WO2024092875A1 - 一种带降噪的止吠器控制装置及其方法 - Google Patents

一种带降噪的止吠器控制装置及其方法 Download PDF

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Publication number
WO2024092875A1
WO2024092875A1 PCT/CN2022/131871 CN2022131871W WO2024092875A1 WO 2024092875 A1 WO2024092875 A1 WO 2024092875A1 CN 2022131871 W CN2022131871 W CN 2022131871W WO 2024092875 A1 WO2024092875 A1 WO 2024092875A1
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Prior art keywords
barking
microprocessor
sound
pet dog
sound collection
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PCT/CN2022/131871
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English (en)
French (fr)
Inventor
黄志灿
黄宝寅
张小伟
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泉州紫盒电子有限公司
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Priority to US18/492,166 priority Critical patent/US20240147963A1/en
Publication of WO2024092875A1 publication Critical patent/WO2024092875A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K15/00—Devices for taming animals, e.g. nose-rings or hobbles; Devices for overturning animals in general; Training or exercising equipment; Covering boxes
    • A01K15/02—Training or exercising equipment, e.g. mazes or labyrinths for animals ; Electric shock devices ; Toys specially adapted for animals
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K27/00—Leads or collars, e.g. for dogs
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/16—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/175—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound
    • G10K11/178—Methods or devices for protecting against, or for damping, noise or other acoustic waves in general using interference effects; Masking sound by electro-acoustically regenerating the original acoustic waves in anti-phase

Definitions

  • the present invention relates to the technical field of bark suppressors, and in particular to a bark suppressor control device with noise reduction and a method thereof.
  • a barking stopper device is designed to train pet dogs. When the pet dog barks, the device will perform static pulses, vibrations, and warning sounds to stimulate it to stop barking.
  • traditional pet barking stoppers on the market all use a combination of volume and sound frequency to determine whether the pet is barking.
  • Ci202022782468.4 discloses a new type of pet bark stopper, including a microphone, an audio amplifier, a filter, an analog-to-digital converter, a memory, a comparator, and a vibration reminder.
  • the microphone, audio amplifier, filter, analog-to-digital converter, memory, comparator, and vibration reminder are electrically connected.
  • the microphone converts the mechanical vibration signal of the pet's sound into an electrical signal, amplifies the electrical signal through the audio amplifier, and uses a filter to filter the electrical signal.
  • CN 110915713 A discloses a barking control method and device for a barking control device, which determines whether the vibration characteristics detected when a dog is barking include the characteristics of the head shaking and the dog's Adam's apple vibration. This solution cannot accurately identify the head shaking characteristics and the dog's Adam's apple vibration characteristics when a pet dog is barking in motion, and may mistakenly trigger the barking control device for the pet dog in motion.
  • the present invention proposes a control device and method of a barking control device with noise reduction, which has a reasonable structure, low cost, sensitive sound recognition, and accurate pet barking recognition.
  • a control device for a barking stopper with noise reduction comprising a fixing device that can be worn on the neck of a pet dog, a shell, a barking stopper, a main microphone sound collection module, a secondary microphone sound collection module, a differential amplifier module and a microprocessor, wherein the shell is arranged on the fixing device and located at the throat of the pet dog's neck, and the barking stopper is arranged on the shell, the main microphone sound collection module is installed in the shell, and the sound pickup hole of the main microphone is located at the bottom of the shell, close to the pet dog's throat for sound production; the secondary microphone sound collection module is installed in the shell, and the sound pickup hole of the secondary microphone is located at the top of the shell, away from the pet dog's throat for sound production; the main microphone sound collection module
  • the microphone sensitivity and frequency response of the main microphone sound collection module and the auxiliary microphone sound collection module are consistent, and the microphone pickup holes and internal spaces of the main microphone sound
  • the main microphone sound collection module and the auxiliary microphone sound collection module respectively collect barking sounds, amplify them, and send them to the differential amplifier module to filter out environmental noise.
  • the differential amplifier module uses anti-phase sound wave cancellation to filter out environmental noise and output noise-free barking sound signals to the microprocessor.
  • the microprocessor performs fast Fourier transform to calculate frequency domain characteristics and determines whether the frequency domain characteristics are consistent with the pet dog barking frequency characteristics stored in the microprocessor. If the microprocessor determines that the pet dog is barking, it controls the barking control device to stimulate the pet to stop barking.
  • the sound start detection module collects the signal collected by the main microphone sound collection module and compares it with a preset threshold and wakes up the microprocessor when the collected signal is greater than the preset threshold.
  • a motion sensor which is arranged on a fixing device and is connected to a sound start detection module, and the output of the motion sensor is connected to an input end of a microprocessor.
  • the sound start detection module collects sound
  • the motion sensor is triggered to start detecting the movement increment of the pet dog and sending it to the microprocessor.
  • the microprocessor calculates the difference between the incremental changes of the two previous and subsequent samples to the X-axis, Y-axis, and Z-axis with a fixed periodicity.
  • the microprocessor calculates the root mean square value RMS of the difference between the X-axis, Y-axis, and Z-axis, compares it with a preset threshold, and records it.
  • the motion sensor collection and the sound collection are stopped synchronously, and the microprocessor averages the recorded root mean square values AVG. If the AVG value exceeds the preset increment value, it is determined that the pet dog currently wearing the anti-barking device is barking.
  • a wearing detection module which is arranged in the shell and connected to the barking control device.
  • the output of the wearing detection module is connected to the input of the microprocessor.
  • the wearing detection module detects whether the electrostatic pulse shock column of the barking control device contacts the skin and causes a different load.
  • the wearing detection module obtains the electrostatic pulse current value of the electrostatic pulse shock column of the current barking control device and compares it with a preset idle current threshold. If it is greater than the preset idle current threshold, the wearing is successful.
  • the barking-stopping device includes electrostatic pulses, vibrations, warning sounds or ultrasonic stimulation to stop the pet dog from barking.
  • a human-computer interaction module which is connected to the microprocessor to select the training output mode and display the working status of the barking control device.
  • a method for controlling a barking stopper with noise reduction includes a fixing device that can be worn on the neck of a pet dog, a shell, and a barking stopper.
  • the shell is arranged on the fixing device at the throat of the pet dog's neck, and the barking stopper is arranged on the shell to stop the pet dog from barking.
