Dog training device electric pulse regulation and control system based on pet behaviors

Abstract

The invention relates to the technical field of behavior feedback control, in particular to a pet behavior-based dog training device electric pulse regulation and control system, which comprises an electric pulse conduction path optimization module, a response time delay calculation module, an electric pulse intensity regulation and control module, a progressive stimulation adjustment module and a signal conduction switching module. According to the invention, based on monitoring of an electric pulse electrode contact resistance value, skin conductivity and electric pulse signal transmission loss, a signal conduction path is dynamically adjusted, and according to pet behavior response time delay, a stimulation triggering rhythm is adjusted, an electric pulse output voltage is synchronously optimized, current density distribution is balanced, and discomfort caused by too strong local stimulation is reduced; a current stimulation mode and a behavior adjustment state are combined, a progressive mode of vibration, sound and electric pulse stimulation is optimized, electric pulse signal conduction loss is analyzed, a signal channel is dynamically adjusted according to skin conductivity and muscle tissue resistance, signal attenuation caused by electrode contact change is reduced, and the risk of signal interruption in the training process is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of behavior feedback control, and in particular to an electric pulse control system of a dog training device based on pet behavior. Background Art

[0002] The field of behavioral feedback control technology is an automated control technology based on real-time monitoring and feedback adjustment. The core of the technology is to use sensors or detection devices to monitor the behavior, state or environmental variables of the target object, and dynamically adjust the system output through feedback mechanisms to achieve the desired control effect. For example, in biological behavior regulation, behavioral feedback control technology can accurately identify and adjust the movement, reaction or state of the target, thereby improving the adaptability and intelligence level of the system.

[0003] Among them, the electric pulse control system of the dog training device based on pet behavior is a pet training device that combines behavioral feedback control technology, and is designed to correct and guide pet behavior through electric pulse stimulation. The system is mainly implemented through a dog training device, including a signal receiving device, a behavior analysis module, and an electric pulse control unit. It can monitor the behavior of the pet in real time, and when bad behavior is detected, it triggers a slight electric pulse stimulation for intervention. It is widely used in the fields of pet training, behavior correction, and safety management, helping pets develop good behavioral habits, while avoiding frequent intervention by the owner and improving training efficiency.

[0004] The current dog training device does not take into account the dynamic changes of electrode contact impedance and pet skin conductivity in the selection of electric pulse conduction paths. The stimulation signal may have unstable conduction loss due to fluctuations in the electrode state. The behavioral response delay is not included in the rhythm adjustment mechanism. The stimulation interval may not match the pet's response rhythm, affecting the continuity of behavioral training. The electric pulse output is not combined with the target muscle activation degree and signal conduction characteristics, which may cause uneven local stimulation intensity. The progressive stimulation method lacks optimization based on the behavior adjustment state. Low-intensity signals may be difficult to take effect, and the trigger frequency of high-intensity electric pulses is too high, affecting the progressiveness of training. The signal channel adjustment does not take into account the dynamic changes of skin conductivity and muscle tissue resistance, which may easily lead to too fast signal attenuation or unreasonable transmission path selection, affecting the stability of the training signal. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an electric pulse control system for a dog training device based on pet behavior.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: A dog training device electric pulse control system based on pet behavior comprises: The electric pulse conduction path optimization module collects the electric pulse electrode contact resistance value, pet skin conductivity, and signal transmission loss between electric pulse electrodes, selects the main electric pulse channel and the backup electric pulse channel, adjusts the electric pulse signal transmission path, and generates an optimized electric pulse signal path; The response delay calculation module optimizes the path of the electric pulse signal, counts the electric pulse trigger time and the pet muscle activity response time, calculates the pet behavior response delay, and generates the pet behavior response delay data; The electric pulse intensity control module obtains the conduction intensity of the electric pulse signal in the pet's muscle tissue according to the pet's behavior response delay data, adjusts the output voltage and calculates the current density distribution, and generates the electric pulse output control parameters; The progressive stimulation adjustment module monitors the pet's behavior adjustment state based on the electrical pulse output control parameters and the current stimulation mode, adjusts the trigger rhythm, and generates an optimized progressive stimulation mode; Based on the optimized progressive stimulation mode, the signal conduction switching module analyzes the current state of the electric pulse signal channel, monitors the electric pulse signal conduction loss, dynamically adjusts the signal channel, and generates the electric pulse signal conduction channel regulation result.

[0007] As a further solution of the present invention, the electric pulse signal optimization path includes a main electric pulse channel, a backup electric pulse channel, and signal transmission path adjustment parameters; the pet behavior response delay data includes electric pulse trigger time, pet muscle activity response time, and behavior response delay threshold comparison results; the electric pulse output control parameters include electric pulse output voltage, muscle tissue electric pulse conduction intensity, and current density distribution records; the optimized progressive stimulation mode includes vibration trigger rhythm, sound trigger rhythm, and electric pulse stimulation mode adjustment parameters; the electric pulse signal conduction channel control results include signal channel status, electric pulse signal conduction loss analysis results, and signal channel dynamic adjustment parameters.

