Electric shock mouse trapping method based on millimeter wave radar and related equipment

Abstract

The invention relates to an electric shock mouse trapping method based on millimeter wave radar and related equipment. According to the method, dynamic parameters of a target object are collected through a millimeter wave radar, the dynamic parameters comprise a radar scattering sectional area, a vital sign signal and a motion trail, and the target object is intelligently classified through a multi-modal feature fusion algorithm. When the target is identified as a mouse, the electrode system applies a first voltage according to the physical characteristics of the target so as to perform electric shock; and if the vital signs are still detected to exist, a higher second voltage is applied to enhance the electric shock, so that the killing success rate is improved. The system further comprises a safety identification mechanism aiming at human beings or pets, so that accidental injury is avoided, and use safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to animal identification and killing technology, and in particular to an electric shock mouse-catching method and related equipment that combines millimeter-wave radar perception with an artificial intelligence classification algorithm. Background Art

[0002] Most existing electric mousetraps use infrared, laser or pressure sensors to detect the presence of mice, which has a high misjudgment rate and a fixed electric shock strategy, resulting in low killing efficiency. Summary of the Invention

[0003] In view of the above, it is necessary to provide an electric shock mouse catching method and related equipment with high-precision target recognition, adaptive electric shock intensity control and accidental injury protection mechanism to solve the problems of inaccurate recognition, uncontrollable killing and poor safety in the existing technology.

[0004] In a first aspect, the present application provides an electric shock mouse catching device, comprising an electrode array, the electric shock mouse catching device also comprising a millimeter wave radar and a controller, the millimeter wave radar being used to obtain dynamic parameters of a target object, the dynamic parameters comprising at least one of the following: radar cross-sectional area RCS, vital signs signal, and motion trajectory; the controller being used to classify the target object according to the dynamic parameters, and if the target object is determined to be a mouse, the controller controls the electrodes of the electrode array to output a first voltage to perform an electric shock on the target object, and if vital signs signal is still detected in the target object after the electric shock, the controller controls the electrodes to output a second voltage higher than the first voltage to perform an electric shock on the target object again.

[0005] In some embodiments of the present application, the electric shock mouse catching device further includes a fence, which is arranged around the electrode array. If it is determined that the target object is a mouse, the controller further controls the gate control system of the fence to close the door.

[0006] In some embodiments of the present application, the electrodes of the electrode array are connected by telescopic rods, the controller determines the size of the target object according to the dynamic parameters, and controls the driving device to adjust the spacing between the electrodes according to the size.

[0007] In some embodiments of the present application, the electrode includes a gold-plated copper foil layer and a ceramic insulating layer.

[0008] In a second aspect, the present application provides a method for catching mice by electric shock based on millimeter-wave radar, the method comprising: collecting dynamic parameters of a target object through a millimeter-wave radar, the dynamic parameters comprising at least one of the following: radar cross-sectional area RCS, vital signs signal, and motion trajectory; based on the dynamic parameters, classifying the target object using a multimodal feature fusion algorithm; if the target object is determined to be a mouse, controlling the electrode to output a first voltage to perform an electric shock on the target object; if vital signs signal is still detected in the target object after the electric shock, controlling the electrode to output a second voltage higher than the first voltage to perform an electric shock on the target object again.

[0009] In some embodiments of the present application, the method further includes: determining the mass of the target object based on the radar scattering cross-section of the target object; collecting the distance between the target object and the millimeter-wave radar through the millimeter-wave radar, and determining the first voltage based on the distance and the mass.

[0010] In some embodiments of the present application, the category of the target object is determined based on the radar cross-sectional area, the vital sign signal and at least one parameter in the motion trajectory using a multimodal feature fusion algorithm, including: if the radar cross-sectional area of the target object is within a first cross-sectional area range, the breathing frequency of the target object is within a first breathing frequency range and the heart rate of the target object is within a first heart rate range, the moving speed of the target object is less than a first speed threshold and the acceleration of the target object is greater than a first acceleration threshold, determining that the target object is the rodent.

[0011] In some embodiments of the present application, the category of the target object is determined by using a multimodal feature fusion algorithm based on the radar cross-sectional area, the vital sign signal and at least one parameter in the motion trajectory, including: if the radar cross-sectional area of the target object is within a first cross-sectional area range, the breathing frequency of the target object is within a first breathing frequency range, and the moving speed of the target object is less than a first speed threshold, determining that the target object is the rodent.

[0012] In some embodiments of the present application, the method also includes: if the radar cross-sectional area of the target object is greater than or equal to a second cross-sectional area threshold, determining that the target object is a human, interrupting the voltage output of the electrode to avoid accidental injury to the human; if it is determined that the radar cross-sectional area of the target object is within the second cross-sectional area range, the breathing frequency of the target object is within the second breathing frequency range, and the moving speed of the target object is less than a second speed threshold, determining that the target object is a pet, and controlling to drive away the target object.