  • Detect the voice of the pet dog set the microphone sensitivity and frequency response of the main microphone sound collection module and the auxiliary microphone sound collection module to be consistent, and the microphone pickup holes and internal spaces of the main microphone sound collection module and the auxiliary microphone sound collection module to be consistent, the main microphone sound collection module is close to the pet dog's throat to collect the pronunciation, and the auxiliary microphone sound collection module is installed on the top of the shell away from the pet dog's throat to collect the sound;
  • the collected sound is processed for noise reduction; the main microphone sound collection module and the auxiliary microphone sound collection module respectively collect the barking sound, amplify it and send it to the differential amplifier module to filter the environmental noise.
  • the differential amplifier module uses anti-phase sound wave cancellation to filter the environmental noise and output the noise-free barking sound signal to the microprocessor.
  • the microprocessor determines whether the signal meets the barking frequency: The microprocessor performs fast Fourier transform on the noise-free barking signal to calculate the frequency domain characteristics and determine whether the frequency domain characteristics meet the pet dog barking frequency characteristics stored in the microprocessor. If the microprocessor determines that the pet dog is barking, it controls the barking control device to stimulate the pet to stop barking.
  • the sound start detection module collects the signal collected by the main microphone sound collection module and compares it with a preset threshold and wakes up the microprocessor when the collected signal is greater than the preset threshold.
  • the sound start detection module collects sound, it triggers the motion sensor to start detecting the incremental movement information of the pet dog and sends it to the microprocessor.
  • the microprocessor calculates the difference between the incremental changes of the X-axis, Y-axis, and Z-axis sampled twice before and after with a fixed periodicity.
  • the microprocessor calculates the root mean square value RMS of the difference between the X-axis, Y-axis, and Z-axis, compares it with the preset threshold, and records it.
  • the motion sensor collection and sound collection are stopped synchronously, and the microprocessor averages the recorded root mean square values AVG. If the AVG value exceeds the preset incremental value, it is determined that the pet dog currently wearing the anti-barking device is barking.
  • the microprocessor is provided with an automatic sensitivity determination system, that is, the microprocessor determines whether the current barking sound is the barking of the pet dog by calculating the proportion of the amplitude of the barking sound with an effective frequency in the entire sound segment; the microprocessor is provided with an artificial intelligence system, and the microprocessor can learn to generate corresponding frequency characteristics for unrecognized barking sounds and add them to the frequency range of the barking sounds.
  • an automatic sensitivity determination system that is, the microprocessor determines whether the current barking sound is the barking of the pet dog by calculating the proportion of the amplitude of the barking sound with an effective frequency in the entire sound segment
  • the microprocessor is provided with an artificial intelligence system, and the microprocessor can learn to generate corresponding frequency characteristics for unrecognized barking sounds and add them to the frequency range of the barking sounds.
  • a wearing detection module is first used to detect whether the barking control device is worn on the neck of the pet dog.
  • the beneficial effect of the present invention is as follows: by setting the main microphone sound collection module close to the pet dog's throat to collect pronunciation, and using the auxiliary microphone sound collection module to be installed on the top of the shell away from the pet dog's throat to collect sound, the microphone sensitivity and frequency response of the main microphone sound collection module and the auxiliary microphone sound collection module are consistent, and the microphone pickup holes and internal spaces of the main microphone sound collection module and the auxiliary microphone sound collection module are consistent, the sound collected by the main microphone sound collection module and the auxiliary microphone sound collection module are sent to the differential amplifier to filter the environmental noise, and the environmental noise is filtered out by using the principle of reverse sound wave cancellation to obtain a noise-free barking signal, the microprocessor performs a fast Fourier transform on the noise-free barking signal to calculate the frequency domain characteristics and determine whether the frequency domain characteristics meet the pet dog barking frequency characteristics stored in the microprocessor, and the microprocessor determines that the pet dog is barking and controls the barking control device to stimulate the
  • the microprocessor can effectively collect the correct barking sound through noise reduction processing.
  • the microprocessor also has an automatic sensitivity judgment program, which determines whether the current barking sound is effective by the proportion of the amplitude of the effective frequency of the barking sound in the whole sound.
  • an artificial intelligence system can also be set on the microprocessor. The microprocessor can learn to generate corresponding frequency characteristics for unrecognized barking sounds through the artificial intelligence system and add them to the frequency range of the barking sound.
  • the sound start detection module is used to start the microprocessor to detect sound from sleep to wake-up.
  • the sound start detection module collects the signal collected by the main microphone sound collection module and compares it with the preset threshold and wakes up the microprocessor when the collected signal is greater than the preset threshold.
  • the sound start detection module collects sound, it triggers the motion sensor to start detecting the movement increment of the pet dog and sends it to the microprocessor.
  • the microprocessor calculates the difference between the incremental changes of the two previous and subsequent samples to the X-axis, Y-axis, and Z-axis with a fixed periodicity.
  • the microprocessor calculates the root mean square value RMS of the difference between the X-axis, Y-axis, and Z-axis, compares it with the preset threshold, and records it.
  • the motion sensor collection and sound collection are stopped synchronously, and the microprocessor calculates the average AVG of the recorded RMS values.
  • the motion sensor incremental analysis is used to determine whether it is another pet dog barking, further reducing misoperation.
  • the incremental change analysis can capture the overall vibration component of the pet dog in real time to achieve more accurate identification.
  • the wearing detection module detects that the anti-barking device is not worn, the anti-barking device will not work and enter a low-power state to prevent the anti-barking device from being disturbed by the outside world when it is not worn.
  • the human-computer interaction module is connected to the microprocessor to select the training output mode and display the working status of the anti-barking device, which can be widely promoted and applied.
  • FIG1 is a functional block diagram of a barking control device according to an embodiment of the present invention.
  • FIG2 is a flowchart of the bark control device according to an embodiment of the present invention.
  • FIG. 3 is a circuit schematic diagram of a main microphone sound collection module, a secondary microphone sound collection module, a sound start detection module, and a differential amplifier module according to an embodiment of the present invention
  • FIG4 is a circuit diagram of a wearing detection module according to an embodiment of the present invention.
  • FIG5 is a typical schematic diagram of barking signal noise reduction according to an embodiment of the present invention.
  • FIG6 is a typical schematic diagram of FFT variation of a barking signal according to an embodiment of the present invention.
  • FIG. 7 is a front view of the housing of the anti-barking device according to an embodiment of the present invention.
  • FIG. 8 is a rear view of the housing of the bark suppression device according to an embodiment of the present invention.