[0008] As a further solution of the present invention, the electrical pulse conduction path optimization module includes an impedance value acquisition submodule, a channel screening submodule, and a path adjustment submodule; The impedance value acquisition submodule detects and calculates the electrode contact resistance value, conductivity value and signal transmission loss value based on the electric pulse electrode contact resistance value, pet skin conductivity and signal transmission loss between electric pulse electrodes, and establishes a resistance data set of differential electric pulse channels; generates a differential channel resistance set; The channel screening submodule screens the main electric pulse channel with the lowest loss and the backup electric pulse channel with the second lowest loss based on the differential channel resistance set, and determines the resistance values ​​and signal transmission characteristics of the two channels according to the screening results, using the formula: ; Calculate the effective impedance of the channel , generate the main channel and backup channel parameter set, where, Represents the resistance value of each channel, Represents the signal transmission loss of each channel, represents the conductivity value of the channel, Represents pet skin conductivity, represents the conductivity threshold, Represents the number of channels; The path adjustment submodule monitors the impedance change of the main channel caused by the pet's movement state according to the main channel and backup channel parameter set, and determines whether the main channel impedance exceeds the impedance threshold. When the main channel impedance exceeds the impedance threshold, the signal transmission is switched to the backup channel to generate an optimized electrical pulse signal transmission path.

[0009] As a further solution of the present invention, the response delay calculation module includes a signal time acquisition submodule, a delay calculation submodule, and a delay data generation submodule; The signal time acquisition submodule obtains the electric pulse trigger time and the pet muscle activity response time based on the electric pulse signal optimization path, records the actual time point data of the trigger time and the muscle response time, establishes the difference record of the corresponding time points, and generates the electric pulse trigger and response time point set; The delay calculation submodule compares the delay value according to the set of electrical pulse trigger and response time points and the set behavioral response threshold, using the formula: ; Calculate the pet behavior response delay value , generate behavioral response delay comparison data, where Represents the pet's muscle activity response time point, represents the time point of electric pulse triggering, Represents the actual response delay, represents the set behavioral response threshold; The delay data generation submodule integrates the delay value and the corresponding threshold state according to the comparison result based on the behavior response delay comparison data, classifies and organizes them into response delay data records, and generates pet behavior response delay data.

[0010] As a further solution of the present invention, the electric pulse intensity control module includes a signal intensity calculation submodule, an intensity comparison adjustment submodule, and a current density distribution calculation submodule; The signal strength calculation submodule obtains the conduction strength of the electric pulse signal in the pet's muscle tissue according to the pet's behavior response delay data, calculates the actual strength value of the signal conduction, and generates an electric pulse conduction strength data set; The intensity comparison adjustment submodule compares the electric pulse conduction intensity data set with the target muscle activation degree threshold, determines the matching of the current signal intensity, and adjusts the electric pulse output voltage value according to the comparison result, using the formula: ; Calculate the adjustment value of the electric pulse output voltage , generate the output voltage adjustment parameters, where, Represents the signal strength value, represents the conduction time of muscle tissue, represents the resistance value of the conduction path, Represents the target muscle activation threshold, Represents the current degree of muscle activation. Represents the signal strength quantity in the conduction path, Represents the number of resistance points in the conduction path; The current density distribution calculation submodule calculates the current density distribution in the muscle tissue based on the output voltage adjustment parameter and the adjusted electric pulse signal, and organizes and classifies the current density distribution in order to generate electric pulse current density distribution data.

[0011] As a further solution of the present invention, the progressive stimulation adjustment module includes a stimulation state monitoring submodule, a trigger rhythm adjustment submodule, and a stimulation mode optimization submodule; The stimulation state monitoring submodule monitors the behavior adjustment state of the pet based on the electric pulse output control parameters and in combination with the current stimulation mode, records the matching information between the behavior adjustment state and the current stimulation mode, and generates a behavior adjustment state data record; The trigger rhythm adjustment submodule adjusts the trigger time interval of the difference stimulation mode based on the behavior adjustment state data record for the current trigger rhythm of vibration, sound and electric pulse stimulation, using the formula: ; Calculate stimulus-triggered rhythm adjustment value , generating stimulus trigger rhythm parameters, where represents the time weight of the behavior state change, Represents the magnitude of change in the pet's behavior state. represents the signal power of the corresponding stimulation mode, represents the duration of the corresponding stimulus signal, Represents the matching difference between the current state and the target state, The number of monitoring data points representing the behavior state, The number of monitoring points representing the stimulation pattern signal parameters; The stimulation mode optimization submodule adjusts the triggering sequence and combination scheme of the vibration, sound and electric pulse stimulation modes according to the stimulation triggering rhythm parameters, and organizes and outputs the optimized progressive stimulation mode.

[0012] As a further solution of the present invention, the signal conduction switching module includes a signal channel state monitoring submodule, a conduction loss calculation submodule, and a signal channel adjustment submodule; The signal channel state monitoring submodule obtains the state data of the current electric pulse signal channel based on the optimized progressive stimulation mode, monitors the activity level, transmission stability and current conductivity information of the signal channel, and establishes a signal channel state data set; The conduction loss calculation submodule calculates the conduction loss value based on the signal channel state data set, the current pet skin conductivity and muscle tissue resistance, and the parameters of each signal channel using the formula: ; Calculating signal conduction loss values , output signal conduction loss data set, where, Representative The dynamic resistance value of each channel, represents the skin conductivity of the corresponding channel, Representative The signal voltage value of each channel, Representative Capacitance effect parameter value of each channel, Represents the difference between the maximum and minimum resistance values, Represents the difference between the maximum and minimum conductivity, Represents the number of samples for channel impedance monitoring, The number of samples representing the signal voltage parameter; The signal channel adjustment submodule adjusts the conduction path of the electric pulse signal according to the signal conduction loss data set, based on the calculated loss value and in combination with the current resistance and conductivity, updates the state configuration of the signal channel, and generates the electric pulse signal conduction channel regulation result.