[0013] In a third aspect, the present application provides an electric shock mouse catching system, which includes: a millimeter wave radar module for collecting dynamic parameters of the target object, wherein the dynamic parameters include at least one of the following: radar scattering cross-section, vital sign signal, and motion trajectory; an analysis and processing module for determining the category of the target object based on the dynamic parameters using a multimodal feature fusion algorithm; an electrode control module for controlling the electrode output corresponding voltage according to the classification result of the target object; the analysis and processing module is also used to control the electrode to interrupt the output voltage when the target object is identified as a human, or to control the expulsion of the target object when the target object is identified as a pet.

[0014] The technical solution in the embodiment of the present application obtains the dynamic parameters of the target object through millimeter wave radar, and uses a multimodal feature fusion algorithm based on the dynamic parameters to determine whether the target object is a rodent, which can improve the accuracy of rodent detection. For example, the accuracy of rodent identification in a simulated home environment in the embodiment of the present application reaches 94.7%. In addition, when determining whether the target object is a rodent, the present application controls the electrode to shock the target object according to a first voltage; if the target object still detects a vital sign signal after the electric shock, the electrode is controlled to shock the target object according to a second voltage, which can improve the efficiency of killing rodents, and the killing success rate is increased to more than 97%. In addition, the embodiment of the present application also includes a safety identification mechanism for humans or pets to avoid accidental injuries and ensure safe use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic structural diagram of an electric shock mouse trap system provided in some embodiments of the present application.

[0016] Figure 2 A schematic structural diagram of an electric shock mouse trap provided in some embodiments of the present application.

[0017] Figure 3 Schematic diagram of the functional modules of the electric shock mouse trap provided in some embodiments of the present application.

[0018] Figure 4 A schematic structural diagram of an electric shock mouse trap provided in some embodiments of the present application.

[0019] Figure 5 Flowchart of the millimeter-wave radar-based electric shock mouse catching method provided in an embodiment of the present application.

[0020] Figure 6 A flow chart of controlling electrode voltage is provided for some embodiments of the present application.

[0021] Figure 7 A flow chart of controlling electrode voltage is provided for some embodiments of the present application.

[0022] Figure 8 A schematic structural diagram of an electric shock mouse trap provided in some embodiments of the present application. DETAILED DESCRIPTION

[0023] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing embodiments in one embodiment only and are not intended to limit this application.

[0025] It should be noted that the terms "first," "second," "third," "fourth," etc. (if any) in the specification, claims, and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being more preferred or more advantageous than other embodiments or design. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way.

[0026] It should also be noted that the methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the methods. Without departing from the scope of the claims, the order of executing multiple steps can be interchanged with each other, and some steps can also be deleted. Some embodiments will be described below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other unless there is a conflict.

[0027] Most existing electric mousetraps use infrared, laser, or pressure sensors to detect the presence of mice. These traps have a high misjudgment rate and a fixed shock strategy. If the initial strike fails, there is no remedial mechanism, resulting in low killing efficiency and unavoidable accidental injury to humans or pets.

[0028] In order to solve the above technical problems, the present application provides an electric shock mouse trapping system. Figure 1 FIG. 1 is a schematic diagram of the structure of an electric shock mouse trapping system according to some embodiments of the present application. The electric shock mouse trapping system 100 includes a millimeter wave radar module 1 , an analysis and processing module 2 , and an electrode control module 3 .

[0029] In some embodiments of the present application, the millimeter-wave radar module 1 performs multi-band collaborative scanning to collect dynamic parameters of the target object. In some embodiments of the present application, the dynamic parameters include at least one of a radar cross-section (RCS), a vital sign signal, and a motion trajectory. In some embodiments of the present application, the millimeter-wave radar module 1 is capable of performing radar collaborative scanning in the 24 GHz, 60 GHz, and 77 GHz frequency bands to detect at least one target object. The millimeter-wave radar module 1 includes a multiple input multiple output (MIMO) antenna array. The MIMO antenna array can enhance the radar's detection resolution, distance, and anti-interference capabilities, and can quickly switch beam directions to achieve efficient multi-target tracking and wide-area coverage.

[0030] In some embodiments of the present application, the millimeter-wave radar module 1 includes one or more millimeter-wave radars. These radars transmit electromagnetic waves of a specific frequency (such as frequency-modulated continuous wave or pulse wave) as a transmission signal, record the transmission power of the transmitted signal, and radiate it directionally or omnidirectionally through a MIMO antenna array. After receiving the electromagnetic waves, the target object sends an echo signal back to the millimeter-wave radar.

[0031] After receiving the echo signal returned by the target object, the millimeter-wave radar records the target object's reflection power of the echo signal and the time delay between the transmitted signal and the echo signal, and determines the distance between the millimeter-wave radar and the target object based on the time delay; based on the radar equation, the radar scattering cross-section of the target object is determined according to the target object's reflection power, distance, transmit power, antenna gain of the MIMO antenna array, and wavelength of the electromagnetic wave.