  • the preferred barking control device with noise reduction of the present invention comprises a fixing device wearable on the neck of a pet dog, a shell 1, a barking control device 2, a main microphone sound collection module 3, a secondary microphone sound collection module 4, a differential amplifier module 5, a microprocessor 6, a human-computer interaction module 7, a sound start detection module 8, a motion sensor 9 and a wearing detection module 10, wherein the shell 1 is arranged on the fixing device and located at the throat of the pet dog's neck where the sound is produced, the barking control device 2 is arranged on the shell 1 and the barking control device 2 is an electrostatic pulse generator, the main microphone sound collection module 3 is installed in the shell 1 and the sound pickup hole 31 of the main microphone is located at the bottom of the shell 1 close to the pet dog's throat for sound production; the secondary microphone sound collection module 4 is installed in the shell 1 and the sound pickup hole 41 of the secondary microphone is located at the top of the shell 1 away from the pet dog's throat for sound production; the main microphone sound collection module 3 and the secondary microphone sound
  • the main microphone sound collection module 3 and the auxiliary microphone sound collection module 4 respectively collect barking sounds, amplify them, and send them to the differential amplifier module 5 to filter the environmental noise.
  • the differential amplifier module 5 uses anti-phase sound wave cancellation to filter the environmental noise and output a noise-free barking sound signal to the microprocessor 6.
  • the microprocessor 6 performs a fast Fourier transform to calculate the frequency domain characteristics and determines whether the frequency domain characteristics meet the barking frequency characteristics of the pet dog stored in the microprocessor 6.
  • the microprocessor 6 determines that the pet dog is barking and controls the barking control device 2 to stimulate the pet to stop barking.
  • the microprocessor 6 is usually in sleep mode to reduce power consumption.
  • the output of the sound start detection module 8 is connected to the input end of the microprocessor 6.
  • the sound start detection module 8 collects the signal collected by the main microphone sound collection module 3 and compares it with the preset threshold of the sound start detection module 8 and wakes up the microprocessor 6 when the collected signal is greater than the preset threshold.
  • the motion sensor 9 is arranged on the fixed The device is fixed and the motion sensor 9 is connected to the sound start detection module 8. The output of the motion sensor 9 is connected to the input end of the microprocessor 6. When the sound start detection module 8 collects sound, the motion sensor 9 is triggered to start detecting the movement increment information of the pet dog and sends it to the microprocessor 6.
  • the microprocessor 6 calculates the difference between the incremental changes of the two samples to the X-axis, Y-axis and Z-axis with a fixed periodicity.
  • the microprocessor 6 calculates the root mean square value RMS of the difference between the X-axis, Y-axis and Z-axis and compares it with the preset threshold value and records it.
  • the collection of the motion sensor 9 and the sound collection are stopped synchronously.
  • the microprocessor 6 averages the recorded root mean square value AVG. If the AVG value exceeds the preset increment value, it is determined that the pet dog currently wearing the anti-barking device is barking, and then the microprocessor 6 controls the anti-barking device 2 to stimulate the pet to stop barking, wherein:
  • AVG (RMSx + RMS2 + ... + RMSn ) / n;
  • the wearing detection module 10 is arranged in the shell 1 and is connected to the anti-barking device.
  • the output of the wearing detection module 10 is connected to the input of the microprocessor 6.
  • the wearing detection module 10 detects whether the electrostatic pulse shock column of the anti-barking device 2 contacts the skin and causes a different load.
  • the wearing detection module 10 obtains the electrostatic pulse current value of the electrostatic pulse shock column of the current anti-barking device 2 and compares it with a preset idle current threshold. If it is greater than the preset idle current threshold, the wearing is successful.
  • the human-computer interaction module 7 is connected to the microprocessor 6 to select the training output mode and display the working status of the anti-barking device 2.
  • the barking sound of a pet dog varies greatly in frequency depending on its different emotions. When a pet dog is in a situation of alert and defense, it will growl at a frequency of about 120Hz-600Hz. When a pet dog is hungry, the barking frequency is about 1330Hz-1440Hz. When the owner is about to abandon it, the barking frequency is mournful and high-pitched, about 1650Hz--2000Hz. Dogs will also compete for the favor of their owners, and the barking frequency is about 627Hz.
  • the main microphone sound collection module 3 collects a mixed signal Vm of barking sound and noise
  • the secondary microphone sound collection module 4 collects a mixed signal Vs of barking sound and noise
  • the main microphone of the main microphone sound collection module 3 is close to the throat, so the barking sound signal collected is louder than the barking sound collected by the secondary microphone of the secondary microphone sound collection module 4, but the noise sampled by the microphones of the main microphone sound collection module 3 and the secondary microphone sound collection module 4 is the same, and the main microphone sound collection module 3 and the secondary microphone sound collection module 4 are respectively collected.
  • the signals collected by the sound collection module 3 and the auxiliary microphone sound collection module 4 are input into the differential amplifier module 5.
  • the preset gain of the differential amplifier is 1:1, and the environmental noise is filtered by using the principle of "anti-phase sound wave cancellation". Then the output signal is Vo ⁇ Vm-Vs.
  • the Vo signal has filtered the noise, and the obtained signal is a real barking sound.
  • FFT fast Fourier transform
  • the working principle of the main microphone sound collection module 3 is: resistor R21 provides a bias voltage to the main microphone; the voltage divider circuit of resistor R16 and resistor R20 provides an audio signal reference voltage; resistor R24 and capacitor C13 are low-pass filters to filter out high-frequency noise; capacitor C7 is a DC-isolating coupling capacitor that couples the audio signal converted by the microphone to the non-inverting input terminal of the operational amplifier U3, and the output voltage Vm is fed back to the inverting input terminal of the operational amplifier U3 through resistors R27 and R28, forming a voltage series negative feedback amplifier circuit.
  • the working principle of the auxiliary microphone sound collection module 4 is: resistor R10 provides a bias voltage to the auxiliary microphone; the voltage divider circuit of resistor R8 and resistor R11 provides an audio signal reference voltage; resistor R13 and capacitor C23 are low-pass filters to filter out high-frequency noise; capacitor C22 is a DC-isolating coupling capacitor, which couples the audio signal converted by the microphone to the non-inverting input terminal of the operational amplifier U2, and the output voltage Vs is fed back to the inverting input terminal of the operational amplifier U2 through resistors R14 and R15, forming a voltage series negative feedback amplifier circuit.
  • the working principle of the sound start detection module 8 is as follows: resistor R31 and capacitor C12 are low-pass filters to filter out high-frequency noise; the main microphone sound signal Vs is input to the + input terminal of the comparator U4 through a low-pass filter; the resistor R34 and R39 voltage divider circuit provide a reference voltage for the comparator U4; when the Vs audio signal is greater than the reference voltage, the output terminal Vw of the comparator U4 outputs a high level to the microprocessor to wake up the microprocessor.