[0013] Compared with the prior art, the advantages and positive effects of the present invention are: In the present invention, based on the monitoring of the contact resistance value of the electric pulse electrode, the skin conductivity and the transmission loss of the electric pulse signal, the signal conduction path is dynamically adjusted to reduce the signal loss and improve the stimulation stability. According to the pet's behavioral response delay, the stimulation trigger rhythm is adjusted in combination with the electric pulse trigger time and the muscle activity response time to reduce unnecessary repeated stimulation. According to the electric pulse conduction strength of the muscle tissue and the degree of activation of the target muscle, the electric pulse output voltage is optimized, the current density distribution is balanced, and the discomfort caused by excessive local stimulation is reduced. In combination with the current stimulation mode and the behavior adjustment state, the progressive mode of vibration, sound and electric pulse stimulation is optimized to reduce the dependence on high-intensity electric pulses. By monitoring the signal channel state, the electric pulse signal conduction loss is analyzed, and the signal channel is dynamically adjusted according to the skin conductivity and muscle tissue resistance to reduce the signal attenuation caused by changes in electrode contact and reduce the risk of signal interruption during training. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a system flow chart of the present invention; Figure 2 This is a flow chart of the electric pulse conduction path optimization module of the present invention; Figure 3 This is a flow chart of the response delay calculation module of the present invention; Figure 4 This is a flow chart of the electric pulse intensity control module of the present invention; Figure 5 This is a flow chart of the progressive stimulation adjustment module of the present invention; Figure 6 This is a flow chart of the signal conduction switching module of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention 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 invention and are not intended to limit the present invention.

[0016] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0017] See also Figure 1, a dog training device electric pulse control system based on pet behavior includes: The electric pulse conduction path optimization module collects the electric pulse electrode contact resistance value, pet skin conductivity, and signal transmission loss between electric pulse electrodes, calculates the resistance of differential electric pulse channels, selects the main electric pulse channel with the lowest loss, selects the backup electric pulse channel with the second lowest loss, monitors the change in electric pulse electrode contact impedance caused by the pet's movement state, and when the main electric pulse channel impedance exceeds the impedance threshold, calls the backup electric pulse channel, adjusts the electric pulse signal transmission path, and generates an optimized electric pulse signal path; The response delay calculation module optimizes the path based on the electric pulse signal, counts the electric pulse trigger time and the pet's muscle activity response time, calculates the pet's behavior response delay, compares it with the set behavior response threshold, and generates the pet's behavior response delay data; The electric pulse intensity control module obtains the conduction intensity of the electric pulse signal in the pet's muscle tissue according to the pet's behavioral response delay data, compares the target muscle activation threshold, adjusts the electric pulse output voltage, calculates the electric pulse current density distribution, and generates the electric pulse output control parameters; The progressive stimulation adjustment module is based on the electric pulse output control parameters, combined with the current stimulation mode, monitors the pet's behavior adjustment status, adjusts the trigger rhythm of the vibration, sound and electric pulse stimulation mode, and generates an optimized progressive stimulation mode; Based on the optimized progressive stimulation mode, the signal conduction switching module analyzes the current state of the electric pulse signal channel, monitors the electric pulse signal conduction loss, dynamically adjusts the signal channel according to the pet's skin conductivity and muscle tissue resistance, and generates the electric pulse signal conduction channel regulation results.

[0018] The electric pulse signal optimization path includes the main electric pulse channel, the backup electric pulse channel, and the signal transmission path adjustment parameters; the pet behavior response delay data includes the electric pulse trigger time, the pet muscle activity response time, and the behavior response delay threshold comparison results; the electric pulse output control parameters include the electric pulse output voltage, the muscle tissue electric pulse conduction intensity, and the current density distribution record; the optimized progressive stimulation mode includes the vibration trigger rhythm, the sound trigger rhythm, and the electric pulse stimulation mode adjustment parameters; the electric pulse signal conduction channel control results include the signal channel status, the electric pulse signal conduction loss analysis results, and the signal channel dynamic adjustment parameters.

