Mouse repelling method based on dynamic complex sound field and intelligent mouse repelling device

Abstract

The application is suitable for the technical field of rodent control, and provides a mouse driving method based on a dynamic composite sound field and an intelligent mouse driving device. The method comprises: when detecting rodent activity, outputting an ultrasonic electric signal and a simulated audio electric signal; performing random delay processing and random gain processing on the ultrasonic electric signal; performing random delay processing, random gain processing, three-dimensional sound field rendering processing and dynamic volume adjustment processing on the simulated audio electric signal; driving a plurality of surround-arranged ultrasonic transducers and synchronously driving a plurality of surround-arranged loudspeakers to generate a dynamic composite sound field. The application can form a dynamic composite sound field with physiological interference and psychological deterrence by performing random delay, gain processing, spatialization processing and dynamic processing operations on the ultrasonic signal and the simulated audio signal respectively, and cooperatively outputting by the surround-arranged sound generating units, avoid the mouse driving blind area, and is not easy to be adapted by rodents, thereby improving the instant effect and durability of mouse driving.

Description

Technical Field

[0001] This application belongs to the field of rodent control technology, and in particular relates to a rodent repelling method and intelligent rodent repelling device based on dynamic composite sound field. Background Technology

[0002] Rodent infestations cause serious harm in many areas. They not only gnaw on food and damage supplies, but also chew up cables, causing safety accidents. Furthermore, they carry germs and spread diseases, impacting the ecological environment and human health. Existing rodent control methods have many shortcomings: traditional physical rodent traps are inefficient, pose safety hazards, and cannot provide long-term rodent control; chemical rodent repellents easily leave environmental residues and pose a risk of accidental ingestion, which is inconsistent with environmental protection principles.

[0003] Existing electronic rodent repellent devices mostly rely on single-frequency ultrasound. Ultrasonic waves have a limited propagation range and are easily blocked by obstacles, creating blind spots. Some improved rodent repellent devices attempt frequency-hopping technology, but lack refined processing of the audio signal, failing to address the problems of echo interference and fixed sound images leading to insufficient targeting. Furthermore, the repellent effect of a single sound field is limited, making it difficult to quickly repel stubborn rodents. Over time, the rodents adapt, causing the repellent effect to diminish. Summary of the Invention

[0004] This application provides a solution to the problems of blind spots, monotonous sound field, poor rat-repelling effect, and easy recurrence of rat infestation in existing rat-repelling devices.

[0005] In a first aspect, embodiments of this application provide a rodent-repelling method based on a dynamic composite sound field, comprising: When rodent activity is detected in the target area, a sound field rodent repelling operation is performed, the sound field rodent repelling operation including: The system controls a programmable waveform generator to output ultrasonic electrical signals and controls an audio synthesis circuit to output simulated audio electrical signals; wherein the frequency of the ultrasonic electrical signal is in the frequency band sensitive to the hearing of rodents, and the simulated audio electrical signal contains acoustic characteristics of rodent predators. Random delay processing and random gain processing are performed on the ultrasonic electrical signal to generate a first driving signal; The simulated audio electrical signal is subjected to random delay processing, random gain processing, three-dimensional sound field rendering processing, and dynamic volume adjustment processing to generate a second driving signal. A plurality of ultrasonic transducers arranged in a circular arrangement are driven based on the first driving signal, and a plurality of loudspeakers arranged in a circular arrangement are driven synchronously based on the second driving signal, so as to generate a dynamic composite sound field in the target area.

[0006] The beneficial effects of the embodiments of this application compared with the prior art are: By simultaneously outputting ultrasonic signals targeting the frequency bands sensitive to rodent hearing and simulated audio signals mimicking the characteristics of natural enemies, and performing operations such as random delay, gain processing, spatialization processing, and dynamic processing on the two types of signals respectively, combined with the coordinated radiation of the two types of signals by surround-arranged sound units, a dynamic composite sound field with both physiological interference and psychological deterrence can be formed in the target area. This dynamic composite sound field has multi-path reflection and interference effects, effectively avoiding blind spots in rodent control. At the same time, the sound image in this dynamic composite sound field is presented as a state of continuous movement in three-dimensional space with no fixed orientation, which is not easily adapted to by rodents. This can significantly improve the immediate effect and persistence of rodent control, thereby reducing the probability of rodents returning.

[0007] In one possible implementation of the first aspect, the step of performing the sound field rodent repelling operation when rodent activity is detected in the target area further includes: The first detection signal of the target area is obtained by a microwave radar sensor and / or the second detection signal of the target area is obtained by an infrared pyroelectric sensor. When the Doppler frequency shift of the first detection signal is located in the preset frequency band of rodent activity characteristics, it is determined that rodent activity has been detected; And / or, When the effective sensing area of ​​the second detection signal matches the preset range of rodent body size characteristics, it is determined that rodent activity has been detected; And / or, when the thermal radiation intensity of the second detection signal meets the preset range of rodent body temperature characteristics, it is determined that rodent activity has been detected.

[0008] In the above scheme, the use of microwave Doppler frequency shift analysis to analyze motion characteristics, combined with infrared signals to perceive the target's body size and temperature, can effectively distinguish rodent activity from other sources of interference, significantly reduce the false trigger rate, and ensure that subsequent rodent control operations are only initiated when a real threat occurs, thereby improving the system's intelligent response and overall energy efficiency.

[0009] In one possible implementation of the first aspect, the steps of performing random delay processing and random gain processing on the ultrasonic electrical signal include: The first delay control parameter and the first gain control parameter are generated using a pseudo-random number generation algorithm. Adjust the resistance of the first digital potentiometer connected to the control terminal of the first analog delay line according to the first delay control parameter, so as to control the delay time generated by the ultrasonic electrical signal through the first analog delay line and obtain the ultrasonic delay signal. Adjust the resistance of the second digital potentiometer connected to the negative feedback loop of the first operational amplifier according to the first gain control parameter to control the gain amplitude of the ultrasonic delay signal and obtain the ultrasonic gain signal. The ultrasonic gain signal is mixed with the ultrasonic electrical signal to generate the first driving signal.

[0010] In the above scheme, control parameters are generated using a pseudo-random algorithm, and key parameters of the analog delay line and operational amplifier are precisely adjusted using digital potentiometers, causing unpredictable random changes in the ultrasonic signal in both delay and gain dimensions. This approach disrupts the rodents' ability to locate and habituate to stable sound sources, continuously applying novel stimuli to their auditory system, thereby effectively extending the duration of action of a single ultrasonic rodent-repelling method and overcoming its tendency to be easily adapted.

[0011] In one possible implementation of the first aspect, the steps of performing random delay processing, random gain processing, three-dimensional sound field rendering processing, and dynamic volume adjustment processing on the simulated audio electrical signal include: The second delay control parameter, the second gain control parameter, and the azimuth control parameter are generated using a pseudo-random number generation algorithm. Adjust the resistance of the third digital potentiometer connected to the control terminal of the second analog delay line according to the second delay control parameter, so as to control the delay time generated by the simulated audio electrical signal through the second analog delay line and obtain the audio delay signal; Adjust the resistance value of the fourth digital potentiometer connected to the negative feedback loop of the second operational amplifier according to the second gain control parameter to control the gain amplitude of the audio delay signal and obtain the audio gain signal. The audio gain signal is mixed with the simulated audio electrical signal to generate a reverberant audio signal; Configure the HRTF filtering coefficients of the three-dimensional sound field processor according to the orientation control parameters; The reverberant audio signal is input into the three-dimensional sound field processor, and the reverberant audio signal is filtered based on the HRTF filtering coefficient to generate a three-dimensional audio signal; A volume value sequence is cyclically written to the control register of a digitally programmable gain amplifier at preset time intervals; wherein the values ​​in the volume value sequence are configured to first increase and then decrease according to the writing order. The three-dimensional audio signal is input into the digitally programmable gain amplifier, and the amplitude of the three-dimensional audio signal is adjusted based on the control register to obtain the second driving signal.

