the horizontal delay distribution and the pitch delay distribution into a preset horizontal dynamics model and a preset pitch dynamics model respectively to obtain a horizontal deviation and a pitch deviation; The laser emitter is controlled according to the horizontal deviation value and the pitch deviation value to aim at the mosquito and fly killing object and strike it.

5. The method according to claim 4, characterized in that The step of inputting the horizontal delay distribution and the pitch delay distribution into a preset horizontal dynamics model and a preset pitch dynamics model respectively to obtain the horizontal deviation and the pitch deviation comprises: Determine a horizontal deviation value of the horizontal time delay distribution, and input the horizontal deviation value into a first trajectory characteristic function of the mosquito and fly killing object flying in the horizontal direction to obtain a horizontal deviation adjustment value to eliminate the horizontal error, wherein the first trajectory characteristic function is obtained by performing a pull-type transformation on the horizontal time delay distribution; Determine the pitch deviation value of the pitch delay distribution, and input the pitch deviation value into the second trajectory characteristic function of the mosquito and fly killing object flying in the pitch direction to obtain a pitch deviation adjustment value for eliminating the pitch error, wherein the second trajectory characteristic function is obtained by performing a pull-type transformation result based on the pitch delay distribution.

6. The method according to claim 4, characterized in that The step of controlling the laser emitter to aim at the mosquito and fly killing object and strike the mosquito and fly killing object according to the horizontal deviation value and the pitch deviation value comprises: Adjusting the posture of the laser emitter according to the horizontal deviation value and the pitch deviation value to aim the laser emitter at the mosquito and fly killing object; Distance estimation is performed based on the horizontal delay distribution and the pitch delay distribution to obtain a target distance between the laser transmitter and the mosquito and fly killing object; The laser intensity required for striking is determined according to the target distance, and the laser emitter is controlled to strike the mosquito and fly killing object according to the laser intensity.

7. The method according to claim 6, characterized in that The distance estimation is performed based on the horizontal delay distribution and the pitch delay distribution to obtain the target distance between the laser transmitter and the mosquito and fly killing object, including: If the acoustic array is a linear array, determining the total delay error e of the linear array; The delay error sum e is solved for a minimum value based on a preset error estimation algorithm to obtain the target distance; in, ; ； ； ； In the formula, The error between the first and second elements on the left, The error of the 1st and 3rd array elements on the left, The error between the 1st and nth elements on the left, is the target distance, d is the array element spacing, c is the propagation speed of sound waves in the air, T(2,1) is the horizontal delay between the 1st and 2nd array elements on the left, T(3,1) is the horizontal delay between the 1st and 3rd array elements on the left, and T(n,1) is the horizontal delay between the 1st and nth array elements on the left.

8. The method according to claim 1, characterized in that: Before controlling the preset laser transmitter to strike the mosquito and fly killing object according to the positioning and tracking result, the method further includes: Based on the data collected by the preset infrared detection device, determining whether there is a biological signal near the target direction of the mosquito and fly killing object; The method of controlling a preset laser emitter to strike the mosquito and fly killing object according to the positioning and tracking result includes: When there is a biological signal near the target direction, the process of attacking the mosquito and fly killing object is terminated.

9. A mosquito and fly killing device based on audio signals, applied to a pan / tilt platform carrying a laser emitter and an acoustic array, wherein the laser emitter is located at the center of the acoustic array, characterized in that: The device includes: An audio signal acquisition module is used to acquire multi-channel array audio signals collected by a preset sound array; A signal filtering processing module, used for inputting the multi-channel array audio signals into a preset first matched filter and a second matched filter respectively, to obtain a multi-channel first filtered signal and a multi-channel second filtered signal; A signal enhancement judgment module, used to perform enhancement processing on the multiple first filtered signals and the multiple second filtered signals respectively, and determine whether there is a mosquito and fly killing object in the current area according to the enhancement processing results; The positioning and tracking processing module is used to locate and track the mosquito and fly killing object if there is one, based on the array signals detected by each array element of the acoustic array, and to control a preset laser transmitter to strike the mosquito and fly killing object based on the positioning and tracking result.

10. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions, and the processor is used to execute the computer-readable instructions, wherein the computer-readable instructions execute the method according to any one of claims 1 to 8 when executed.

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