[0019] See also Figure 2 ,The electrical pulse conduction path optimization module includes ,impedance value acquisition submodule, channel screening submodule, and path adjustment submodule; The impedance value acquisition submodule detects and calculates the electrode contact resistance value, conductivity value and signal transmission loss value based on the electric pulse electrode contact resistance value, pet skin conductivity and signal transmission loss between electric pulse electrodes, and establishes a resistance data set of differential electric pulse channels; generates a differential channel resistance set; Based on the contact resistance value of the electric pulse electrode, the pet's skin conductivity and the signal transmission loss between the electric pulse electrodes, the resistance data set of the differential electric pulse channel is obtained. First, the contact resistance value of the electric pulse electrode can be detected. The electrode contact resistance of multiple channels can be collected one by one through a resistance tester. For example, the contact resistance of channel A is measured to be 10Ω, channel B is 12Ω, and channel C is 15Ω. At the same time, the pet's skin conductivity value can be measured through a bioconductivity tester. The unit of skin conductivity is set to μS / cm. The skin conductivity corresponding to channel A is measured to be 200μS / cm, channel B is 180μS / cm, and channel C is 150μS / cm. Finally, the signal transmission loss value of each channel is obtained through a signal transmission loss tester. Channel A is measured to be 0.1mW, channel B is 0.2mW, and channel C is 0.3mW. After integrating the data, a resistance data set of the differential channel is established; a differential channel resistance set is generated.

[0020] The channel screening submodule screens the main electric pulse channel with the lowest loss and the backup electric pulse channel with the second lowest loss based on the differential channel resistance set. According to the screening results, the resistance values ​​and signal transmission characteristics of the two channels are determined using the formula: ; Calculate the effective impedance of the channel , generate the main channel and backup channel parameter set, where, Represents the resistance value of each channel, Represents the signal transmission loss of each channel, represents the conductivity value of the channel, Represents pet skin conductivity, represents the conductivity threshold, Represents the number of channels; Based on the set of differential channel resistances, the main electric pulse channel with the lowest loss and the backup electric pulse channel with the second lowest loss are screened. First, the resistance value, conductivity value and signal loss value of each channel in the set are integrated and calculated, and then operated through the formula.

[0021] Among them, the parameters of channel A are: The parameters of channel B are: The parameters of channel C are: Assuming conductivity threshold , put the data into the formula and calculate step by step, and get: The effective impedance of channel A is: The effective impedance of channel B is: The effective impedance of channel C is: By comparing the effective impedance values, channel C is selected as the main electric pulse channel (channel C is the lowest), and channel B is selected as the backup electric pulse channel (channel B is the second lowest), thereby generating a main channel and backup channel parameter set.

[0022] The path adjustment submodule monitors the impedance change of the main channel caused by the pet's movement state according to the parameter set of the main channel and the backup channel, and determines whether the impedance of the main channel exceeds the impedance threshold. When the impedance of the main channel exceeds the impedance threshold, the signal transmission is switched to the backup channel to generate an optimized electric pulse signal transmission path; According to the parameter set of the main channel and the backup channel, the impedance change of the main channel caused by the pet's movement state is monitored, and the contact impedance change in the movement state is collected by the sensor. For example, the threshold value of the contact impedance change in the movement state is set to 50Ω, and the real-time impedance value is collected to find that the impedance of the main channel C increases from the original 15Ω to 60Ω, exceeding the threshold. According to the parameter set of the backup channel, the electric pulse signal transmission path is adjusted, and the signal transmission is switched to the backup channel B. At the same time, the signal characteristic parameters of the backup channel are corrected to ensure transmission matching. For example, according to the signal transmission loss of channel B, the electric pulse output power is readjusted to an inversely proportional adjustment amount to the corresponding loss value. The specific adjustment amount is a compensation ratio of 0.2mW-1, and the electric pulse output power is set to 10mW. The transmission path of the backup channel is established to complete the signal switching; the optimized electric pulse signal transmission path is generated.

[0023] See also Figure 3 , the response delay calculation module includes a signal time acquisition submodule, a delay calculation submodule, and a delay data generation submodule; The signal time acquisition submodule optimizes the path based on the electric pulse signal, obtains the electric pulse trigger time and the pet muscle activity response time, records the actual time point data of the trigger time and the muscle response time, establishes the difference record of the corresponding time points, and generates the electric pulse trigger and response time point set; Based on the optimized path of the electric pulse signal, the electric pulse trigger time and the pet muscle activity response time are obtained. These two time points are collected by a time recorder respectively, where the electric pulse trigger time is recorded based on the starting point of the electric pulse signal path, specifically the time when the signal electrode starts to send the electric pulse signal. For example, the electric pulse trigger time is set to 12.035 seconds in the experimental scenario; the pet muscle activity response time is detected by the sensor arranged at the muscle activity point to detect the initial time of the muscle response. For example, the start time of the muscle response is detected to be 12.097 seconds. The time interval can be obtained by calculating the difference between these two time points, and a difference time point record table is further established. The record table records the difference between multiple trigger and response time points in seconds. For example, the time differences recorded in continuous experiments are 0.062 seconds, 0.058 seconds, and 0.065 seconds, respectively. It is ensured that the time point data in the record table are derived from the average value of multiple samplings, and finally a set of electric pulse trigger and response time points is generated.

[0024] The delay calculation submodule compares the delay value according to the set of electrical pulse trigger and response time points and the set behavioral response threshold, using the formula: ; Calculate the pet behavior response delay value , generate behavioral response delay comparison data, where Represents the pet's muscle activity response time point, represents the time point of electric pulse triggering, Represents the actual response delay, represents the set behavioral response threshold; According to the set of electric pulse triggering and response time points, the time point differences in the set are calculated one by one, and each time difference is compared with the set behavioral response threshold, where the behavioral response threshold is preset to 0.07 seconds.