[0012] In the aforementioned scheme, by integrating random reverberation, HRTF-based 3D sound field rendering, and programmable cyclical volume adjustment, a highly realistic and dynamically changing "virtual rodent predator" sound image can be synthesized, exhibiting high realism in spatial orientation, movement trajectory, and distance perception. This immersive sound scene can deeply simulate a continuously approaching threat from a psychological perspective, effectively stimulating the rodent's instinctive fear and escape response, and greatly enhancing the psychological deterrent effect.

[0013] In one possible implementation of the first aspect, the rodent-repelling method based on dynamic composite sound fields further includes: After the sound field rodent repelling operation has been performed for a first preset time, if rodent activity is detected in the target area, the combined rodent repelling state is entered. In the combined rodent-repelling state, the sound field rodent-repelling operation is maintained, and at least one auxiliary rodent-repelling operation is performed, including: The intense light stimulation module is controlled to output intense light pulses with preset strobe parameters; The odor diffusion module is activated to diffuse the rodent repellent medium into the target area; The electromagnetic actuator is controlled to drive the impact component to strike the bearing surface according to the preset impact mode, and then the sound signal generated by striking the bearing surface is collected and output.

[0014] In the above solution, for scenarios involving the repulsion of stubborn rodents, additional methods such as flashing bright lights, spreading rodent-repelling scents, and creating knocking vibrations and knocking sounds are added to assist in repelling rodents. A multi-dimensional stimulation system is constructed from different senses, making it difficult for rodents to continue to stay through adaptation to a single sense, significantly improving rodent-repelling efficiency and solving the problem of incomplete repulsion of stubborn rodents.

[0015] In one possible implementation of the first aspect, the rodent-repelling method based on dynamic composite sound field further includes; During the execution of the sound field rodent repelling operation and / or the auxiliary rodent repelling operation, when human activity is detected in the target area, a safe avoidance state is entered: In the security avoidance state, at least one security avoidance operation is performed, the security avoidance operation including: The audio synthesis circuit is controlled to stop outputting the simulated audio electrical signal; Control the high-intensity light stimulation module to stop outputting high-intensity light pulses; Control the electromagnetic actuator to stop driving the impact component; The programmable waveform generator is controlled to constrain the frequency of the ultrasonic signal to a safe frequency band for rodent control, and the programmable waveform generator is also controlled to intermittently output the ultrasonic signal; the safe frequency band for rodent control is a sub-frequency band within the rodent hearing sensitive frequency band with a low probability of human ear perception. The odor diffusion module is controlled to start intermittently.

[0016] In the above solution, when human activity is detected during the rodent control process, the rodent control operation that may affect the human body is precisely and automatically downgraded or stopped, effectively avoiding possible interference or discomfort to humans caused by the rodent control operation, achieving a balance between precise rodent control and human tranquility, and expanding its application scenarios.

[0017] In one possible implementation of the first aspect, the rodent-repelling method based on a dynamic composite sound field further includes; After the sound field rodent repelling operation is performed for a first preset time or after entering the combined rodent repelling state for a second preset time, if no rodent activity is detected in the target area, the system enters a delayed monitoring state. After entering the combined rodent control state for a second preset time, if rodent activity is detected in the target area, a prompt message is output to the user terminal; the prompt signal is used to indicate that the rodent control effect has not been achieved. During the delay monitoring state, the auxiliary rodent-repelling operation is stopped, and the sound field rodent-repelling operation is executed intermittently. After entering the delayed monitoring state for a third preset time, if no rodent activity is detected in the target area, the system enters standby mode; otherwise, it returns to the combined rodent control state. In the standby state, the sound field mouse repelling operation and the auxiliary mouse repelling operation are stopped.

[0018] In the above scheme, a multi-level state transition of "full repulsion → intermittent deterrence → standby" achieves step-wise optimization of system power consumption while ensuring the continuity of rodent repellency, and also provides a backup for possible rodent repellency failure. The intermittent deterrence mode can consolidate the repulsion effect while appropriately reducing energy consumption, preventing rodents from quickly returning during the intervals between rodent repellency stimulus pauses, avoiding frequent start-stop of all rodent repellency functions, and ultimately significantly reducing energy consumption after ensuring that the threat is largely eliminated, thus improving its economic efficiency.

[0019] Secondly, embodiments of this application provide an intelligent rodent-repelling device for implementing the rodent-repelling method based on a dynamic composite sound field as described in the first aspect, the intelligent rodent-repelling device comprising: The control core module is used to invoke the first execution module when rodent activity is detected in the target area; The first execution module is used to perform a sound field mouse repelling operation; The first execution module includes: The first generation unit is used to control the programmable waveform generator to output ultrasonic electrical signals and to control the audio synthesis circuit to output simulated audio electrical signals; wherein, the frequency of the ultrasonic electrical signal is in the frequency band sensitive to the hearing of rodents, and the simulated audio electrical signal contains the acoustic characteristics of rodent predators. The first processing unit is used to perform random delay processing and random gain processing on the ultrasonic electrical signal to generate a first driving signal; The second processing unit is used to perform random delay processing, random gain processing, three-dimensional sound field rendering processing, and dynamic volume adjustment processing on the simulated audio electrical signal to generate a second driving signal. The second generation unit is used to drive a plurality of ultrasonic transducers arranged in a surrounding manner based on the first driving signal and to simultaneously drive a plurality of loudspeakers arranged in a surrounding manner based on the second driving signal, so as to generate a dynamic composite sound field in the target area.

[0020] In one possible implementation of the second aspect, the control core module is further configured to enter a joint rodent control state if rodent activity is detected in the target area after the first execution module has been invoked for a first preset duration. The control core module is also used to call the first execution module and the second execution module in the combined rodent control state; The second execution module is used to perform at least one auxiliary rodent-repelling operation; The second execution module includes a first control unit, used to control the strong light stimulation module to output strong light pulses with preset strobe parameters; And / or, the second execution module and the second control unit are used to activate the odor diffusion module to diffuse the rodent repellent medium to the target area; And / or, the second execution module includes a third control unit, which controls the electromagnetic actuator to drive the impact component to strike the bearing surface according to a preset impact mode, and then collects and outputs the sound signal generated by striking the bearing surface.

[0021] In one possible implementation of the second aspect, the control core module is further configured to enter a safety avoidance state when human activity is detected within the target area during the invocation of the first execution module and / or the second execution module: The control core module is also used to call the third execution module under the security avoidance state; The third execution module is used to perform at least one security evasion operation; The third execution module includes a fourth control unit, used to control the audio synthesis circuit to stop outputting the simulated audio electrical signal; And / or, the third execution module includes a fifth control unit, used to control the intense light stimulation module to stop outputting intense light pulses; And / or, the third execution module includes a sixth control unit for controlling the electromagnetic actuator to stop driving the impact component; And / or, the third execution module includes a seventh control unit, used to control the programmable waveform generator to constrain the frequency of the ultrasonic electrical signal to a safe frequency band for rodent control, and at the same time control the programmable waveform generator to intermittently stop outputting the ultrasonic electrical signal; the safe frequency band for rodent control is a sub-frequency band within the rodent hearing sensitive frequency band with a low probability of human ear perception; And / or, the third execution module includes an eighth control unit for controlling the intermittent activation of the odor diffusion module.