  • the working principle of the wearing detection module 10 is as follows: the microprocessor port EShickCtrl outputs a fast high-level pulse, which is divided by resistors R3 and R5 to drive the transistor Q1 to be in the on state, and the step-up transformer T1 will boost VBAT to the specified voltage.
  • Resistor R4 is a current sampling resistor, providing a reference voltage at point Vf.
  • Resistor R2 is an isolation resistor, and capacitor C3 is a filter capacitor.
  • a preferred method for controlling a barking stopper with noise reduction of the present invention includes a fixing device that can be worn on the neck of a pet dog, a shell, and a barking stopper, wherein the shell is arranged on the fixing device at the throat of the pet dog's neck, and the barking stopper is arranged on the shell to stop the pet dog from barking;
  • a wearing detection module is used to detect whether the barking control device is worn on the neck of the pet dog;
  • Detect the sound of the pet dog set the microphone sensitivity and frequency response of the main microphone sound collection module and the auxiliary microphone sound collection module to be consistent, and the microphone pickup holes and internal spaces of the main microphone sound collection module and the auxiliary microphone sound collection module to be consistent, the main microphone sound collection module is close to the pet dog's throat to collect the pronunciation, and the auxiliary microphone sound collection module is installed on the top of the shell away from the pet dog's throat to collect the sound; set the sound start detection module to collect the signal collected by the main microphone sound collection module and compare it with the preset threshold value, and wake up the microprocessor when the collected signal is greater than the preset threshold value, and when the sound start detection module collects the sound, trigger the motion sensor to start detecting the pet dog's motion increment information and send it to the microprocessor;
  • the collected sound is processed for noise reduction; the main microphone sound collection module and the auxiliary microphone sound collection module respectively collect the barking sound, amplify it and send it to the differential amplifier module to filter the environmental noise.
  • the differential amplifier module uses anti-phase sound wave cancellation to filter the environmental noise and output the noise-free barking sound signal to the microprocessor.
  • the microprocessor determines whether the current barking sound is the barking sound of the pet dog by calculating the amplitude proportion of the barking sound of the effective frequency in the entire sound segment; the microprocessor calculates the difference between the incremental changes of the two previous and subsequent samplings to the X-axis, Y-axis, and Z-axis with a fixed periodicity, and the microprocessor calculates the root mean square value RMS of the difference between the X-axis, Y-axis, and Z-axis, compares it with the preset threshold value, and records it, the motion sensor acquisition and the sound acquisition are stopped synchronously, and the microprocessor averages the recorded root mean square value AVG.