[0025] Substitute the above data into the formula for calculation. , , , , the calculation process is as follows: Repeat the calculation for other data to eventually obtain the response delay value of each data point, and then generate behavioral response delay comparison data, which can more accurately evaluate whether the threshold standard is met and make a more precise measurement of the behavioral response.

[0026] The delay data generation submodule integrates the delay value and the corresponding threshold state according to the comparison result based on the behavior response delay comparison data, classifies and organizes them into response delay data records, and generates pet behavior response delay data; Based on the behavior response delay comparison data, all calculated response delay values ​​and behavior response thresholds are classified and sorted. When it is less than or equal to the threshold of 0.07 seconds, it is classified as "normal response", and when it is greater than the threshold, it is classified as "delayed response". Through this classification, a response delay record table is generated, which contains the experiment number, response delay value and classification result. For example, the response delay value of experiment number 1 is 0.062 seconds, which is classified as "normal response"; the response delay value of experiment number 2 is 0.072 seconds, which is classified as "delayed response". All data points in the record table are integrated to generate pet behavior response delay data.

[0027] See also Figure 4 ,The electric pulse intensity control module includes a signal intensity calculation submodule, an intensity contrast adjustment submodule, and a current density distribution calculation submodule; The signal strength calculation submodule obtains the conduction strength of the electric pulse signal in the pet's muscle tissue according to the pet's behavioral response delay data, calculates the actual strength value of the signal conduction, and generates a data set of the electric pulse conduction strength; Based on the pet behavior response delay data, the pet behavior response data is preliminarily analyzed, and the intensity data of each electric pulse signal transmitted to the muscle tissue is extracted. Combined with the monitored muscle tissue activation effect of the electric pulse, the extracted conduction intensity is associated with the activation effect, and the range of conduction intensity changes is recorded to generate a basic intensity data set. For example, in the experiment, the conduction intensity of a certain signal is recorded as 20mA / cm², and another is 18mA / cm², and it is observed that the muscle activation effect reaches the threshold of 25%. These data are stored in the set as independent records of each signal. In the comparison process, according to the activation standard of the target muscle, for example, the muscle activation rate threshold is set to 30%. Through the above data, it can be analyzed whether the performance of the conduction intensity of a single signal meets expectations, which can reflect the distribution of conduction intensity, and then generate an electric pulse conduction intensity data set.

[0028] The intensity comparison adjustment submodule compares the electric pulse conduction intensity data set with the target muscle activation threshold to determine the matching of the current signal intensity and adjusts the electric pulse output voltage value according to the comparison result. The formula is: ; Calculate the adjustment value of the electric pulse output voltage , generate the output voltage adjustment parameters, where, Represents the signal strength value, represents the conduction time of muscle tissue, represents the resistance value of the conduction path, Represents the target muscle activation threshold, Represents the current degree of muscle activation. Represents the signal strength quantity in the conduction path, represents the number of resistance points in the conduction path; Call the data set of electric pulse conduction strength, first compare the strength values ​​in the set with the target muscle activation threshold one by one, for example, calculate the correspondence between the conduction strength of 20mA / cm² and the activation threshold of 30% to determine whether it meets the activation requirement. If the conduction strength is insufficient, calculate the adjusted electric pulse output voltage. In the process of calculating the adjusted output voltage value, the resistance value of the conduction path, current distribution and other factors are combined, and the formula is used for calculation.

[0029] For example, in one path, the conduction intensity , conduction time , path resistance , target activation threshold , the current activation level , substitute into the formula to calculate: but: The calculated results show that the adjusted output voltage needs to be set to 15V to meet the target activation level requirement, thereby generating the output voltage adjustment parameters.

[0030] The current density distribution calculation submodule calculates the current density distribution in the muscle tissue based on the output voltage adjustment parameters and the adjusted electric pulse signal, and sorts and classifies the data to generate electric pulse current density distribution data; Call the output voltage adjustment parameters, apply the adjusted electric pulse signal to the muscle tissue, and calculate the current density distribution value under the adjusted voltage. For example, after the voltage is adjusted to 15V, the current density distribution is calculated by the cross-sectional area of ​​the muscle. Assuming the cross-sectional area is 5cm², the calculated current density is , these current density values ​​are classified and summarized to form the current distribution curve of the muscle activation area, the current distribution change trend of each area is sorted and archived, and finally the electric pulse current density distribution data is generated.

[0031] See also Figure 5 ,The progressive stimulation adjustment module includes a stimulation state monitoring submodule, a trigger rhythm adjustment submodule, and a stimulation pattern optimization submodule; The stimulation state monitoring submodule monitors the behavior adjustment state of the pet based on the electric pulse output control parameters and the current stimulation mode, records the matching information between the behavior adjustment state and the current stimulation mode, and generates behavior adjustment state data records; The stimulation state monitoring submodule obtains the behavior adjustment state of the pet based on the electric pulse output control parameters. By analyzing the pet's behavior state under different stimulation modes and combining the electric pulse output control parameters, the three stimulation modes of vibration, sound and electric pulse are tested one by one, and the pet's behavior response data of each mode under different intensities, frequencies and time intervals are recorded. During the monitoring process, the behavior adjustment state is quantified into specific indicators, such as behavior response time, movement amplitude and behavior duration, etc., which are recorded in seconds (s), millimeters (mm), and seconds (s). The behavioral response when each stimulation mode is triggered is marked by a signal recorder, and a time series record is constructed. Finally, the behavior adjustment state data record is generated by combining the above data.