[0022] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, it implements the mouse-repelling method based on a dynamic composite sound field as described in any one of the first aspects.

[0023] Fourthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the mouse-repelling method based on a dynamic composite sound field as described in any of the first aspects.

[0024] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic flowchart of a rodent repelling method based on a dynamic composite sound field provided in an embodiment of this application; Figure 2 This is a flowchart illustrating step S1 of a rodent repelling method based on a dynamic composite sound field provided in an embodiment of this application. Figure 3 This is a flowchart illustrating step S22 of a rodent repelling method based on a dynamic composite sound field provided in an embodiment of this application. Figure 4 This is a flowchart illustrating step S23 of a rodent repelling method based on a dynamic composite sound field provided in an embodiment of this application. Figure 5 This is a flowchart illustrating another rodent repelling method based on a dynamic composite sound field provided in an embodiment of this application; Figure 6This is a flowchart illustrating another rodent repelling method based on a dynamic composite sound field provided in an embodiment of this application; Figure 7 This is a schematic diagram of the software structure of an intelligent rodent-repelling device provided in an embodiment of this application; Figure 8 This is a schematic diagram of the hardware structure of an intelligent rodent-repelling device provided in an embodiment of this application. Detailed Implementation

[0027] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0028] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0029] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0030] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] This application provides a rodent-repelling method based on a dynamic composite sound field, which is illustrative and not limiting. See also... Figure 1 The rodent-repelling method based on dynamic composite sound fields includes: S1. Determine whether rodent activity is detected in the target area; if so, proceed to step S2.

[0032] The target area refers to the area that needs to be monitored. In this embodiment, it can be the area where animals (such as rats) need to be driven away. Specifically, it can be a warehouse, power distribution room, substation, grain depot and farm, or a public place such as home, office, office building and school classroom.

[0033] In one possible implementation, sensor modules such as microwave radar sensors and infrared pyroelectric sensors can be used to monitor whether there are organisms in the target area, and then the type of organism can be identified as a rodent by combining preset rodent characteristics.

[0034] In this embodiment, to avoid ineffective energy consumption caused by activating the rodent repelling function when rodents simply pass quickly through the target area, a certain judgment time parameter can be set according to the actual situation. For example, for areas where rodent gnawing damage is significant, such as warehouses, power distribution rooms, substations, grain depots, and farms, the rodent repelling function can be activated when a rodent is detected staying for more than one second. For general areas, such as homes, offices, office buildings, and school classrooms, the rodent repelling function can be activated when a rodent is detected staying for more than three seconds.

[0035] S2, Perform sound field mouse repelling operation.

[0036] In this embodiment, the sound field rodent repelling operation focuses on the echo delay control, sound image movement control, and composite strategies of ultrasonic and simulated audio (including ultrasonic and simulated audio) to construct a dynamic and unpredictable composite sound field environment, thereby efficiently repelling rodents from the target area. Figure 1 As shown, step S2 specifically includes the following steps: S21 controls the programmable waveform generator to output ultrasonic electrical signals and controls the audio synthesis circuit to output simulated audio electrical signals.

[0037] Among them, the frequency of the ultrasonic electrical signal is in the range that rodents are sensitive to hearing, and the simulated audio electrical signal contains the acoustic characteristics of rodent predators.

[0038] In one possible implementation, the programmable waveform generator can generate continuous wave, swept frequency, or pulse-modulated ultrasonic signals with frequencies ranging from 15 kHz to 60 kHz (covering the most sensitive frequency band for rodent hearing, especially 30-50 kHz). The frequency, waveform, and baseband modulation of the ultrasonic signals can be dynamically adjusted by a central controller to accommodate different rodent species or environmental changes.

[0039] In one possible implementation, the audio synthesis circuit has a built-in or accessible acoustic feature database containing various rodent predators (such as owl calls, snake hisses, and cat hunting sounds) as well as rodent alarm and struggling sounds. The audio synthesis circuit can invoke or fuse these acoustic features to generate high-fidelity, ecologically realistic simulated audio signals.

[0040] In an alternative implementation, environmental sound effects (such as wind sounds and footsteps) can be added to the base audio file in advance using editing software to enrich the complexity of sound image movement and enhance the realism of the simulation scene.

[0041] S22. Perform random delay processing and random gain processing on the ultrasonic electrical signal to generate the first driving signal.

[0042] Specifically, the ultrasonic signal is delayed by a hardware delay circuit to generate a natural echo (i.e., multiple copies of the original ultrasonic electrical signal). Millisecond-level, non-periodic random time delays are introduced for different signal copies to meet the echo simulation requirements of different scenarios. In this embodiment, the delay time is typically adjusted to the range of 35ms to 320ms.

[0043] Furthermore, by applying random variations in echo depth (gain) to the delayed signals, an auditory experience with fluctuating sound intensity is created, avoiding the adaptation of mice to fixed echo patterns and further enhancing the uncertainty and disturbance of the sound field.

[0044] S23. Perform random delay processing, random gain processing, three-dimensional sound field rendering processing, and dynamic volume adjustment processing on the simulated audio electrical signal to generate a second driving signal.

[0045] The random delay processing and random gain processing performed on the simulated audio electrical signal are consistent with the corresponding processing logic in step S22, except for the difference in the specific parameter settings, which will not be elaborated here.

[0046] In this embodiment, 3D sound field rendering processing is used to dynamically control the "sound image" of sound, that is, to make the sounds of rodent predators (such as the hooting of an owl in flight and the stealthy footsteps of a cat) sound like they are moving continuously and irregularly in three-dimensional space (horizontal and vertical directions), for example, moving quickly from the left front to the right rear, or sweeping from a high place to a low place. Specifically, using HRTF (Head Related Transfer Function) or multi-channel sound field synthesis algorithms, the processed simulated audio signal is calculated. By simulating the diffraction effect of sound waves by the auricle, a sound field with height and direction can be created, which gives rodents a strong psychological suggestion that predators are actively moving around them and searching for prey.

[0047] Furthermore, the audio signal rendered by the 3D sound field is dynamically adjusted in volume, and the adjustment method can be customized. For example, when a mouse is detected at the edge of the target area, the volume is adjusted to 0.8 to 1.0 times the base value; when a mouse is detected lingering in the target area (duration ≥ 3s), the volume is adjusted to 1.0 to 1.3 times the base value; when a mouse is detected escaping the target area, the volume is gradually reduced from 1.0 times to 0.5 times and the output stops, realizing the linkage and adaptation between the volume and the mouse's activity state.

[0048] For example, the sound-generating device can be set to dynamically adjust the volume repeatedly from low to high and from high to low. If the volume is increased step by step every 100ms and the maximum volume level is 30, then the time for the audio volume to complete one "low→high→low" cycle is 6 seconds (3 seconds each for near to far and far to near), which makes the sound field produce a clear effect of moving from near to far.

[0049] S24. A plurality of ultrasonic transducers arranged in a circular arrangement are driven based on a first driving signal, and a plurality of loudspeakers arranged in a circular arrangement are driven simultaneously based on a second driving signal, so as to generate a dynamic composite sound field in the target area.