[0032] In some embodiments of the present application, if the target object is a living being, micro-motions in the chest or heart of the living being can cause slight frequency modulation of the radar echo (e.g., echo signal) (i.e., produce a micro-Doppler effect). The millimeter-wave radar extracts the respiratory rate and heart rate by analyzing the frequency variation characteristics of the target object's echo signal, and uses at least one of the respiratory rate and heart rate as the target object's vital sign signal. In some embodiments of the present application, the millimeter-wave radar uses short-time Fourier transform (STFT) or empirical mode decomposition (EMD) to separate micro-motion signals from the echo signal, and calculates the target object's respiratory rate and heart rate using a peak detection algorithm (e.g., autocorrelation function algorithm).

[0033] In some embodiments of the present application, after receiving the echo signal returned by the target object, the millimeter-wave radar determines the frequency offset (such as Doppler frequency shift) between the millimeter-wave radar and the target object from the echo signal, determines the moving speed and moving acceleration of the target object based on the frequency offset, and uses at least one of the moving speed and moving acceleration as a motion trajectory parameter.

[0034] In some embodiments of the present application, the analysis and processing module 2 uses a multimodal feature fusion algorithm based on the dynamic parameters to determine the category of the target object. In some embodiments of the present application, the analysis and processing module 2 embeds a fusion algorithm model of a convolutional neural network (CNN) and a recurrent neural network (RNN). The analysis and processing module 2 processes the input dynamic parameters of the target object using the fusion algorithm model and outputs the category of the target object. In other embodiments of the present application, the fusion algorithm model can be deployed on an edge computing chip (such as the K210 chip) or an embedded ARM platform.

[0035] In some embodiments of the present application, the electrode control module 3 is used to control the electrodes to output corresponding voltages according to the classification results of the target objects.

[0036] In some embodiments of the present application, the analysis and processing module 2 is further configured to control the electrodes to interrupt output voltage when the target object is identified as a human, or to control the acoustic wave device to output acoustic waves to repel the target object when the target object is identified as a pet. In some embodiments of the present application, the analysis and processing module 2 may be a processor, and the acoustic wave device may be a speaker.

[0037] refer to Figure 2 The figure is a schematic diagram of the structure of the electric shock mouse trap device provided in some embodiments of the present application. The electric shock mouse trap device 10 includes an electrode array 11, a millimeter wave radar 12, and a controller 13 (refer to Figure 3 ), plug 14, and bracket 15. Plug 14 is used to connect to a power source to power the electrode array 11. In some embodiments of the present application, when plug 14 is connected to a power source, the power source can power the millimeter-wave radar 12 and controller 13. In other embodiments of the present application, the electric mouse trap 10 may not include plug 14, and the millimeter-wave radar 12 and controller 13 may be powered by independent power sources within the device.

[0038] In some embodiments of the present application, the millimeter-wave radar 12 is fixed in the bracket 15 and is used to illuminate the electrode array 11. The radar beam emitted by the millimeter-wave radar 12 has a coverage range of 1m×90°, where 1m represents the effective detection range of the millimeter-wave radar 12 in the horizontal or vertical direction, and 90° represents the coverage angle range of the radar beam in the horizontal direction (azimuth).

[0039] In some embodiments of the present application, the bracket 15 is used to facilitate the user to fix the position of the electric shock mouse trap device 10. For example, through the bracket 15, the user can conveniently fix the electric shock mouse trap device 10 at a target position.

[0040] refer to Figure 4 As shown, it is a schematic diagram of the structure of the electric mouse catching device provided in some embodiments of the present application. In some embodiments of the present application, the electric mouse catching device 10 may not include a bracket. The millimeter wave radar 12 can be installed on the wall. In some embodiments of the present application, the electrode array 11 includes a group of electrodes 111. The electrodes 111 of the electrode array 11 are arranged at intervals. In some embodiments of the present application, the spacing between the electrodes 111 can be adjusted, for example, the adjustable range of the spacing between the electrodes 111 is 5-20mm. In some embodiments of the present application, the spacing between the electrodes 111 of the electrode array 11 can be automatically adjusted according to the instructions of the controller 13, or can be adjusted according to the manual operation of the user. In some embodiments of the present application, the electrodes 111 of the electrode array 11 are connected by a telescopic rod 112, and the controller 13 can control the driving device 16 (refer to Figure 3 ) adjusts the spacing between the electrodes 111 of the electrode array 11. In some embodiments of the present application, the driving device 16 can be a cylinder or a motor.

[0041] In some embodiments of the present application, electrode 111 includes a gold-plated copper foil layer and a ceramic insulating layer. The gold-plated copper foil layer is composed of gold-plated copper foil. Gold-plated copper foil is arc-resistant, so using gold-plated copper foil as the material for electrode 111 can extend the service life of electrode 111. In some embodiments of the present application, the ceramic insulating layer is used to prevent leakage of electrode 111. The ceramic insulating layer can be a nano-ceramic insulating layer.