  • the microprocessor determines that the pet dog is barking, the anti-barking device is controlled to stimulate the pet to stop barking; the microprocessor is provided with an artificial intelligence system, and the microprocessor can learn to generate corresponding frequency characteristics for unrecognized barking sounds and add them to the frequency range of barking sounds.
  • the microprocessor in the present invention is a STM32L4 Cortex-M4 ultra-low power single-chip microcomputer or a STM32 U5 series Cortex-M33 ultra-low power MCU and other single-chip microcomputers.
  • the distance between the main microphone sound collection module and the auxiliary microphone sound collection module is preferably 15-35mm.
  • the barking stop device can also be a barking stop mechanism that uses vibration, warning sound or ultrasonic stimulation to stop the pet dog from barking.

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Abstract

本发明涉及止吠器领域，提供一种带降噪的止吠器控制装置及其方法，包括一个可佩戴在宠物犬脖子上的固定装置、外壳、止吠装置、主麦克风声音采集模块、副麦克风声音采集模块、差分放大器模块和微处理器，主麦克风声音采集模块和副麦克风声音采集模块分别采集吠叫声后进行放大并送入差分放大器模块过滤环境噪音，差分放大器模块采用反相声波抵消过滤环境噪音输出无杂音吠叫声信号至微处理器，微处理器进行快速傅立叶变换计算出频域特征并判定频域特征是否符合存于微处理器内的宠物犬吠叫频率特征，微处理器判断该宠物犬吠叫则控制止吠装置刺激宠物进行止吠。本发明解决现有止吠器存在误触发率高的问题。

Description

一种带降噪的止吠器控制装置及其方法 技术领域
本发明涉及止吠器技术领域，特别涉及一种带降噪的止吠器控制装置及其方法。
背景技术
随着人们生活水平的提高，人们对宠物生活质量的关注度也不断的提高，越来越多的人将宠物视为家庭的一员。但是宠物犬有时难免克制不住自己的天性，它的叫声经常干扰了人们的正常生活，同时也使主人陷于被邻居投诉的潜在危机当中，为了防止狗频繁吠时，设计出止吠装置进行训练宠物犬，当宠物犬吠叫时，该装置将进行静电脉冲、振动、警告声刺激让其停止吠叫。目前市场上传统的宠物止吠器都是通过音量大小和声音频率两种参数结合的方式判断是否是宠物在吠叫，该类型方案声音检测成功率低，误触发概率大，同时制作成本高。为此，采用其他方式进行声音检测的止吠器应运而生，如中国专利文献：CN202022782468.4公开了一种新型宠物止吠器，包括麦克风、音频放大器、滤波器、模拟数字转换器、存储器、比较器和振动提醒器，所述麦克风、音频放大器、滤波器、模拟数字转换器、存储器、比较器和振动提醒器之间通过电性连接，麦克风把宠物声音的机械振动信号转换成电信号，通过音频放大器将电信号放大，使用滤波器对电信号进行滤波。该发明制作成本低，但是其仍无法有效准确地分辨出是宠物自身发出的吠叫还是宠物附近的狗在吠叫，进而误触发止吠器。又如CN 110915713 A公开了一种止吠器的止吠控制方法及装置，其是判断检测到的狗狗吠叫时的震动特征是否包括头部晃动特征和狗狗喉结震动的特征，此方案对于在运动中的宠物犬吠叫时是无法准确识别到头部晃动特 征和狗狗喉结震动的特征，进而会对运动中的宠物犬进行误触发止吠器。
发明内容
因此，针对上述的问题，本发明提出一种结构合理、造价成本不高、声音识别灵敏、宠物吠叫识别精准的带降噪的止吠器控制装置及其方法。
为解决此技术问题，本发明采取以下方案：一种带降噪的止吠器控制装置，包括一个可佩戴在宠物犬脖子上的固定装置、外壳、止吠装置、主麦克风声音采集模块、副麦克风声音采集模块、差分放大器模块和微处理器，所述外壳设于固定装置上位于宠物犬脖子的喉咙发声处，所述止吠装置设于外壳上，所述主麦克风声音采集模块安装在壳体内且其主麦克风的拾音孔位于壳体底部靠近宠物犬喉咙发声；所述副麦克风声音采集模块安装在壳体内且其副麦克风的拾音孔位于壳体顶部远离宠物犬喉咙发声；所述主麦克风声音采集模块和副麦克风声音采集模块的麦克风灵敏度和频响一致并且主麦克风声音采集模块和副麦克风声音采集模块的麦克风拾音孔和内部空间一致，所述主麦克风声音采集模块和副麦克风声音采集模块分别采集吠叫声后进行放大并送入差分放大器模块过滤环境噪音，所述差分放大器模块采用反相声波抵消过滤环境噪音输出无杂音吠叫声信号至微处理器，微处理器进行快速傅立叶变换计算出频域特征并判定频域特征是否符合存于微处理器内的宠物犬吠叫频率特征，微处理器判断该宠物犬吠叫则控制止吠装置刺激宠物进行止吠。
进一步的，还包括声音启动检测模块，所述声音启动检测模块与主麦克风声音采集模块输出相连接，所述声音启动检测模块输出与微处理器输入端相连接，所述声音启动检测模块通过收集主麦克风声音采集模块采集到的信号与预置阈值比较并且在采集到的信号大于预置阈值时唤醒微处理器工作。
更进一步的，还包括运动传感器，所述运动传感器设于固定装置上且运动 传感器与声音启动检测模块相连接，所述运动传感器输出与微处理器输入端相连接，当声音启动检测模块采集声音时触发运动传感器启动检测宠物犬的运动增量发送至微处理器，微处理器以固定周期性计算前后两次采样到X轴、Y轴、Z轴的增量变化的差值，微处理器计算出X轴、Y轴、Z轴差值均方根值RMS与预置阈值比较，并记录起来，运动传感器采集和声音采集同步停止，微处理器把记录起来均方根值进行求平均AVG，如果AVG值超过预设的增量值时判定当前佩戴止吠装置的宠物犬吠叫。