[0050] In this implementation, the ultrasonic transducer and speaker are arranged in a ring-like surround configuration. Specifically, as shown... Figure 8 The diagram shows a hardware structure of an intelligent rodent repellent device. Multiple ultrasonic transducers 51 and multiple speakers 53 are evenly arranged around the circumference of the device's casing. The ultrasonic transducers 51 and speakers 52 are arranged at intervals to ensure that the sound range covers the entire 360° circumference of the target area, eliminating blind spots in rodent repellency.

[0051] In this embodiment, emitting ultrasonic waves and playing simulated audio are two different sound-generating processes that operate simultaneously. Specifically, the first driving signal is sent to the corresponding power amplifier, which then drives the ultrasonic transducer array to radiate a randomly modulated ultrasonic field in the air. Similarly, the second driving signal is sent to the corresponding audio power amplifier, which then drives the speaker array to play a simulated audio field with random characteristics and dynamic movement of the sound image in three-dimensional space. The ultrasonic waves emitted by the ultrasonic transducers and the simulated audio played by the speakers are synchronously superimposed within the target area to form a dynamic composite sound field.

[0052] This embodiment provides a rodent repelling method based on a dynamic composite sound field. By simultaneously outputting ultrasonic signals targeting the frequency bands sensitive to rodent hearing and simulated audio signals simulating the characteristics of natural enemies, the two types of signals are subjected to random delay, gain processing, spatialization processing, and dynamic processing, respectively. Combined with the coordinated radiation of the two types of signals by surround sound units, a dynamic composite sound field with both physiological interference and psychological deterrence can be formed in the target area. This dynamic composite sound field has multi-path reflection and interference effects, effectively avoiding blind spots in rodent repelling. At the same time, the sound image in this dynamic composite sound field is presented as continuously moving in three-dimensional space with an unfixed orientation, which is not easily adapted to by rodents. This can significantly improve the immediate effect and persistence of rodent repelling, thereby reducing the probability of rodents returning.

[0053] Optionally, see Figure 2 One implementation of step S1 may include: S11. Obtain a first detection signal of the target area through a microwave radar sensor and / or obtain a second detection signal of the target area through an infrared pyroelectric sensor, and then execute at least one of steps S12 to S14.

[0054] Specifically, such as Figure 8As shown, multiple sets of microwave radar sensors 11 and infrared pyroelectric sensors 12 are provided, and these multiple sets of microwave radar sensors 11 and infrared pyroelectric sensors 12 are evenly spaced along the outer circumferential side of the rodent repeller. The microwave radar sensor 11 continuously emits low-power, specific-frequency (e.g., 24 GHz) electromagnetic waves into the monitoring area and receives their echoes. Any moving object will cause a change in the echo frequency (Doppler effect), and this change is demodulated into a first detection signal (radar intermediate frequency signal) containing velocity and displacement information. Similarly, the infrared pyroelectric sensor 12 focuses the infrared radiation of the monitoring area through its Fresnel lens 121. When an object with a specific body temperature (such as a rodent) enters its field of view and moves, it causes a dynamic change in the intensity of infrared radiation received by the pyroelectric element on the sensor, thereby generating a voltage change signal related to the target's movement trajectory and body temperature, i.e., a second detection signal (PIR induction signal).

[0055] S12. When the Doppler frequency shift of the first detection signal is located in the preset characteristic frequency band of rodent activity, it is determined that rodent activity has been detected.

[0056] In one optional implementation, based on the typical movement speed range of rodents (e.g., the speed corresponding to rapid sprinting and slow crawling is approximately 0.1 m / s to 3 m / s), and combined with the radar operating frequency, the corresponding characteristic frequency shift range is calculated using the Doppler formula (e.g., for a 24 GHz radar, this range may correspond to approximately 0.1 Hz to several hundred Hz). When the analyzed real-time Doppler frequency shift continuously or repeatedly falls within this preset frequency band, and the signal strength exceeds the background noise threshold, the algorithm preliminarily determines that it "conforms to rodent movement characteristics".

[0057] S13. When the effective sensing area of ​​the second detection signal matches the preset range of rodent body size characteristics, it is determined that rodent activity has been detected.

[0058] In one optional implementation, the preset range of mouse size characteristics is converted into spatiotemporal parameter constraints on the effective sensing signal. For example, pulse duration: mice, being small, require less time to pass through a sensor, resulting in an effective pulse width falling within a specific range (e.g., 0.1 to 0.5 seconds), significantly different from larger humans or pets. Another example is the number of sensor elements covered by the signal: high-quality PIR sensors have multiple detector elements or zones; mice, due to their small size, typically only trigger a few adjacent detector elements, forming a specific triggering pattern. When the pulse characteristics of the second sensing signal conform to the above spatiotemporal parameter constraints, the algorithm determines that "the target spatial scale matches the mouse size."

[0059] S14. When the thermal radiation intensity of the second detection signal meets the preset range of rodent body temperature characteristics, it is determined that rodent activity has been detected.

[0060] In one optional implementation, rodents, as homeothermic mammals, maintain a relatively stable body surface temperature (e.g., approximately 35°C - 38°C) despite environmental influences, and their corresponding infrared radiation intensity also has a characteristic range. Simultaneously, a reasonable minimum threshold is set to filter out environmental background thermal noise (such as radiation from heating pipes) or objects with temperatures far below body temperature (such as crawling cold-blooded insects). When the thermal radiation intensity calculated from the second detection signal is stable or repeatedly appears within this preset body temperature characteristic range, the algorithm determines that "the target thermal characteristics match those of homeothermic rodents."

[0061] It should be noted that in practical applications, steps S12, S13, and S14 are not executed in isolation, but rather form a multi-layered, cross-validated decision network. This allows for flexible configuration of decision strategies to balance sensitivity and false alarm rate. For example, setting any detection signal determination condition (S12, S13, or S14) to indicate the detection of rodent activity is suitable for scenarios with extremely high alarm latency requirements. Another example is setting conditions to simultaneously satisfy both the first detection signal determination condition (S12) and the second detection signal determination condition (S13 or S14), i.e., the target's movement resembles that of a mouse, and its body size or temperature also matches mouse characteristics. This mode can largely eliminate non-target interference and significantly reduce false alarms. In this example, the second method described above is primarily used.

[0062] This embodiment provides a rodent repelling method based on a dynamic composite sound field. It utilizes microwave Doppler frequency shift analysis to analyze motion characteristics and combines infrared signals to perceive the target's body size and temperature. This effectively distinguishes rodent activity from other sources of interference, significantly reducing the false trigger rate and ensuring that subsequent rodent repelling operations are only initiated when a real threat occurs. This improves the system's intelligent response and overall energy efficiency.

[0063] Optionally, see Figure 3 One implementation of step S22 may include: S221. Generate the first delay control parameter and the first gain control parameter using a pseudo-random number generation algorithm.

[0064] Among them, the pseudo-random number generation algorithm is either a linear feedback shift register algorithm or a software algorithm based on a clock seed. This algorithm periodically or according to event triggering generates two sets of random number sequences that vary within their respective specific ranges. One set of random numbers corresponds to the first delay control parameter, and the other set of random numbers corresponds to the first gain control parameter.

[0065] S222. Adjust the resistance value of the first digital potentiometer connected to the control terminal of the first analog delay line according to the first delay control parameter, so as to control the delay time generated by the ultrasonic electrical signal passing through the first analog delay line and obtain the ultrasonic delay signal.