[0032] The trigger rhythm adjustment submodule adjusts the trigger time interval of the differential stimulation mode based on the behavior adjustment state data record for the current trigger rhythm of vibration, sound and electric pulse stimulation, using the formula: ; Calculate stimulus-triggered rhythm adjustment value , generating stimulus trigger rhythm parameters, where represents the time weight of the behavior state change, Represents the magnitude of change in the pet's behavior state. represents the signal power of the corresponding stimulation mode, represents the duration of the corresponding stimulus signal, Represents the matching difference between the current state and the target state, The number of monitoring data points representing the behavior state, The number of monitoring points representing the stimulation pattern signal parameters; The trigger rhythm adjustment submodule calls the behavior adjustment state data record to adjust the trigger rhythm of vibration, sound and electric pulse stimulation. It extracts the response time, behavior amplitude and signal trigger frequency parameters of each behavior state in the record and uses the formula for calculation.

[0033] in, The time weight range is 0.1-1.0. The specific weight is calculated according to the matching degree between the behavior response time and the signal trigger. For example, if the behavior responds within 0.5 seconds after a signal is triggered, the weight is set to 0.8, and if the behavior responds within 1 second after the trigger, the weight is set to 0.5. When the pet's behavioral response amplitude is 5 mm and the behavioral response duration is 2 seconds, the corresponding recorded data power 10 watts, duration 1 second, signal status matching difference Set as the behavior amplitude difference. Assume that the current mode is 1 mm, and the absolute value of the difference with the target value of 2 mm is 1 mm. Substitute the above data into the formula and calculate as follows: ; The final stimulus trigger rhythm adjustment value was 1.674 seconds. By combining multi-dimensional parameters such as behavioral response time weight, behavioral amplitude, signal trigger power, and duration, the trigger rhythm was quantified to generate stimulus trigger rhythm parameters.

[0034] The stimulation mode optimization submodule adjusts the triggering sequence and combination scheme of vibration, sound and electric pulse stimulation modes according to the stimulation triggering rhythm parameters, and organizes and outputs the optimized progressive stimulation mode; The stimulation pattern optimization submodule calls the stimulation trigger rhythm parameters to adjust the trigger sequence and combination scheme of the vibration, sound and electric pulse stimulation modes. In specific implementation, by changing the trigger rhythm of the three stimulation modes, the vibration trigger interval is set to 1.674 seconds, the sound stimulation interval is set to 2 seconds, and the electric pulse interval is set to 1 second. By continuously recording the pet's behavioral response data, the influence of the adjusted trigger sequence on the behavioral adjustment is confirmed. The sequence optimization method is used to record the changes in the behavioral amplitude and response time under different combinations. Finally, the optimized progressive stimulation pattern is sorted out to form a parameter table containing the trigger sequence and time interval, for example, [vibration: 1.674 seconds -> sound: 2 seconds -> pulse: 1 second], to generate optimized progressive stimulation pattern data.

[0035] See also Figure 6 ,The signal conduction switching module includes a signal channel state monitoring submodule, a conduction loss calculation submodule, and a signal channel adjustment submodule; The signal channel status monitoring submodule obtains the status data of the current electric pulse signal channel based on the optimized progressive stimulation mode, monitors the activity level, transmission stability and current conductivity information of the signal channel, and establishes a signal channel status data set; Based on the optimized progressive stimulation mode, we first need to obtain the status data of the current electric pulse signal channel. For the status monitoring of the signal channel, we need to clarify the parameters involved. For example, the activity of the signal channel can be quantified by the channel opening frequency, and the transmission stability can be obtained by calculating the signal attenuation ratio. The current conductivity information needs to be directly measured by the pet skin conductivity sensor. In this example, it is assumed that the opening frequencies of channel 1 and channel 2 are 5 times per minute and 7 times per minute respectively, the signal attenuation ratios are 2% and 4% respectively, and the skin conductivities are 0.8S / m and 0.7S / m respectively. The above data are collected in real time by the monitoring equipment. The data are collected and stored in the signal channel status database, and then they need to be classified and organized to establish a signal channel status data set, which includes the dynamic resistance value, conductivity and other related performance parameters of each channel. At the same time, the variation range of the above parameters needs to be preliminarily classified. For example, the activity level interval can be set as "low: ≤3 times per minute", "medium: 4-6 times per minute", "high: ≥7 times per minute" for further analysis. Combined with the frequency of channel 2 in the example of 7 times per minute, it is classified as a high activity state. The transmission stability and conductivity data are used as input conditions for subsequent operations to generate a signal channel status data set.