[0042] In some embodiments of the present application, the millimeter-wave radar 12 performs multi-band coordinated scanning to obtain dynamic parameters of the target object. In some embodiments of the present application, the dynamic parameters include at least one of radar cross-section (RCS), vital sign signals, and motion trajectory. In some embodiments of the present application, the millimeter-wave radar 12 is capable of performing radar coordinated scanning in the 24 GHz, 60 GHz, and 77 GHz frequency bands to detect at least one target object.

[0043] In some embodiments of the present application, the millimeter-wave radar 12 may be a millimeter-wave radar module. For example, the millimeter-wave radar 12 may be an Infineon BGT60LTR11AIP radar module, which can scan in the 60 GHz frequency band and has a 7 GHz bandwidth, meeting the requirements for detecting RCS and vital signs of multiple target objects.

[0044] In some embodiments of the present application, the controller 13 is configured to analyze the target object's type based on its dynamic parameters detected by the millimeter-wave radar 12. If the target object is determined to be a rodent, the controller 13 controls the electrode 111 to output a first voltage to electrocute the target object. Thus, the technical solution of the present application can accurately detect the target object's dynamic parameters through the millimeter-wave radar 12, improving the accuracy of identifying the target object. When the target object is identified as a rodent, the controller 13 controls the electrode 111 to output a first voltage to electrocute the target object, thereby improving the efficiency of killing rodents.

[0045] In this embodiment of the present application, if millimeter-wave radar 12 detects that the target object still has vital signs, controller 13 controls electrode 111 to output a second voltage to shock the target object. The second voltage is greater than the first voltage. For example, the second voltage can be a preset multiple (e.g., 1.5 times) of the first voltage. In this way, the technical solution of the present application can further improve the efficiency of killing rodents by increasing the voltage to perform a second killing when the target rodent is identified but not killed.

[0046] In some embodiments of the present application, if the target object is determined to be a rodent, the controller 13 can further identify the size type of the target object, determine the first voltage corresponding to rodents of different size types, and output the first voltage corresponding to rodents of different size types to electrocute the target object. In this way, a matching first voltage can be determined according to the size of the rodent for electrocution, which can improve the efficiency of killing rodents.

[0047] In some embodiments of the present application, the electric shock mouse trapping device 10 further includes a drive device. The controller 13 can determine the spacing between the electrodes based on the size of the target object and control the drive device to adjust the spacing between the electrodes in the electrode array. By adjusting the spacing between the electrodes to accommodate the size of the mouse, the electric shock effect of the electrodes on the mouse is improved, thereby increasing the efficiency of killing the mouse.

[0048] In some embodiments of the present application, the electric shock mouse trap 10 further includes a sound wave device. The controller 13 is further configured to control the electrodes to interrupt the output voltage when the target object is identified as a human, or to control the sound wave device to output sound waves to drive the target object away when the target object is identified as a pet.

[0049] In some embodiments of the present application, the controller 13 may be a microprocessor, a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0050] In some embodiments of the present application, the electric shock mouse trapping device 10 further includes a fence 17 (refer to Figure 3 The fence 17 includes a gate control system 171. The fence 17 is fixedly arranged around the electrode array 11. The fence 17 and the electrode array 11 form a first accommodation space for accommodating the target object. When the mousetrap device 10 is in normal use, the gate control system 171 controls the door to be in an open state, and the target object can enter the fence 17 through the door. If the millimeter wave radar 12 detects that the target object is a mouse, the controller 13 controls the electrodes 111 of the electrode array 11 to perform an electric shock and is also used to control the gate control system 171 of the fence 17 to close the door to prevent the mouse from escaping from the fence 17.

[0051] In some embodiments of the present application, the mouse trapping device 10 may include a fence 17 but does not include the electrode array 11. The fence 17 forms a second accommodation space for accommodating the target object. If the target object is detected as a mouse by the millimeter wave radar 12, the controller 13 controls the gate control system 171 of the fence 17 to close the door to prevent the mouse from escaping from the fence 17. Figure 5 , specifically describe the electric shock mouse catching method of the embodiment of the present application.

[0052] refer to Figure 5 FIG. 1 is a flow chart of a millimeter-wave radar-based electric shock mouse catching method according to some embodiments of the present invention. The electric shock mouse catching method is applied to a mouse catching device 10 . Figure 5 The method of the example includes one or more steps, but does not constitute a limitation of the present application. In addition, the order of the steps of the method is only for example, and the order of the steps can be changed. Additional steps can be added or steps can be reduced without departing from the content disclosed in the application. The method includes the following steps.

[0053] Step S501 : collecting dynamic parameters of a target object through a millimeter-wave radar, wherein the dynamic parameters include at least one of the following: radar cross-section, vital sign signal, and motion trajectory.

[0054] In some embodiments of the present application, a millimeter-wave radar transmits electromagnetic waves of a specific frequency (such as a frequency-modulated continuous wave or pulse wave) as a transmission signal, records the transmission power of the transmitted signal, and radiates it directionally or omnidirectionally through a MIMO antenna array. After receiving the electromagnetic wave, the target object sends an echo signal back to the millimeter-wave radar.