[0066] In this embodiment, the first delay control parameter is mapped to the target resistance value of the first digital potentiometer. Based on the first delay control parameter, a command is sent to the first digital potentiometer via a digital bus to precisely set its resistance value. Changes in this resistance value alter the current flowing into the delay line control terminal or the voltage division ratio, thereby linearly or according to a specific curve changing the delay time of the delay line. The original ultrasonic electrical signal is fed into the input terminal of the first analog delay line. After passing through this delay line, the output signal generates a variable delay relative to the input signal, determined by the current random parameters, thus generating an ultrasonic delay signal.

[0067] S223. Adjust the resistance value of the second digital potentiometer connected to the negative feedback loop of the first operational amplifier according to the first gain control parameter to control the gain amplitude of the ultrasonic delay signal and obtain the ultrasonic gain signal.

[0068] In this embodiment, the first gain control parameter is mapped to the target resistance value of the second digital potentiometer. Based on the first gain control parameter, the resistance value of the second digital potentiometer is controlled via a digital bus. Changing this resistance value directly and continuously alters the closed-loop gain of the entire operational amplifier circuit. An ultrasonic delay signal is input to the input terminal of the first operational amplifier. The amplifier amplifies or attenuates the input signal according to its current gain set by the digital potentiometer, outputting an ultrasonic gain signal with randomly modulated amplitude.

[0069] S224. The ultrasonic gain signal and the ultrasonic electrical signal are mixed to generate the first driving signal.

[0070] As an optional implementation, an analog adder circuit (a summing circuit consisting of another operational amplifier) ​​is used. The ultrasonic gain signal and the ultrasonic electrical signal are respectively input to different input terminals of the adder through appropriate weighting resistors. The adder linearly superimposes the two signals to generate the final first drive signal.

[0071] In this embodiment, the first driving signal is then sent to the power amplifier of the next stage, which then drives the corresponding ultrasonic transducer array to work, so that the ultrasonic sound field is full of dynamic changes.

[0072] This embodiment provides a rodent-repelling method based on a dynamic composite sound field. It generates control parameters using a pseudo-random algorithm and precisely adjusts key parameters of the analog delay line and operational amplifier using a digital potentiometer, causing unpredictable random changes in the ultrasonic signal across both delay and gain dimensions. This approach disrupts rodents' ability to locate and habituate to stable sound sources, continuously applying novel stimuli to their auditory system, thereby effectively extending the duration of action of a single ultrasonic rodent-repelling method and overcoming its tendency to be easily adapted.

[0073] Optionally, see Figure 4One implementation of step S23 may include: S231. Generate the second delay control parameter, the second gain control parameter, and the azimuth control parameter using a pseudo-random number generation algorithm.

[0074] Similarly, a pseudo-random number generation algorithm is run to produce three independent sets of control parameter sequences: a second delay control parameter, used to control the random delay amount of the audio channel, typically ranging from a few milliseconds to tens of milliseconds, to simulate the randomness of natural reverberation and spatial reflection; a second gain control parameter, used to control the random echo depth variation of the audio; and an azimuth control parameter, which is crucial for realizing sound image movement. This parameter is a series of coordinate sequences that change continuously or incrementally in a three-dimensional spherical coordinate system (or horizontal azimuth, pitch angle). Its trajectory can be a random walk, a preset path (such as surround, sweep), or a combination of both, ensuring that the direction of sound source movement is unpredictable.

[0075] S232. Adjust the resistance value of the third digital potentiometer connected to the control terminal of the second analog delay line according to the second delay control parameter, so as to control the delay time generated by the simulated audio electrical signal through the second analog delay line and obtain the audio delay signal.

[0076] S233. Adjust the resistance value of the fourth digital potentiometer connected to the negative feedback loop of the second operational amplifier according to the second gain control parameter to control the gain amplitude of the audio delay signal and obtain the audio gain signal.

[0077] S234. Mix the audio gain signal with the simulated audio electrical signal to generate a reverberant audio signal.

[0078] In this embodiment, the randomization and mixing of the simulated audio signal (steps S232 to S234) are basically the same as the processing logic and implementation of the ultrasonic signal (steps S222 to S224) described above, and will not be repeated here.

[0079] S235. Configure the HRTF filtering coefficients of the three-dimensional sound field processor according to the orientation control parameters.

[0080] In this embodiment, an HRTF database is built-in, which contains filter coefficient pairs (usually one set for each ear) related to human or experimental animal head models, collected from different azimuth angles (0-360 degrees) and pitch angles (-90 to +90 degrees). The three-dimensional sound field processor (usually a dedicated digital signal processor) calculates a set of left and right channel HRTF filter coefficients corresponding to the target azimuth by calling from the database or interpolating in real time based on the azimuth control parameters acquired in real time.

[0081] S236. Input the reverberant audio signal into the three-dimensional sound field processor, and filter the reverberant audio signal based on the HRTF filtering coefficient to generate a three-dimensional audio signal.

[0082] Specifically, the reverberant audio signal is fed into a 3D sound field processor, which uses pre-loaded HRTF filter coefficients to perform real-time digital convolution filtering on the input signal. This process algorithmically simulates the spectral modification (filtering effects caused by the head, auricle, and torso) that sound undergoes as it travels from the target location to the listener's ears. After processing, the mono input can be converted into a stereo (or more) 3D audio signal with clear 3D spatial positioning information. As the orientation control parameters change continuously, the processor's HRTF filter coefficients also switch continuously, causing the auditory impression (sound image) of the output audio to move smoothly in 3D space.

[0083] S237. Write volume value sequences to the control register of the digital programmable gain amplifier in a cyclic manner according to a preset time interval.

[0084] The volume values ​​in the sequence are configured to increase and then decrease sequentially as they are written. For example, if a 30-level adjustment completes a "low→high→low" cycle, and the time interval between each volume level change is 100 milliseconds, then the first 30 values ​​must be written in ascending order, and the last 30 values ​​must be written in descending order. At the same time, a preset time interval of 6 seconds is set so that the volume increases or decreases every 100 milliseconds.

[0085] S238. Input the three-dimensional audio signal into the digital programmable gain amplifier, and adjust the amplitude of the three-dimensional audio signal based on the control register to obtain the second driving signal.

[0086] Specifically, the three-dimensional audio signal is input to a digitally programmable gain amplifier. This amplifier precisely amplifies or attenuates the amplitude of the input signal based on real-time updates in its control register. Thus, the volume of the three-dimensional audio signal changes periodically and automatically according to a preset "crescendo-decane" pattern, vividly simulating the sense of distance of a threatening sound source moving back and forth in space.

[0087] This embodiment provides a rodent-repelling method based on a dynamic composite sound field. By integrating random reverberation, HRTF-based 3D sound field rendering, and programmable cyclical gradual volume adjustment, it can synthesize a highly realistic and dynamically changing "virtual rodent predator" sound image in terms of spatial orientation, movement trajectory, and distance perception. This immersive sound scene can deeply simulate a continuously approaching threat from a psychological perspective, effectively stimulating the rodent's instinctive fear and escape response, and greatly enhancing the psychological deterrent effect.

[0088] In this embodiment, the effectiveness of the rodent control process needs to be monitored to adjust the working status in a timely manner. See also Figure 5 This is a flowchart illustrating a rodent repelling method based on a dynamic composite sound field. Figure 5 The diagram illustrates a further improvement to the above embodiment. For example, in scenarios involving stubborn rodents, in addition to performing sound field rodent repelling operations, other auxiliary rodent repelling operations can be superimposed for coordinated rodent repelling. Furthermore, when a mouse leaves, to prevent its return, the auxiliary rodent repelling functions can be turned off to reduce power consumption, while the dynamic simulated sound field can maintain the deterrent effect on rodents in the target area. If the mouse does not reappear for an extended period, all rodent repelling functions can be turned off, maintaining only the detection function. More specifically, this rodent repelling method based on a dynamic composite sound field also includes the following steps: S3. After the sound field mouse repelling operation has been performed for a first preset time, determine whether mouse activity has been detected in the target area. If yes, proceed to step S4; otherwise, proceed to step S5.