[0036] The conduction loss calculation submodule calculates the conduction loss value based on the signal channel status data set, the current pet skin conductivity and muscle tissue resistance, and the parameters of each signal channel using the formula: ; Calculating signal conduction loss values , output signal conduction loss data set, where, Representative The dynamic resistance value of each channel, represents the skin conductivity of the corresponding channel, Representative The signal voltage value of each channel, Representative Capacitance effect parameter value of each channel, Represents the difference between the maximum and minimum resistance values, Represents the difference between the maximum and minimum conductivity, Represents the number of samples for channel impedance monitoring, The number of samples representing the signal voltage parameter; According to the signal channel status data set, the signal conduction loss value needs to be calculated based on the pet's skin conductivity and muscle tissue resistance. For the dynamic resistance value and skin conductivity The dynamic resistance is obtained by calculating the impedance change per unit length in the monitoring channel. For example, the dynamic resistance of channel 1 is 6Ω, and that of channel 2 is 8Ω. The conductivity is directly obtained through the conductivity sensor as 0.8S / m and 0.7S / m. For the signal voltage value and capacitance effect parameters The voltage value is obtained by measuring the peak value change of the electric pulse in different time periods. For example, the peak voltages of channel 1 and channel 2 are 5V and 4.5V respectively. The capacitance effect parameters can be obtained by fitting the impedance frequency curve as 1.2μF for channel 1 and 1.4μF for channel 2. Then substitute them into the formula for calculation. Substituting the above values ​​into the calculation, the product of the square of the dynamic resistance and the conductivity is: The square root sum of voltage and capacitance is: Resistance difference: Conductivity difference: Sample size , , so the final loss value is: The calculation result is the conduction loss value of the signal channel, and the statistics are counted and output as a signal conduction loss data set.

[0037] The signal channel adjustment submodule adjusts the conduction path of the electric pulse signal according to the signal conduction loss data set, the calculated loss value, and the current resistance and conductivity, updates the state configuration of the signal channel, and generates the control result of the conduction channel of the electric pulse signal; Based on the signal conduction loss data set, it is necessary to dynamically select the signal channel with the lowest loss and prioritize the channels according to the loss data. For example, the loss values ​​of channel 1 and channel 2 are 14.88 and 16.20 respectively. Channel 1 with lower loss is selected first. At the same time, combined with the dynamic resistance and conductivity information, the conduction path of the electric pulse signal is adjusted, the signal is switched to channel 1 for conduction, and the dynamic parameters in the conduction path are reconfigured. For example, after the channel is switched, the impedance of channel 1 is remeasured to be 5.8Ω and the conductivity is 0.82S / m. The updated signal channel state parameters are written into the control system to generate the final electric pulse signal conduction channel regulation result.

[0038] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A dog training device electric pulse control system based on pet behavior, characterized in that: The system comprises: The electric pulse conduction path optimization module collects the electric pulse electrode contact resistance value, pet skin conductivity, and signal transmission loss between electric pulse electrodes, selects the main electric pulse channel and the backup electric pulse channel, adjusts the electric pulse signal transmission path, and generates an optimized electric pulse signal path; The response delay calculation module optimizes the path of the electric pulse signal, counts the electric pulse trigger time and the pet muscle activity response time, calculates the pet behavior response delay, and generates the pet behavior response delay data; The electric pulse intensity control module obtains the conduction intensity of the electric pulse signal in the pet's muscle tissue according to the pet's behavior response delay data, adjusts the output voltage and calculates the current density distribution, and generates the electric pulse output control parameters; The progressive stimulation adjustment module monitors the pet's behavior adjustment state based on the electrical pulse output control parameters and the current stimulation mode, adjusts the trigger rhythm, and generates an optimized progressive stimulation mode; Based on the optimized progressive stimulation mode, the signal conduction switching module analyzes the current state of the electric pulse signal channel, monitors the electric pulse signal conduction loss, dynamically adjusts the signal channel, and generates the electric pulse signal conduction channel regulation result.

2. The electric pulse control system for dog training based on pet behavior according to claim 1, characterized in that: The electric pulse signal optimization path includes the main electric pulse channel, the backup electric pulse channel, and the signal transmission path adjustment parameters; the pet behavior response delay data includes the electric pulse trigger time, the pet muscle activity response time, and the behavior response delay threshold comparison result; the electric pulse output control parameters include the electric pulse output voltage, the muscle tissue electric pulse conduction intensity, and the current density distribution record; the optimized progressive stimulation mode includes the vibration trigger rhythm, the sound trigger rhythm, and the electric pulse stimulation mode adjustment parameters; the electric pulse signal conduction channel control results include the signal channel status, the electric pulse signal conduction loss analysis results, and the signal channel dynamic adjustment parameters.

3. The electric pulse control system for dog training based on pet behavior according to claim 1, characterized in that: The electrical pulse conduction path optimization module includes an impedance value acquisition submodule, a channel screening submodule, and a path adjustment submodule; The impedance value acquisition submodule detects and calculates the electrode contact resistance value, conductivity value and signal transmission loss value based on the electric pulse electrode contact resistance value, pet skin conductivity and signal transmission loss between electric pulse electrodes, and establishes the resistance data set of the differential electric pulse channel; generating a set of differential channel resistances; The channel screening submodule screens the main electric pulse channel with the lowest loss and the backup electric pulse channel with the second lowest loss based on the differential channel resistance set, and determines the resistance values ​​and signal transmission characteristics of the two channels according to the screening results, using the formula: ； Calculate the effective impedance of the channel , generate the main channel and backup channel parameter set, where, Represents the resistance value of each channel, Represents the signal transmission loss of each channel, represents the conductivity value of the channel, Represents pet skin conductivity, represents the conductivity threshold, Represents the number of channels; The path adjustment submodule monitors the impedance change of the main channel caused by the pet's movement state according to the main channel and backup channel parameter set, and determines whether the main channel impedance exceeds the impedance threshold. When the main channel impedance exceeds the impedance threshold, the signal transmission is switched to the backup channel to generate an optimized electrical pulse signal transmission path.