[0055] After receiving the echo signal returned by the target object, the millimeter-wave radar records the target object's reflection power of the echo signal and the time delay between the transmitted signal and the echo signal, and determines the distance between the millimeter-wave radar and the target object based on the time delay; based on the radar equation, the radar scattering cross-section of the target object is determined according to the target object's reflection power, distance, transmit power, antenna gain of the MIMO antenna array, and wavelength of the electromagnetic wave.

[0056] In some embodiments of the present application, if the target object is a living being, micro-motions in the chest or heart of the living being can cause slight frequency modulation of the radar echo (e.g., echo signal) (i.e., produce a micro-Doppler effect). The millimeter-wave radar analyzes the frequency variation characteristics of the target object's echo signal to extract the respiratory rate and heart rate, and uses at least one of the respiratory rate and heart rate as the target object's vital sign signal. In some embodiments of the present application, the millimeter-wave radar uses an STFT algorithm or an empirical mode decomposition algorithm to separate micro-motion signals from the echo signal and a peak detection algorithm to calculate the target object's respiratory rate and heart rate.

[0057] In some embodiments of the present application, after receiving the echo signal returned by the target object, the millimeter-wave radar determines the frequency offset between the millimeter-wave radar and the target object from the echo signal, determines the moving speed and moving acceleration of the target object based on the frequency offset, and uses at least one of the moving speed and moving acceleration as a motion trajectory parameter.

[0058] Step S502: Classify the target object using a multimodal feature fusion algorithm based on dynamic parameters.

[0059] In some embodiments of the present application, classifying the target object based on dynamic parameters using a multimodal feature fusion algorithm includes: analyzing the radar cross-section of the target object, the vital sign signal, and the motion trajectory using the multimodal feature fusion algorithm; if the radar cross-section of the target object is within a first cross-sectional area range, the respiratory rate of the target object is within a first respiratory rate range, and the heart rate of the target object is within a first heart rate range, the moving speed of the target object is less than a first speed threshold, and the acceleration of the target object is greater than a first acceleration threshold, determining that the target object is the rodent. In some embodiments of the present application, the first cross-sectional area range is 0.001 m²-0.01 m², the first respiratory rate range is 1 Hz-3 Hz, the first heart rate range is 5 Hz-9 Hz, the first speed threshold is 2 m / s, and the first acceleration threshold is 1 m / s². For example, if the radar cross section of the target object is 0.08 m², the target object's respiratory rate is 3 Hz, the target object's respiratory rate is 8 Hz, the first velocity threshold is 1.5 m / s², and the first acceleration threshold is 1.5 m / s², then because the target object's radar cross section is within 0.001 m²-0.01 m², the target object's respiratory rate is within the first respiratory frequency range of 1 Hz-3 Hz, and the first heart rate range is within 5 Hz-9 Hz, the target object's movement speed is less than 2 m / s, and the target object's acceleration is greater than 1 m / s, the target object is determined to be a rodent.

[0060] In some embodiments of the present application, if the radar cross-sectional area of the target object is within a first cross-sectional area range and the breathing frequency of the target object is within the first breathing frequency range, and the heart rate of the target object is within the first heart rate range, or if the radar cross-sectional area of the target object is within the first cross-sectional area range and the moving speed of the target object is less than a first speed threshold, and the acceleration of the target object is greater than a first acceleration threshold, or the breathing frequency of the target object is within the first breathing frequency range, the heart rate of the target object is within the first heart rate range, the moving speed of the target object is less than the first speed threshold, and the acceleration of the target object is greater than the first acceleration threshold, the target object is determined to be a rodent.

[0061] In some embodiments of the present application, if the radar cross-sectional area of the target object is within a first cross-sectional area range, or the breathing frequency of the target object is within a first breathing frequency range and the heart rate of the target object is within a first heart rate range, or the moving speed of the target object is less than a first speed threshold and the acceleration of the target object is greater than a first acceleration threshold, the target object is determined to be the rodent.

[0062] In some embodiments of the present application, the target object category can be identified using a target object recognition model. The target object recognition model can process the input dynamic parameters of the target object and output the target object category. In some embodiments of the present application, the target object recognition model can be a fusion algorithm model of a CNN and a RNN.

[0063] Step S503 : If it is determined that the target object is a rodent, the electrodes are controlled to output a first voltage to perform an electric shock on the target object.

[0064] In some embodiments of the present application, if the target object is determined to be a rodent, the size type of the target object can be further identified, and the first voltage corresponding to rodents of different size types can be determined, and the first voltage corresponding to rodents of different size types can be output to perform electric shock on the target object. In this way, the matching first voltage can be determined according to the size of the rodent for electric shock, which can improve the efficiency of killing rodents.

[0065] In some embodiments of the present application, the spacing between each electrode can be determined according to the size type of the target object, and the driving device can be controlled to adjust the spacing between the electrodes of the electrode array. In this way, the efficiency of killing rodents can be improved by adjusting the spacing between the electrodes.