[0089] S4. Enter combined rodent control mode.

[0090] Specifically, in the combined rodent-repelling state, the sound field rodent-repelling operation is maintained, and at least one auxiliary rodent-repelling operation is performed. As an example, and not a limitation, the auxiliary rodent-repelling operation may include: S41. Control the strong light stimulation module to output strong light pulses with preset strobe parameters.

[0091] S42. Activate the odor diffusion module to diffuse the rodent repellent medium to the target area.

[0092] S43. Control the electromagnetic actuator to drive the impact component to strike the bearing surface according to the preset impact mode, and then collect and output the sound signal generated by striking the bearing surface.

[0093] like Figure 8 As shown, the strong light stimulation module 54 is evenly spaced along the outer side of the rodent repelling device. The preset flicker parameters include flicker frequency, pulse width, and light intensity. The flicker frequency is set to 5Hz-20Hz (this frequency range is highly stimulating to the visual system of rodents and easily induces their stress response), the pulse width is set to 10ms-50ms, and the light intensity can be adjusted to 500lux-1500lux. It also supports adaptive adjustment according to the ambient light intensity (such as reducing the light intensity at night to avoid strong light leakage; appropriately increasing the intensity during the day to counteract the influence of ambient light). By changing different flicker parameters, strong light pulses are output to interfere with the visual system of rodents.

[0094] The odor diffusion module 53 is located inside the upper part of the rodent repellent device. The bottom of the rodent repellent device is provided with a hollow medicine storage slot 531, which is used to place rodent repellent media such as natural capsaicin and ammonia preparations. The odor diffusion module 53 evenly diffuses the rodent repellent media to the target area. The odor diffusion module 53 can be a fan assembly, and the speed of the fan assembly can be controlled to adjust the diffusion rate of the rodent repellent media, using the sensitive olfactory system of rodents to make them escape.

[0095] An electromagnetic actuator 55 is located inside the lower part of the rodent-repelling device. In one possible implementation, the impact component of the electromagnetic actuator 55, driven by the actuator 55, strikes the bearing surface with short, strong blows at random intervals. In this example, depending on the actual placement of the rodent-repelling device, the bearing surface includes the ground, walls, the bottom of shelves, and other carriers where rodents may perch or move. Subsequently, a high-sensitivity microphone collects the broadband sound signal generated by the strikes. Finally, an audio signal amplification unit amplifies and processes the broadband sound signal before outputting it. The striking sound effect and the striking vibration stimulate the auditory and tactile systems of the rodents, causing them to feel uneasy.

[0096] S5. Enter delay monitoring mode.

[0097] Specifically, in the delayed monitoring state, the ongoing auxiliary rodent-repelling operation is stopped, and the sound field rodent-repelling operation is executed intermittently. As an example, and not a limitation, a timer is set to continuously output a dynamic composite sound field for 2 minutes every 10 minutes. At the same time, the microwave radar sensor 11 and the infrared pyroelectric sensor 12 continue to work, monitoring rodent activity signs in the target area in real time, providing a basis for subsequent state switching.

[0098] Furthermore, such as Figure 5 As shown, after performing step S4, the following steps are also included: S6. After entering the combined rodent control state for a second preset time, determine whether rodent activity is detected in the target area. If yes, proceed to step S7; otherwise, proceed to step S5.

[0099] S7. Output a prompt message to the user terminal.

[0100] In one possible implementation, the prompt message could include: "Rodent activity is still detected in the target area. We recommend adjusting rodent control parameters or checking for environmental vulnerabilities." This prompt message could also include current sensor data and rodent control pattern records to allow users to make further decisions or intervene manually.

[0101] like Figure 8As shown, the intelligent rodent-repelling device is equipped with an IoT interaction module 6. The core functions of the IoT interaction module 4 are divided into two main sections: data uploading and remote control. It also supports local fault alarms and remote parameter upgrades. In this embodiment, the IoT interaction module 4 can transmit prompt information to the user terminal and return the decisions made by the user terminal.

[0102] Furthermore, such as Figure 5 As shown, after performing step S5, the following steps are also included: S8. After entering the delayed monitoring state for the third preset time, determine whether rodent activity is detected in the target area. If yes, proceed to step S4; otherwise, proceed to step S9.

[0103] S9. Enter standby mode.

[0104] Specifically, in standby mode, all ongoing sound-based rodent control operations and auxiliary rodent control operations are stopped, maintaining only basic monitoring functions. In one optional implementation, the standby mode can continue until the next rodent activity event triggers it or it is actively triggered by the user. Alternatively, the startup time after entering standby mode can be preset, periodically waking the rodent control device to activate a low-power rodent control function for a period before returning to standby mode (e.g., activating the odor diffusion module 53 for preventative rodent control).

[0105] This embodiment provides a rodent-repelling method based on a dynamic composite sound field. For scenarios involving the repelling of stubborn rodents, it further incorporates methods such as flashing bright lights, diffused rodent-repelling odors, and the creation of knocking vibrations and sounds to assist in rodent control. This multi-dimensional stimulation system, designed for different senses, makes it difficult for rodents to remain through adaptation to a single sensory experience, significantly improving repelling efficiency and solving the problem of incomplete removal of stubborn rodents. Furthermore, through a multi-level state transition of "full repellency → intermittent deterrence → standby," it achieves step-wise optimization of system power consumption while ensuring the continuity of the rodent-repelling effect, and also provides a backup for possible rodent-repelling failure. The intermittent deterrence mode can consolidate the repelling effect while appropriately reducing energy consumption, preventing rodents from quickly returning during the intervals between rodent-repelling stimulus pauses, avoiding frequent start-stop of all rodent-repelling functions, and ultimately significantly reducing energy consumption after ensuring that the threat is largely eliminated, thus improving its economic efficiency.

[0106] Furthermore, such as Figure 6 The flowchart illustrating the rodent repelling method based on dynamic composite sound fields is a further improvement upon the above embodiment. When human activity is detected simultaneously during the rodent repelling process, some rodent repelling functions that may affect human health can be downgraded or disabled. More specifically, this rodent repelling method based on dynamic composite sound fields further includes: S31. During the execution of the sound field mouse repelling operation and / or auxiliary mouse repelling operation, determine whether human activity is detected in the target area. If yes, proceed to step S32; otherwise, maintain the current state.

[0107] In this embodiment, similar to the method of identifying rodent activity, the detection signals of the microwave radar sensor 11 and the infrared pyroelectric sensor 12 can be matched with the corresponding human characteristic parameters to identify whether the organism type in the target area is human. This will not be elaborated further here.

[0108] S32, Enter safe avoidance mode.

[0109] Specifically, in a security evasion state, at least one security evasion operation is performed. As an example, and not a limitation, a security evasion operation may include: S321 controls the audio synthesis circuit to stop outputting simulated audio electrical signals.

[0110] S322, Control the strong light stimulation module to stop outputting strong light pulses.

[0111] S323, Control the electromagnetic actuator to stop driving the impact component.

[0112] S324. Control the programmable waveform generator to constrain the frequency of the ultrasonic electrical signal to the safe frequency band for rodent control, and at the same time control the programmable waveform generator to intermittently output the ultrasonic electrical signal.