进一步的，还包括佩戴检测模块，所述佩戴检测模块设于外壳内且佩戴检测模块与止吠装置相连接，所述佩戴检测模块输出与微处理器输入相连接，佩戴检测模块通过检测止吠装置的静电脉冲电击柱是否与皮肤接触引起负载不同，佩戴检测模块获取当前止吠装置的静电脉冲电击柱的静电脉冲电流值与预置空闲电流阈值比较，若大于预置空闲电流阈值则佩戴成功。
进一步的，所述止吠装置包括静电脉冲、振动、警告声或超声波刺激让宠物犬停止吠叫。
进一步的，还包括人机交互模块，所述人机交互模块与微处理器相连接进行训练输出模式选择以及止吠装置的工作状态展示。
一种带降噪的止吠器控制方法，包括一个可佩戴在宠物犬脖子上的固定装置、外壳、止吠装置，所述外壳设于固定装置上位于宠物犬脖子的喉咙发声处，所述止吠装置设于外壳上用于制止宠物犬吠叫，
检测宠物犬的声音：设置主麦克风声音采集模块和副麦克风声音采集模块的麦克风灵敏度和频响一致并且主麦克风声音采集模块和副麦克风声音采集模块的麦克风拾音孔和内部空间一致，主麦克风声音采集模块靠近宠物犬喉咙发声处采集发音，并用副麦克风声音采集模块安装在壳体的顶部远离宠物犬喉咙 发声处采集声音；
对采集声音降噪处理；主麦克风声音采集模块和副麦克风声音采集模块分别采集吠叫声后进行放大并送入差分放大器模块过滤环境噪音，差分放大器模块采用反相声波抵消过滤环境噪音输出无杂音吠叫声信号至微处理器，
判断信号是否符合吠叫频率：微处理器对无杂音吠叫声信号进行快速傅立叶变换计算出频域特征并判定频域特征是否符合存于微处理器内的宠物犬吠叫频率特征，若微处理器判断该宠物犬吠叫则控制止吠装置刺激宠物进行止吠。
进一步的，还包括运动传感器和声音启动检测模块，声音启动检测模块通过收集主麦克风声音采集模块采集到的信号与预置阈值比较并且在采集到的信号大于预置阈值时唤醒微处理器工作，当声音启动检测模块采集声音时触发运动传感器启动检测宠物犬的运动增量信息发送至微处理器，微处理器以固定周期性计算前后两次采样到X轴、Y轴、Z轴的增量变化的差值，微处理器计算出X轴、Y轴、Z轴差值均方根值RMS与预置阈值比较，并记录起来，运动传感器采集和声音采集同步停止，微处理器把记录起来均方根值进行求平均AVG，如果AVG值超过预设的增量值时判定当前佩戴止吠装置的宠物犬吠叫。
进一步的，所述微处理器上设有自动灵敏度判定系统，即微处理器通过计算有效频率的吠叫声在整段声音的幅值占比来判定当前吠叫声是否是该宠物犬的吠叫声；所述微处理器上设有人工智能系统，微处理器可对不识别的吠叫声学习生成对应的频率特征并增加到吠叫声的频率范围内。
进一步的，开启检测宠物犬的声音前先采用佩戴检测模块检测止吠器是否佩戴在宠物犬脖子上。
通过采用前述技术方案，本发明的有益效果是：通过设置主麦克风声音采集模块靠近宠物犬喉咙发声处采集发音，并用副麦克风声音采集模块安装在壳 体的顶部远离宠物犬喉咙发声处采集声音，将主麦克风声音采集模块和副麦克风声音采集模块的麦克风灵敏度和频响一致并且主麦克风声音采集模块和副麦克风声音采集模块的麦克风拾音孔和内部空间一致，通过主麦克风声音采集模块和副麦克风声音采集模块采集的声音送至差分放大器过滤环境噪音，利用反相声波抵消原理，把环境噪音过滤得到无杂音的吠叫声信号，微处理器对无杂音吠叫声信号进行快速傅立叶变换计算出频域特征并判定频域特征是否符合存于微处理器内的宠物犬吠叫频率特征，微处理器判断该宠物犬吠叫则控制止吠装置刺激宠物进行止吠，防止对其它噪音带来的止吠误动作，当多条宠物犬同时饲养时，其它宠物犬吠叫时，止吠装置上的主麦克风声音采集模块和副麦克风声音采集模块通过降噪处理可有效地采集到正确的吠叫声，微处理器还带自动灵敏度判定程序，通过有效频率的吠叫声在整段声音的幅值占比，来判定当前吠叫声是否有效，区别于其它止吠装置针对大小犬类进行灵敏度的预设，微处理器上还可设置人工智能系统，微处理器可通过人工智能系统对不识别的吠叫声学习生成对应的频率特征并增加到吠叫声的频率范围内，使用起来简单方便，结构合理、造价成本不高、声音识别灵敏、宠物吠叫识别精准。通过进一步的设置，即主副麦克风声音采集模块之间距离控制在15-35mm，保证周围同样距离的噪音到达主副麦克风声音采集模块的相位以及增益一致，保障降噪效果，通过声音启动检测模块启动微处理器从休眠到唤醒开始检测声音，声音启动检测模块通过收集主麦克风声音采集模块采集到的信号与预置阈值比较并且在采集到的信号大于预置阈值时唤醒微处理器工作，同时当声音启动检测模块采集声音时触发运动传感器启动检测宠物犬的运动增量发送至微处理器，微处理器以固定周期性计算前后两次采样到X轴、Y轴、Z轴的增量变化的差值，微处理器计算出X轴、Y轴、Z轴差值均方根值RMS与预置阈值比较，并记录起来，运 动传感器采集和声音采集同步停止，微处理器把记录起来均方根值进行求平均AVG，如果AVG值超过预设的增量值时判定当前佩戴止吠装置的宠物犬吠叫，当多条宠物犬同时饲养时，通过运动传感器增量分析判断是不是另外的宠物犬吠叫，进一步减少误操作，增量变化分析是可以实时捕捉到宠物犬整体振动分量，实现更为准确的识别；通过佩戴检测模块检测未佩戴时，该止吠装置将不工作并且进入低功耗状态，防止止吠装置未佩戴时受外界的影响干扰，通过人机交互模块与微处理器相连接进行训练输出模式选择以及止吠装置的工作状态展示，可广泛推广应用。
附图说明
图1是本发明实施例的止吠控制装置的原理框图；
图2是本发明实施例的止吠器控制的工作流程图；
图3是本发明实施例的主麦克风声音采集模块、副麦克风声音采集模块、声音启动检测模块、差分放大器模块电路原理图；
图4是本发明实施例的佩戴检测模块电路原理图；
图5是本发明实施例的吠叫信号降噪典型示意图；
图6是本发明实施例的吠叫信号FFT变化典型示意图；
图7是本发明实施例的止吠装置外壳的前视图；
图8是本发明实施例的止吠装置外壳的后视图。
具体实施方式
现结合附图和具体实施方式对本发明进一步说明。