[0066] In some embodiments of the present application, controlling the electrode to output a first voltage to perform an electric shock on the target object includes: detecting whether the target object is located in a preset area range of the electrode array by a millimeter wave radar; and controlling the electrode to output a first voltage to perform an electric shock on the target object when it is determined that the target object is located in the preset area range of the electrode array. In some embodiments of the present application, the millimeter wave radar can be used to detect whether the target object has been in the preset area range of the electrode array for more than a preset time threshold. If it is determined that the target object has been in the preset area range for more than the preset time threshold, the electrode is controlled to output a first voltage to perform an electric shock on the target object. The present application controls the electrode to output a first voltage to perform an electric shock on the target object when it is determined that the target object is located in the preset area range of the electrode array and the target object has been in the preset area range for more than the preset time threshold, thereby improving the efficiency of killing rodents. In some embodiments of the present application, the preset area range and the preset time threshold can be set according to the needs of the user. For example, the preset area range can be the central area range of the electrode array, and the preset time threshold can be 3 seconds.

[0067] refer to Figure 6 FIG. 1 is a flow chart of a method for controlling electrode voltage according to some embodiments of the present application. The method includes the following steps.

[0068] Step S601: Determine whether the radar cross section of the target object is less than a first cross-sectional area threshold. If the radar cross section of the target object is less than the first cross-sectional area threshold, proceed to step S602; if the radar cross section of the target object is greater than or equal to the first cross-sectional area threshold, proceed to step S603.

[0069] Step S602 : determining that the target object is a baby mouse, and determining that a first voltage corresponding to the baby mouse is a first voltage value.

[0070] In some embodiments of the present application, the first cross-sectional area threshold is 0.003 m², and the first voltage value is 3 kV. In the first embodiment of the present application, the first voltage is a pulse voltage, the first voltage value of the first voltage output is 3 kV, and the output energy is 0.1 J.

[0071] Step S603 , determining that the target object is an adult mouse, and determining that the first voltage corresponding to the adult mouse is a second voltage value.

[0072] In some embodiments of the present application, the second voltage value is 8KV, the second voltage value of the first voltage output is 8kV, and the output energy is 0.5J.

[0073] Step S604: Control the electrodes of the electrode array to output a first voltage to perform an electric shock on the target object.

[0074] In some embodiments of the present application, the mousetrapping device can adjust the spacing between the electrodes of the electrode array to match the size of the target object according to the size type of the target object, whether it is a young mouse or an adult mouse, and at the same time control the electrodes of the electrode array to output a first voltage to electrocute the target object, thereby further improving the efficiency of mouse extermination.

[0075] refer to Figure 7 FIG. 1 is a flow chart of a method for controlling electrode voltage according to another embodiment of the present invention. The method includes the following steps.

[0076] Step S701: determining the mass of the target object according to the radar cross section of the target object.

[0077] In some embodiments of the present application, according to Formula 1: Determine the mass of the target object, where mass is the mass of the target object and Rcs is the radar cross section of the target object. In some embodiments of the present application, Formula 1 is an empirical fitting model. The coefficients 0.12 and 1000 of Formula 1 can be obtained through statistical regression analysis of the relationship between the mass of the target object and the radar cross section based on sample data of actual rodent dynamic parameters.

[0078] Step S72: collecting the distance between the target object and the millimeter-wave radar through the millimeter-wave radar, and determining the first voltage according to the distance and the mass.

[0079] In some embodiments of the present application, according to Formula 2: Determine a first voltage, where D is the distance between the target object and the millimeter-wave radar, and V is the first voltage. In some embodiments of the present application, Formula 2 is an empirical fitting model. The coefficient 1500 of Formula 2 can be obtained by statistical regression analysis of the relationship between the target object's mass, distance, and voltage based on sample data of actual rodent dynamic parameters.

[0080] In some embodiments of the present application, if the target object is determined to be a young mouse, according to Formula 3: ) determine a first voltage; if the target object is determined to be an adult mouse, according to Formula 4: ) determines a first voltage. For safety reasons and to avoid overkilling young mice, the present embodiment sets the maximum voltage output by the electrodes to young mice at 3000V. To effectively kill adult mice, the present embodiment sets the maximum voltage output by the electrodes to adult mice at 8000V.

[0081] Step S703: Control the electrodes of the electrode array to output a first voltage to perform an electric shock on the target object.

[0082] In the embodiment of the present application, a voltage that matches the mass of the target object is determined according to the mass of the target object, and the target object is electrocuted according to the matched voltage, which can improve the efficiency of rodent control.

[0083] Step S704: If a vital sign signal is still detected in the target object after the electric shock, control the electrodes to output a second voltage to perform an electric shock on the target object, wherein the second voltage is greater than the first voltage.