[0113] Specifically, firstly, the ultrasonic frequency is constrained to a safe frequency band for rodent control. This safe frequency band is a sub-band within the sensitive frequency band for rodent hearing (20kHz-60kHz) where the probability of human hearing perception is less than 5%. Experiments have verified that the optimal range is 35kHz-50kHz—within this range, the auditory sensitivity of rodents does not decrease significantly and they can still produce a strong rejection reaction. In contrast, the human ear has a very weak ability to perceive ultrasonic waves above 30kHz, and only a small number of people can perceive signals in the 30kHz-35kHz frequency band. Constraining the frequency to above 35kHz can essentially prevent human perception.

[0114] Secondly, the programmable waveform generator is controlled by an intermittent output mode, which can further reduce the potential impact of ultrasound on the human body. At the same time, by changing the ultrasound, it can prevent rodents from quickly adapting to a single frequency of ultrasound.

[0115] S325, the odor diffusion control module starts intermittently.

[0116] This embodiment provides a rodent repelling method based on a dynamic composite sound field. When human activity is detected simultaneously during the rodent repelling process, the rodent repelling operation that may affect the human body is precisely and automatically downgraded or stopped. This effectively avoids possible interference or discomfort to humans caused by the rodent repelling operation, achieving a balance between precise rodent repelling and the tranquility of human living, and expanding its application scenarios.

[0117] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0118] Corresponding to the rodent repelling method based on dynamic composite sound field described in the above embodiments, Figure 7 The structural block diagram of the intelligent rodent repelling device provided in the embodiments of this application is shown. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0119] Reference Figure 7 The intelligent rodent-repelling device includes a core control module 1, a first execution module 2, a second execution module 3, and a third execution module 4, specifically: The control core module 1 is used to call the first execution module 2 when rodent activity is detected in the target area.

[0120] The first execution module 2 is used to perform the sound field mouse repelling operation.

[0121] like Figure 7 As shown, the first execution module 2 includes a first generation unit 21, a first processing unit 22, a second processing unit 23, and a second generation unit 24, specifically: The first generation unit 21 is used to control the programmable waveform generator to output ultrasonic electrical signals and to control the audio synthesis circuit to output simulated audio electrical signals. The ultrasonic electrical signals are located in the frequency band sensitive to rodent hearing, and the simulated audio electrical signals contain acoustic characteristics of rodent predators.

[0122] The first processing unit 22 is used to perform random delay processing and random gain processing on the ultrasonic electrical signal to generate a first driving signal.

[0123] The second processing unit 23 is used to perform random delay processing, random gain processing, three-dimensional sound field rendering processing, and dynamic volume adjustment processing on the simulated audio electrical signal to generate a second driving signal.

[0124] The second generation unit 24 is used to drive multiple ultrasonic transducers arranged in a surround manner based on the first driving signal and simultaneously drive multiple loudspeakers arranged in a surround manner based on the second driving signal to generate a dynamic composite sound field in the target area.

[0125] In one optional implementation, the control core module 1 is further configured to enter a joint rodent control state if rodent activity is detected in the target area after the first execution module 2 has been called for a first preset duration.

[0126] The control core module 1 is also used to call the first execution module 2 and the second execution module 3 in the combined mouse-repelling state.

[0127] The second execution module 2 is used to perform at least one auxiliary rodent-repelling operation.

[0128] like Figure 7 As shown, the second execution module 3 includes a first control unit 31, a second control unit 32, and a third control unit 33, specifically: The first control unit 31 is used to control the strong light stimulation module to output strong light pulses with preset strobe parameters.

[0129] The second control unit 32 is used to activate the odor diffusion module to diffuse the rodent repellent medium to the target area.

[0130] The third control unit 33 is used to control the electromagnetic actuator to drive the impact component to strike the bearing surface according to the preset impact mode, and then collect and output the sound signal generated by striking the bearing surface.

[0131] In one optional implementation, the control core module 1 is further configured to enter a safety avoidance state when human activity is detected in the target area during the invocation of the first execution module 2 and / or the second execution module 3.

[0132] The control core module 1 is also used to call the third execution module 4 in a safety avoidance state.

[0133] The third execution module 4 is used to perform at least one security evasion operation.

[0134] like Figure 7 As shown, the third execution module 4 includes a fourth control unit 41, a fifth control unit 42, a sixth control unit 43, a seventh control unit 44, and an eighth control unit 45, specifically: The fourth control unit 41 is used to control the audio synthesis circuit to stop outputting simulated audio electrical signals.

[0135] The fifth control unit 42 is used to control the strong light stimulation module to stop outputting strong light pulses.

[0136] The sixth control unit 43 is used to control the electromagnetic actuator to stop driving the impact component.

[0137] The seventh control unit 44 is used to control the programmable waveform generator to constrain the frequency of the ultrasonic electrical signal to the rodent-repelling safe frequency band, and at the same time control the programmable waveform generator to intermittently stop outputting the ultrasonic electrical signal. The rodent-repelling safe frequency band is a sub-frequency band within the rodent-sensitive hearing frequency band with a low probability of human ear perception.

[0138] The eighth control unit 45 is used to control the intermittent start-up of the odor diffusion module.

[0139] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0140] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described above in the embodiments of the mouse repelling method based on dynamic composite sound fields.

[0141] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described above in the various embodiments of the mouse repelling method based on dynamic composite sound fields.

[0142] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various embodiments of the mouse-repelling method based on dynamic composite sound fields. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0143] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0144] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0145] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A rodent-repelling method based on a dynamic composite sound field, characterized in that, include: When rodent activity is detected in the target area, a sound field rodent repelling operation is performed, which includes: The system controls a programmable waveform generator to output ultrasonic electrical signals and controls an audio synthesis circuit to output simulated audio electrical signals; wherein the frequency of the ultrasonic electrical signal is in the frequency band sensitive to the hearing of rodents, and the simulated audio electrical signal contains acoustic characteristics of rodent predators. Random delay processing and random gain processing are performed on the ultrasonic electrical signal to generate a first driving signal; The simulated audio electrical signal is subjected to random delay processing, random gain processing, three-dimensional sound field rendering processing, and dynamic volume adjustment processing to generate a second driving signal. A plurality of ultrasonic transducers arranged in a circular arrangement are driven based on the first driving signal, and a plurality of loudspeakers arranged in a circular arrangement are driven synchronously based on the second driving signal, so as to generate a dynamic composite sound field in the target area.

2. The rodent-repelling method based on a dynamic composite sound field according to claim 1, characterized in that, The step of performing the sound field rodent repelling operation when rodent activity is detected in the target area also includes the following before: The first detection signal of the target area is obtained by a microwave radar sensor and / or the second detection signal of the target area is obtained by an infrared pyroelectric sensor. When the Doppler frequency shift of the first detection signal is located in the preset frequency band of rodent activity characteristics, it is determined that rodent activity has been detected; And / or, When the effective sensing area of ​​the second detection signal matches the preset range of rodent body size characteristics, it is determined that rodent activity has been detected; And / or, when the thermal radiation intensity of the second detection signal meets the preset range of rodent body temperature characteristics, it is determined that rodent activity has been detected.

3. The rodent-repelling method based on a dynamic composite sound field according to claim 1, characterized in that, The steps of performing random delay processing and random gain processing on the ultrasonic electrical signal include: The first delay control parameter and the first gain control parameter are generated using a pseudo-random number generation algorithm. Adjust the resistance of the first digital potentiometer connected to the control terminal of the first analog delay line according to the first delay control parameter, so as to control the delay time generated by the ultrasonic electrical signal through the first analog delay line and obtain the ultrasonic delay signal. Adjust the resistance of the second digital potentiometer connected to the negative feedback loop of the first operational amplifier according to the first gain control parameter to control the gain amplitude of the ultrasonic delay signal and obtain the ultrasonic gain signal. The ultrasonic gain signal is mixed with the ultrasonic electrical signal to generate the first driving signal.