参考图1-图8，优选的本发明的带降噪的带降噪的止吠器控制装置，包括一个可佩戴在宠物犬脖子上的固定装置、外壳1、止吠装置2、主麦克风声音采集模块3、副麦克风声音采集模块4、差分放大器模块5、微处理器6、人机交互模 块7、声音启动检测模块8、运动传感器9和佩戴检测模块10，所述外壳1设于固定装置上位于宠物犬脖子的喉咙发声处，所述止吠装置2设于外壳1上且止吠装置2为静电脉冲发生器，所述主麦克风声音采集模块3安装在壳体1内且其主麦克风的拾音孔31位于壳体1底部靠近宠物犬喉咙发声；所述副麦克风声音采集模块4安装在壳体1内且其副麦克风的拾音孔41位于壳体1顶部远离宠物犬喉咙发声；所述主麦克风声音采集模块3和副麦克风声音采集模块4的麦克风灵敏度和频响一致并且主麦克风声音采集模块3和副麦克风声音采集模块4的麦克风拾音孔和内部空间一致，所述主麦克风声音采集模块3和副麦克风声音采集模块4分别采集吠叫声后进行放大并送入差分放大器模块5过滤环境噪音，所述差分放大器模块5采用反相声波抵消过滤环境噪音输出无杂音吠叫声信号至微处理器6，微处理器6进行快速傅立叶变换计算出频域特征并判定频域特征是否符合存于微处理器6内的宠物犬吠叫频率特征，微处理器6判断该宠物犬吠叫则控制止吠装置2刺激宠物进行止吠，微处理器6平常处于休眠可降低功耗，通过设置声音启动检测模块8与主麦克风声音采集模块3输出相连接，所述声音启动检测模块8输出与微处理器6输入端相连接，所述声音启动检测模块8通过收集主麦克风声音采集模块3采集到的信号与声音启动检测模块8预置阈值比较并且在采集到的信号大于预置阈值时唤醒微处理器6工作，所述运动传感器9设于固定装置上且运动传感器9与声音启动检测模块8相连接，所述运动传感器9输出与微处理器6输入端相连接，当声音启动检测模块8采集声音时触发运动传感器9启动检测宠物犬的运动增量信息发送至微处理器6，微处理器6以固定周期性计算前后两次采样到X轴、Y轴、Z轴的增量变化的差值，微处理器6计算出X轴、Y轴、Z轴差值均方根值RMS与预置阈值比较，并记录起来，运动传感器9采集和声音采集同步停止，微处理器6把记录起来均 方根值进行求平均AVG，如果AVG值超过预设的增量值时判定当前佩戴止吠装置的宠物犬吠叫则微处理器6控制止吠装置2刺激宠物进行止吠，其中：
求X,Y,Z差值均方根值RMS公式为：
Figure PCTCN2022131871-appb-000001
求所有均方根值RMS平均值公式为：
AVG＝(RMSx+RMS 2+...+RMS n)/n；
所述佩戴检测模块10设于外壳1内且佩戴检测模块与止吠装置相连接，所述佩戴检测模块10输出与微处理器6输入相连接，佩戴检测模块10通过检测止吠装置2的静电脉冲电击柱是否与皮肤接触引起负载不同，佩戴检测模块10获取当前止吠装置2的静电脉冲电击柱的静电脉冲电流值与预置空闲电流阈值比较，若大于预置空闲电流阈值则佩戴成功，通过设置人机交互模块7与微处理器6相连接进行训练输出模式选择以及止吠装置2的工作状态展示。
宠物犬的吠叫声音根据不同的情绪频率有很大的差异，当宠物犬在警戒防卫的情境下，会出现低吼的叫声，频率大约在120Hz-600Hz之间；宠物犬在饥饿的情境下，叫声频率大约在1330Hz-1440Hz左右；当主人要离弃它的时候，叫声的频率凄烈高亢，大约在1650Hz--2000Hz上；狗和狗之间对主人也会争宠，叫声频率大约在627Hz。
参考图5和图6，主麦克风声音采集模块3采集到吠叫声和噪音混合的信号Vm，副麦克风声音采集模块4采集到吠叫声和噪音混合的信号Vs；主麦克风声音采集模块3的主麦克风因靠近喉咙发声，所以采集到的吠叫声信号要比副麦克风声音采集模块4的副麦克风采集吠叫声大，但主麦克风声音采集模块3和副麦克风声音采集模块4的麦克风采样到的噪音是一样的，分别把主麦克风声 音采集模块3和副麦克风声音采集模块4采集的信号输入到差分放大器模块5中，预置差分放大器的放大倍数是1：1，并利用“反相声波抵消”原理，把环境噪音过滤，那么输出的信号为Vo≈Vm-Vs，Vo的信号已经是把噪音过滤了，得到的信号为真实的吠叫声，把无杂音的吠叫声信号发送至微处理器，以Fs＝10K采样率，4096采样点进行声音信号采样，采样停止后并对无杂音的吠叫声信号进行快速傅立叶变换(FFT)得出频域特征，包括原始信号的频率及幅度，得出检测频率范围在f＝Fs/2＝5K，宠物犬吠叫声频率也在检测范围内，即可精准判断是否宠物犬自身的吠叫声。
参考图3，主麦克风声音采集模块3工作原理：电阻R21给主麦克风提供偏置电压；电阻R16和电阻R20分压电路提供音频信号参考电压；电阻R24、电容C13为低通滤波，滤除高频噪音；电容C7为隔直耦合电容将麦克风转换的音频信号耦合到运放U3的同相输入端，输出电压Vm通过电阻R27和R28反馈到运放U3的反相输入端，构成电压串联负反馈放大电路，根据虚短、虚断原理运算求得放大倍数为A＝1+R28/R27。
参考图3，副麦克风声音采集模块4工作原理：电阻R10给副麦克风提供偏置电压；电阻R8和电阻R11分压电路提供音频信号参考电压；电阻R13，电容C23为低通滤波，滤除高频噪音；电容C22为隔直耦合电容，将麦克风转换的音频信号，耦合到运放U2的同相输入端，输出电压Vs通过电阻R14和R15反馈到运放U2的反相输入端，构成电压串联负反馈放大电路，根据虚短、虚断原理运算求得放大倍数为A＝1+R15/R14。
参考图3，声音启动检测模块8工作原理：电阻R31、电容C12为低通滤波，滤除高频噪音；主麦克风声音信号Vs，通过低通滤波输入到比较器U4的+输入 端；电阻R34和R39分压电路提供比较器U4基准电压；当Vs音频信号大于基准电压时，比较器U4输出端Vw输出高电平至微处理器唤醒微处理器工作。
参考图3，差分放大器模块5工作原理：电阻R5，R6，R7，R9，运放U1组成差分放大电路；当R5＝R6＝R7＝R9时，输出端Vo＝Vm-Vs。
参考图4，佩戴检测模块10工作原理：微处理器端口EShockCtrl输出快速的高电平脉冲，通过电阻R3和R5分压后，驱动三极管Q1处于导通状态，升压变压器T1将把VBAT升压到指定的电压，电阻R4为电流采样电阻，提供Vf点参考电压，电阻R2为隔离电阻，电容C3为滤波电容，当静电脉冲电击柱P1，P2输出端接触到皮肤时，负载发生了变化，导致Vf点电压发生变化，通过这个变化判断是否有佩戴。
参考图2，优选的本发明的带降噪的止吠器控制方法，包括一个可佩戴在宠物犬脖子上的固定装置、外壳、止吠装置，所述外壳设于固定装置上位于宠物犬脖子的喉咙发声处，所述止吠装置设于外壳上用于制止宠物犬吠叫；
采用佩戴检测模块检测止吠器是否佩戴在宠物犬脖子上；
检测宠物犬的声音：设置主麦克风声音采集模块和副麦克风声音采集模块的麦克风灵敏度和频响一致并且主麦克风声音采集模块和副麦克风声音采集模块的麦克风拾音孔和内部空间一致，主麦克风声音采集模块靠近宠物犬喉咙发声处采集发音，并用副麦克风声音采集模块安装在壳体的顶部远离宠物犬喉咙发声处采集声音；设置声音启动检测模块通过收集主麦克风声音采集模块采集到的信号与预置阈值比较并且在采集到的信号大于预置阈值时唤醒微处理器工作，当声音启动检测模块采集声音时触发运动传感器启动检测宠物犬的运动增量信息发送至微处理器；
对采集声音降噪处理；主麦克风声音采集模块和副麦克风声音采集模块分 别采集吠叫声后进行放大并送入差分放大器模块过滤环境噪音，差分放大器模块采用反相声波抵消过滤环境噪音输出无杂音吠叫声信号至微处理器，
判断信号是否符合吠叫频率：微处理器对无杂音吠叫声信号进行快速傅立叶变换计算出频域特征并判定频域特征是否符合存于微处理器内的宠物犬吠叫频率特征，所述微处理器上设有自动灵敏度判定系统，即微处理器通过计算有效频率的吠叫声在整段声音的幅值占比来判定当前吠叫声是否是该宠物犬的吠叫声；微处理器以固定周期性计算前后两次采样到X轴、Y轴、Z轴的增量变化的差值，微处理器计算出X轴、Y轴、Z轴差值均方根值RMS与预置阈值比较，并记录起来，运动传感器采集和声音采集同步停止，微处理器把记录起来均方根值进行求平均AVG，如果AVG值超过预设的增量值时判定当前佩戴止吠装置的宠物犬吠叫；若微处理器判断该宠物犬吠叫则控制止吠装置刺激宠物进行止吠；所述微处理器上设有人工智能系统，微处理器可对不识别的吠叫声学习生成对应的频率特征并增加到吠叫声的频率范围内。