[0084] In some embodiments of the present application, if it is determined that the target object has a respiratory rate and / or a heart rate, the electrodes of the electrode array are controlled to output a second voltage to perform an electric shock on the target object. In some embodiments of the present application, the second voltage is a preset multiple of the first voltage, for example, the second voltage is 1.5 times the first voltage. In an embodiment of the present application, after detecting that the target object has a respiratory rate and / or a heart rate, it is determined that the target object has not been killed, the target object can be shocked by increasing the voltage. For example, after the target object is shocked, if the target object is detected to have a respiratory rate and / or a heart rate, the first voltage is increased to the second voltage for electric shock, which can improve the killing rate of rodents.

[0085] In some embodiments of the present application, the method further includes: if it is detected that the target object has no vital sign signal, recording the number of times the rodents are killed and updating the number of rodents killed.

[0086] In some embodiments of the present application, the mousetrap device may be a pet enclosure. In some embodiments of the present application, the method further comprises: if it is determined that the radar cross-sectional area of the target object is within a second cross-sectional area range, the respiratory rate of the target object is within the second respiratory rate range, and the movement speed of the target object is less than a second speed threshold, determining that the target object is a pet; and repelling the target object. In some embodiments of the present application, the second cross-sectional area range is between 0.1 m² and 1 m², and the second speed threshold is 2 m / s.

[0087] In some embodiments of the present application, repelling the target object includes: controlling an acoustic wave device to emit acoustic waves for a preset time period to repel the target object; if, after the preset time period, the millimeter-wave radar detects that the target object has not left, electrodes of the repelling electrode array transmit a preset voltage pulse to repel the target object. In some embodiments of the present application, the preset time period and the preset voltage pulse can be set as needed; for example, the preset time period can be set to 10 seconds, and the preset voltage pulse can be set to output a voltage of 50V and an output energy of 0.1J.

[0088] In some embodiments of the present application, the mousetrap device may be a mouse repeller, a mouse cage, or a mouse repellent rod. In some embodiments of the present application, if the target object is determined to be a mouse, the mousetrap device uses millimeter-wave radar to determine the target object's intrusion location and sends an alarm message including the intrusion location to a user device to notify the user that a mouse has intruded the mousetrap device. In some embodiments of the present application, the user device may be a smartphone, a tablet computer, a wearable device, or the like. For example, if the target object is determined to be a mouse, the mousetrap device may send an alarm message including the intrusion location to an application on the smartphone.

[0089] In some embodiments of the present application, if the radar cross-sectional area of the target object is greater than or equal to a second cross-sectional area threshold, the target object is determined to be a human, and the electrode array is turned off. In some embodiments of the present application, the second cross-sectional area threshold is 0.1 m². In some embodiments of the present application, when the target object is detected as a human, the high voltage of the electrode array is cut off within 3 ms, thereby implementing a safety interlock mechanism for the mousetrap device. This safety interlock mechanism prevents accidental electric shocks to humans and improves the safety of the device.

[0090] The technical solution in the embodiment of the present application obtains the dynamic parameters of the target object through millimeter-wave radar, and uses a multimodal feature fusion algorithm based on the dynamic parameters to determine whether the target object is a rodent, which can improve the accuracy of rodent detection. For example, the accuracy of rodent identification in a simulated home environment in the embodiment of the present application reaches 94.7%. In addition, when determining whether the target object is a rodent, the present application controls the electrode to shock the target object according to a first voltage; if the target object still detects the presence of a vital sign signal after the electric shock, the electrode is controlled to shock the target object according to a second voltage, which can improve the efficiency of killing rodents, and the killing success rate is increased to more than 97%. In addition, the embodiment of the present application also includes a safety identification mechanism for humans or pets to avoid accidental injuries and ensure safe use.

[0091] Please refer to Figure 8 , which is a schematic structural diagram of an electric shock mouse-catching device provided in some embodiments of the present application.

[0092] The electric shock mouse trapping device 60 may include at least one memory 61, a processor 62, a millimeter wave radar 63, and an electrode array 64. The memory 61 includes a computer-readable storage medium for storing a computer program, such as a plurality of logic instructions, which the processor 62 can execute to perform the above-described electric shock mouse trapping method.

[0093] In some embodiments of the present application, the millimeter-wave radar 63 is configured to perform multi-band collaborative scanning to collect dynamic parameters of target objects. In some embodiments of the present application, the millimeter-wave radar 12 is capable of performing radar collaborative scanning in the 24 GHz, 60 GHz, and 77 GHz frequency bands to detect at least one target object. The millimeter-wave radar 12 includes a MIMO antenna array, which enhances the radar's detection resolution, range, and anti-interference capabilities. It also enables rapid beam direction switching, enabling efficient multi-target tracking and wide-area coverage.

[0094] In some embodiments of the present application, the electrode array 64 includes a group of electrodes 641. The electrodes 641 include a gold-plated copper foil layer and a ceramic insulating layer.

[0095] The logic instructions in the above-mentioned computer-readable storage medium can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0096] The computer-readable storage medium can be configured to store software programs or computer-executable programs, such as program instructions corresponding to the electric shock mouse trapping method in the embodiments of the present application. The processor 62 implements the electric shock mouse trapping method in the above embodiments by executing the software programs, instructions, or modules stored in the computer-readable storage medium.