4. The rodent-repelling method based on a dynamic composite sound field according to claim 1, characterized in that, The steps of performing random delay processing, random gain processing, three-dimensional sound field rendering processing, and dynamic volume adjustment processing on the simulated audio electrical signal include: The second delay control parameter, the second gain control parameter, and the azimuth control parameter are generated using a pseudo-random number generation algorithm. Adjust the resistance of the third digital potentiometer connected to the control terminal of the second analog delay line according to the second delay control parameter, so as to control the delay time generated by the simulated audio electrical signal through the second analog delay line and obtain the audio delay signal; Adjust the resistance value of the fourth digital potentiometer connected to the negative feedback loop of the second operational amplifier according to the second gain control parameter to control the gain amplitude of the audio delay signal and obtain the audio gain signal. The audio gain signal is mixed with the simulated audio electrical signal to generate a reverberant audio signal; Configure the HRTF filtering coefficients of the three-dimensional sound field processor according to the orientation control parameters; The reverberant audio signal is input into the three-dimensional sound field processor, and the reverberant audio signal is filtered based on the HRTF filtering coefficient to generate a three-dimensional audio signal; A volume value sequence is cyclically written to the control register of a digitally programmable gain amplifier at preset time intervals; wherein the values ​​in the volume value sequence are configured to first increase and then decrease according to the writing order. The three-dimensional audio signal is input into the digitally programmable gain amplifier, and the amplitude of the three-dimensional audio signal is adjusted based on the control register to obtain the second driving signal.

5. The rodent-repelling method based on a dynamic composite sound field according to claim 1, characterized in that, The rat-repelling method based on dynamic composite sound fields also includes: After the sound field rodent repelling operation has been performed for a first preset time, if rodent activity is detected in the target area, the combined rodent repelling state is entered. In the combined rodent-repelling state, the sound field rodent-repelling operation is maintained, and at least one auxiliary rodent-repelling operation is performed, including: The intense light stimulation module is controlled to output intense light pulses with preset strobe parameters; The odor diffusion module is activated to diffuse the rodent repellent medium into the target area; The electromagnetic actuator is controlled to drive the impact component to strike the bearing surface according to the preset impact mode, and then the sound signal generated by striking the bearing surface is collected and output.

6. The rodent-repelling method based on a dynamic composite sound field according to claim 5, characterized in that, The rat-repelling method based on dynamic composite sound field also includes; During the execution of the sound field rodent repelling operation and / or the auxiliary rodent repelling operation, when human activity is detected in the target area, a safe avoidance state is entered: In the security avoidance state, at least one security avoidance operation is performed, the security avoidance operation including: The audio synthesis circuit is controlled to stop outputting the simulated audio electrical signal; Control the high-intensity light stimulation module to stop outputting high-intensity light pulses; Control the electromagnetic actuator to stop driving the impact component; The programmable waveform generator is controlled to constrain the frequency of the ultrasonic signal to a safe frequency band for rodent control, and the programmable waveform generator is also controlled to intermittently output the ultrasonic signal; the safe frequency band for rodent control is a sub-frequency band within the rodent hearing sensitive frequency band with a low probability of human ear perception. The odor diffusion module is controlled to start intermittently.

7. The rodent-repelling method based on a dynamic composite sound field according to claim 5, characterized in that, The rat-repelling method based on dynamic composite sound fields also includes; After the sound field rodent repelling operation is performed for a first preset time or after entering the combined rodent repelling state for a second preset time, if no rodent activity is detected in the target area, the system enters a delayed monitoring state. After entering the combined rodent control state for a second preset time, if rodent activity is detected in the target area, a prompt message is output to the user terminal; the prompt signal is used to indicate that the rodent control effect has not been achieved. During the delay monitoring state, the auxiliary rodent-repelling operation is stopped, and the sound field rodent-repelling operation is executed intermittently. After entering the delayed monitoring state for a third preset time, if no rodent activity is detected in the target area, the system enters standby mode; otherwise, it returns to the combined rodent control state. In the standby state, the sound field mouse repelling operation and the auxiliary mouse repelling operation are stopped.

8. An intelligent rodent-repelling device, characterized in that, For implementing the rodent-repelling method based on dynamic composite sound field as described in any one of claims 1-8, the intelligent rodent-repelling device comprises: The control core module is used to invoke the first execution module when rodent activity is detected in the target area; The first execution module is used to perform a sound field mouse repelling operation; The first execution module includes: The first generation unit is used to control the programmable waveform generator to output ultrasonic electrical signals and to control the audio synthesis circuit to output simulated audio electrical signals; wherein, the frequency of the ultrasonic electrical signal is in the frequency band sensitive to the hearing of rodents, and the simulated audio electrical signal contains the acoustic characteristics of rodent predators. The first processing unit is used to perform random delay processing and random gain processing on the ultrasonic electrical signal to generate a first driving signal; The second processing unit is used to perform random delay processing, random gain processing, three-dimensional sound field rendering processing, and dynamic volume adjustment processing on the simulated audio electrical signal to generate a second driving signal. The second generation unit is used to drive a plurality of ultrasonic transducers arranged in a surrounding manner based on the first driving signal and to simultaneously drive a plurality of loudspeakers arranged in a surrounding manner based on the second driving signal, so as to generate a dynamic composite sound field in the target area.

9. The intelligent rodent-repelling device according to claim 8, characterized in that, The control core module is also used to enter a joint rodent control state if rodent activity is detected in the target area after the first execution module has been called for a first preset time. The control core module is also used to call the first execution module and the second execution module in the combined rodent control state; The second execution module is used to perform at least one auxiliary rodent-repelling operation; The second execution module includes a first control unit, used to control the strong light stimulation module to output strong light pulses with preset strobe parameters; And / or, the second execution module and the second control unit are used to activate the odor diffusion module to diffuse the rodent repellent medium to the target area; And / or, the second execution module includes a third control unit, which controls the electromagnetic actuator to drive the impact component to strike the bearing surface according to a preset impact mode, and then collects and outputs the sound signal generated by striking the bearing surface.

10. The intelligent rodent-repelling device according to claim 8, characterized in that, The control core module is also configured to enter a safety avoidance state when human activity is detected in the target area during the invocation of the first execution module and / or the second execution module: The control core module is also used to call the third execution module under the security avoidance state; The third execution module is used to perform at least one security evasion operation; The third execution module includes a fourth control unit, used to control the audio synthesis circuit to stop outputting the simulated audio electrical signal; And / or, the third execution module includes a fifth control unit, used to control the intense light stimulation module to stop outputting intense light pulses; And / or, the third execution module includes a sixth control unit for controlling the electromagnetic actuator to stop driving the impact component; And / or, the third execution module includes a seventh control unit, used to control the programmable waveform generator to constrain the frequency of the ultrasonic electrical signal to a safe frequency band for rodent control, and at the same time control the programmable waveform generator to intermittently stop outputting the ultrasonic electrical signal; the safe frequency band for rodent control is a sub-frequency band within the rodent hearing sensitive frequency band with a low probability of human ear perception; And / or, the third execution module includes an eighth control unit for controlling the intermittent activation of the odor diffusion module.

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