本发明中微处理器为STM32L4 Cortex-M4超低功耗单片机或STM32 U5系列Cortex-M33超低功耗MCU等单片机，主麦克风声音采集模块和副麦克风声音采集模块之间距离以15-35mm为佳，止吠装置还可以是振动、警告声或超声波刺激让宠物犬停止吠叫的止吠机构。
尽管结合优选实施方案具体展示和介绍了本发明，但所属领域的技术人员应该明白，在不脱离所附权利要求书所限定的本发明的精神和范围内，在形式上和细节上可以对本发明做出各种变化，均为本发明的保护范围。

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  1. 一种带降噪的止吠器控制装置，包括一个可佩戴在宠物犬脖子上的固定装置、外壳、止吠装置、主麦克风声音采集模块、副麦克风声音采集模块、差分放大器模块和微处理器，所述外壳设于固定装置上位于宠物犬脖子的喉咙发声处，所述止吠装置设于外壳上，其特征在于：所述主麦克风声音采集模块安装在壳体内且其主麦克风的拾音孔位于壳体底部靠近宠物犬喉咙发声；所述副麦克风声音采集模块安装在壳体内且其副麦克风的拾音孔位于壳体顶部远离宠物犬喉咙发声；所述主麦克风声音采集模块和副麦克风声音采集模块的麦克风灵敏度和频响一致并且主麦克风声音采集模块和副麦克风声音采集模块的麦克风拾音孔和内部空间一致，所述主麦克风声音采集模块和副麦克风声音采集模块分别采集吠叫声后进行放大并送入差分放大器模块过滤环境噪音，所述差分放大器模块采用反相声波抵消过滤环境噪音输出无杂音吠叫声信号至微处理器，微处理器进行快速傅立叶变换计算出频域特征并判定频域特征是否符合存于微处理器内的宠物犬吠叫频率特征，微处理器判断该宠物犬吠叫则控制止吠装置刺激宠物进行止吠。
  2. 根据权利要求1所述带降噪的止吠器控制装置，其特征在于：还包括声音启动检测模块，所述声音启动检测模块与主麦克风声音采集模块输出相连接，所述声音启动检测模块输出与微处理器输入端相连接，所述声音启动检测模块通过收集主麦克风声音采集模块采集到的信号与预置阈值比较并且在采集到的信号大于预置阈值时唤醒微处理器工作。
  3. 根据权利要求2所述的带降噪的止吠器控制装置，其特征在于：还包括运动传感器，所述运动传感器设于固定装置上且运动传感器与声音启动检测模块相连接，所述运动传感器输出与微处理器输入端相连接，当声音启动检测模块采集声音时触发运动传感器启动检测宠物犬的运动增量发送至微处理器，微 处理器以固定周期性计算前后两次采样到X轴、Y轴、Z轴的增量变化的差值，微处理器计算出X轴、Y轴、Z轴差值均方根值RMS与预置阈值比较，并记录起来，运动传感器采集和声音采集同步停止，微处理器把记录起来均方根值进行求平均AVG，如果AVG值超过预设的增量值时判定当前佩戴止吠装置的宠物犬吠叫。
  4. 根据权利要求1所述的带降噪的止吠器控制装置，其特征在于：还包括佩戴检测模块，所述佩戴检测模块设于外壳内且佩戴检测模块与止吠装置相连接，所述佩戴检测模块输出与微处理器输入相连接，佩戴检测模块通过检测止吠装置的静电脉冲电击柱是否与皮肤接触引起负载不同，佩戴检测模块获取当前止吠装置的静电脉冲电击柱的静电脉冲电流值与预置空闲电流阈值比较，若大于预置空闲电流阈值则佩戴成功。
  5. 根据权利要求1所述的带降噪的止吠器控制装置，其特征在于：所述止吠装置包括静电脉冲、振动、警告声或超声波刺激让宠物犬停止吠叫。
  6. 根据权利要求1所述的带降噪的止吠器控制装置，其特征在于：还包括人机交互模块，所述人机交互模块与微处理器相连接进行训练输出模式选择以及止吠装置的工作状态展示。
  7. 一种带降噪的止吠器控制方法，包括一个可佩戴在宠物犬脖子上的固定装置、外壳、止吠装置，所述外壳设于固定装置上位于宠物犬脖子的喉咙发声处，所述止吠装置设于外壳上用于制止宠物犬吠叫，其特征在于：
    检测宠物犬的声音：设置主麦克风声音采集模块和副麦克风声音采集模块的麦克风灵敏度和频响一致并且主麦克风声音采集模块和副麦克风声音采集模块的麦克风拾音孔和内部空间一致，主麦克风声音采集模块靠近宠物犬喉咙发声处采集发音，并用副麦克风声音采集模块安装在壳体的顶部远离宠物犬喉咙 发声处采集声音；
    对采集声音降噪处理；主麦克风声音采集模块和副麦克风声音采集模块分别采集吠叫声后进行放大并送入差分放大器模块过滤环境噪音，差分放大器模块采用反相声波抵消过滤环境噪音输出无杂音吠叫声信号至微处理器，
    判断信号是否符合吠叫频率：微处理器对无杂音吠叫声信号进行快速傅立叶变换计算出频域特征并判定频域特征是否符合存于微处理器内的宠物犬吠叫频率特征，若微处理器判断该宠物犬吠叫则控制止吠装置刺激宠物进行止吠。
  8. 根据权利要求7所述的带降噪的止吠器控制方法，其特征在于：还包括运动传感器和声音启动检测模块，声音启动检测模块通过收集主麦克风声音采集模块采集到的信号与预置阈值比较并且在采集到的信号大于预置阈值时唤醒微处理器工作，当声音启动检测模块采集声音时触发运动传感器启动检测宠物犬的运动增量信息发送至微处理器，微处理器以固定周期性计算前后两次采样到X轴、Y轴、Z轴的增量变化的差值，微处理器计算出X轴、Y轴、Z轴差值均方根值RMS与预置阈值比较，并记录起来，运动传感器采集和声音采集同步停止，微处理器把记录起来均方根值进行求平均AVG，如果AVG值超过预设的增量值时判定当前佩戴止吠装置的宠物犬吠叫。
  9. 根据权利要求7所述的带降噪的止吠器控制方法，其特征在于：所述微处理器上设有自动灵敏度判定系统，即微处理器通过计算有效频率的吠叫声在整段声音的幅值占比来判定当前吠叫声是否是该宠物犬的吠叫声；所述微处理器上设有人工智能系统，微处理器可对不识别的吠叫声学习生成对应的频率特征并增加到吠叫声的频率范围内。
  10. 根据权利要求7所述的带降噪的止吠器控制方法，其特征在于：开启检测宠物犬的声音前先采用佩戴检测模块检测止吠器是否佩戴在宠物犬脖子上。
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CN109601418A (zh) * 2019-01-27 2019-04-12 深圳市小宠科技有限公司 一种宠物止吠器
CN110754391A (zh) * 2019-12-09 2020-02-07 安徽芯智科技有限公司 一种可主动降噪和语音交互的智能宠物项圈
CN110864710A (zh) * 2019-12-20 2020-03-06 泉州明逸达科技有限公司 一种吠叫的检测方法及检测装置以及具有该装置的止吠器
CN110915713A (zh) * 2019-12-23 2020-03-27 深圳市智宠科技有限公司 一种止吠器的止吠控制方法及装置

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