4. The electric pulse control system for dog training based on pet behavior according to claim 1, characterized in that: The response delay calculation module includes a signal time acquisition submodule, a delay calculation submodule, and a delay data generation submodule; The signal time acquisition submodule obtains the electric pulse trigger time and the pet muscle activity response time based on the electric pulse signal optimization path, records the actual time point data of the trigger time and the muscle response time, establishes the difference record of the corresponding time points, and generates the electric pulse trigger and response time point set; The delay calculation submodule compares the delay value according to the set of electrical pulse trigger and response time points and the set behavioral response threshold, using the formula: ； Calculate the pet behavior response delay value , generate behavioral response delay comparison data, where Represents the pet's muscle activity response time point, represents the time point of electric pulse triggering, Represents the actual response delay, represents the set behavioral response threshold; The delay data generation submodule integrates the delay value and the corresponding threshold state according to the comparison result based on the behavior response delay comparison data, classifies and organizes them into response delay data records, and generates pet behavior response delay data.

5. The electric pulse control system for dog training based on pet behavior according to claim 1, characterized in that: The electric pulse intensity control module includes a signal intensity calculation submodule, an intensity comparison adjustment submodule, and a current density distribution calculation submodule; The signal strength calculation submodule obtains the conduction strength of the electric pulse signal in the pet's muscle tissue according to the pet's behavior response delay data, calculates the actual strength value of the signal conduction, and generates an electric pulse conduction strength data set; The intensity comparison adjustment submodule compares the electric pulse conduction intensity data set with the target muscle activation degree threshold, determines the matching of the current signal intensity, and adjusts the electric pulse output voltage value according to the comparison result, using the formula: ； Calculate the adjustment value of the electric pulse output voltage , generate the output voltage adjustment parameters, where, Represents the signal strength value, represents the conduction time of muscle tissue, represents the resistance value of the conduction path, Represents the target muscle activation threshold, Represents the current degree of muscle activation. Represents the signal strength quantity in the conduction path, Represents the number of resistance points in the conduction path; The current density distribution calculation submodule calculates the current density distribution in the muscle tissue based on the output voltage adjustment parameter and the adjusted electric pulse signal, and organizes and classifies the current density distribution in order to generate electric pulse current density distribution data.

6. The electric pulse control system for dog training based on pet behavior according to claim 1, characterized in that: The progressive stimulation adjustment module includes a stimulation state monitoring submodule, a trigger rhythm adjustment submodule, and a stimulation mode optimization submodule; The stimulation state monitoring submodule monitors the behavior adjustment state of the pet based on the electric pulse output control parameters and in combination with the current stimulation mode, records the matching information between the behavior adjustment state and the current stimulation mode, and generates a behavior adjustment state data record; The trigger rhythm adjustment submodule adjusts the trigger time interval of the difference stimulation mode based on the behavior adjustment state data record for the current trigger rhythm of vibration, sound and electric pulse stimulation, using the formula: ； Calculate stimulus-triggered rhythm adjustment value , generating stimulus trigger rhythm parameters, where represents the time weight of the behavior state change, Represents the magnitude of change in the pet's behavior state. represents the signal power of the corresponding stimulation mode, represents the duration of the corresponding stimulus signal, Represents the matching difference between the current state and the target state, The number of monitoring data points representing the behavior state, The number of monitoring points representing the stimulation pattern signal parameters; The stimulation mode optimization submodule adjusts the triggering sequence and combination scheme of the vibration, sound and electric pulse stimulation modes according to the stimulation triggering rhythm parameters, and organizes and outputs the optimized progressive stimulation mode.

7. The electric pulse control system for dog training based on pet behavior according to claim 1, characterized in that: The signal conduction switching module includes a signal channel state monitoring submodule, a conduction loss calculation submodule, and a signal channel adjustment submodule; The signal channel state monitoring submodule obtains the state data of the current electric pulse signal channel based on the optimized progressive stimulation mode, monitors the activity level, transmission stability and current conductivity information of the signal channel, and establishes a signal channel state data set; The conduction loss calculation submodule calculates the conduction loss value based on the signal channel state data set, the current pet skin conductivity and muscle tissue resistance, and the parameters of each signal channel using the formula: ； Calculating signal conduction loss values , output signal conduction loss data set, where, Representative The dynamic resistance value of each channel, represents the skin conductivity of the corresponding channel, Representative The signal voltage value of each channel, Representative Capacitance effect parameter value of each channel, Represents the difference between the maximum and minimum resistance values, Represents the difference between the maximum and minimum conductivity, Represents the number of samples for channel impedance monitoring, The number of samples representing the signal voltage parameter; The signal channel adjustment submodule adjusts the conduction path of the electric pulse signal according to the signal conduction loss data set, based on the calculated loss value and in combination with the current resistance and conductivity, updates the state configuration of the signal channel, and generates the electric pulse signal conduction channel regulation result.

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