[0097] In the embodiments of the present application, the computer-readable storage medium includes a non-volatile computer-readable memory, such as a disk, a memory, etc. It is understood that the computer-readable storage medium may also include other non-volatile computer-readable memories, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card, at least one flash memory device, and / or other non-volatile solid-state memory devices.

[0098] In the embodiments of the present application, the processor 62 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 62 is the control center of the electric shock mouse trap device 60 and can connect to other external devices and / or systems / modules / units using various interfaces and lines to provide disaster recovery functions for the applications of other external devices and / or systems / modules / units.

[0099] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement the electric shock mouse catching method in the above-mentioned embodiment.

[0100] Among them, the electric shock mouse catching device, computer storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0101] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0103] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0104] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0105] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a device or processor to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0106] The above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present application should not depart from the spirit and scope of the technical solutions of the present application.

Claims

1. An electric shock mouse trapping device, comprising an electrode array, characterized in that: The electric shock mouse catching device also includes a millimeter wave radar and a controller. The millimeter wave radar is used to obtain dynamic parameters of the target object, and the dynamic parameters include at least one of the following: radar scattering cross-section RCS, vital sign signal, and motion trajectory; the controller is used to classify the target object according to the dynamic parameters. If the target object is determined to be a mouse, the controller controls the electrodes of the electrode array to output a first voltage to electrocute the target object.

2. The electric shock mouse trapping device according to claim 1, characterized in that: If a vital sign signal is still detected in the target object after the electric shock, the controller controls the electrodes to output a second voltage higher than the first voltage to perform another electric shock on the target object.

3. The electric shock mouse trapping device according to claim 1, characterized in that: The electric shock mouse catching device further comprises a fence, which is arranged around the electrode array. If it is determined that the target object is a mouse, the controller further controls the gate control system of the fence to close the door.

4. The electric shock mouse catching device according to claim 1, characterized in that: The electrodes of the electrode array are connected by telescopic rods. The controller determines the size of the target object according to the dynamic parameters and controls the driving device to adjust the spacing between the electrodes according to the size.

5. A method for catching mice by electric shock based on millimeter wave radar, characterized in that: The method comprises: Collect dynamic parameters of the target object by millimeter wave radar, wherein the dynamic parameters include at least one of the following: radar cross-sectional area RCS, vital sign signal, and motion trajectory; Based on the dynamic parameters, classifying the target object using a multimodal feature fusion algorithm; If the target object is determined to be a rodent, the control electrode outputs a first voltage to perform an electric shock on the target object.

6. The method for catching mice by electric shock based on millimeter wave radar according to claim 5, characterized in that: After the controlling electrode outputs the first voltage to perform an electric shock on the target object, the method further includes: If a vital sign signal is still detected in the target object after the electric shock, the electrode is controlled to output a second voltage higher than the first voltage to perform another electric shock on the target object.

7. The method for catching mice with electric shock based on millimeter wave radar as claimed in claim 5, characterized in that: The method further comprises: determining the mass of the target object according to the radar cross section of the target object; The millimeter-wave radar is used to collect the distance between the target object and the millimeter-wave radar, and the first voltage is determined according to the distance and the mass.

8. The method for catching mice with electric shock based on millimeter wave radar according to claim 5, characterized in that: The determining the category of the target object by using a multimodal feature fusion algorithm based on at least one parameter of the radar cross section, the vital sign signal, and the motion trajectory includes: If the radar cross-sectional area of the target object is within a first cross-sectional area range, the breathing frequency of the target object is within a first breathing frequency range, the heart rate of the target object is within a first heart rate range, the moving speed of the target object is less than a first speed threshold, and the acceleration of the target object is greater than a first acceleration threshold, the target object is determined to be the rodent.

9. The method for catching mice with electric shock based on millimeter wave radar as claimed in claim 5, characterized in that: The method further comprises: If the radar cross-sectional area of the target object is greater than or equal to a second cross-sectional area threshold, determining that the target object is a human being and interrupting the voltage output of the electrode to avoid accidental injury to the human being; If it is determined that the radar scattering cross-section of the target object is within the second cross-sectional area range, the breathing frequency of the target object is within the second breathing frequency range, and the moving speed of the target object is less than the second speed threshold, the target object is determined to be a pet, and control is carried out to drive away the target object.

10. An electric shock mouse catching system, characterized in that: The electric shock mouse catching system comprises: A millimeter-wave radar module is used to collect dynamic parameters of the target object, wherein the dynamic parameters include at least one of the following: radar cross-sectional area, vital sign signal, and motion trajectory; An analysis and processing module, which determines the category of the target object based on the dynamic parameters using a multimodal feature fusion algorithm; an electrode control module, configured to control the electrodes to output corresponding voltages according to the classification results of the target objects; The analysis and processing module is further configured to control the electrodes to interrupt output voltage when the target object is identified as a human being, or to control the target object to be driven away when the target object is identified as a pet.

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