Animal binaural sound source perception model construction method, system and application

Abstract

The invention discloses an animal binaural sound source perception model construction method, system and application. Relates to the technical field of sound source model construction. According to the scheme, the method is improved on the basis of the prior art, a sound simulation experiment is carried out in a target scene, and an animal head transfer function is constructed; obtaining a position relationship between a target animal and a sound source in a target scene, and solving a binaural virtual sound signal with orientation in the target scene by combining the left ear transfer function and the right ear transfer function; establishing a binaural sound sensing relation model of a sound source signal at a specific position and a specific animal object under a specific pose; meanwhile, the invention further provides an application method of the animal binaural sound source sensing model, remote animal behavior intervention is achieved based on binaural virtual sound signals, and a foundation is laid for the intelligent breeding and grazing technology.

Description

Technical Field

[0001] The present invention relates to the technical field of sound source model construction, and particularly relates to a method, system and application for constructing an animal binaural sound source perception model. Background Art

[0002] Current intelligent farming is based on technologies such as the Internet of Things and wireless communication networks. Intelligent wireless sensors are used to collect breeding environment parameters such as temperature, humidity, light, and harmful gas content 24 hours a day, and wirelessly transmit them to a cloud data center for processing. Staff can remotely log in to the management platform through a computer or smartphone to view breeding environment information, monitor the operating status of equipment, and remotely control corresponding equipment to adjust the breeding environment to the best state.

[0003] The essence of the above two technologies is to remotely obtain information, and there is no mature technology that can remotely intervene in the behavior of animals. To truly achieve remote intervention in the behavior of animals, it is necessary to study the behavior decision-making methods of animals. Taking yaks as an example, preliminary experiments have shown that the behavior of yaks is mainly affected by visual information and auditory information. For example, the call of a cow can attract a calf to its side (auditory); when a yak herd sees a person carrying a bag, it will actively approach the person, and the yak will think that this is a person coming to feed salt (visual). From an operational perspective, the cost of simulating visual input information for animals is much higher than the cost of simulating auditory input information for animals. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that in existing intelligent farming or intelligent grazing technologies, the focus is mainly on remote data collection and environmental control, and it is difficult to remotely intervene in the behavior of animals. The purpose of the present invention is to provide a method and system for constructing an animal binaural sound source perception model, to improve the method on the basis of existing technologies, establish a binaural sound perception relationship model between a sound source signal at a specific position and a specific animal object in a specific posture, and achieve remote intervention in the behavior of animals. At the same time, this solution also provides an application method of the animal binaural sound source perception model, to realize remote intervention in animal behavior based on binaural virtual sound signals, and lay a foundation for intelligent farming and intelligent grazing technologies.

[0005] The present invention is achieved through the following technical solutions: This solution provides a method for constructing an animal binaural sound source perception model, including: Conduct a sound simulation experiment in a target scenario to construct an animal head transfer function; the animal head transfer function includes a left ear transfer function and a right ear transfer function; Obtain the position relationship between a target animal and a sound source in a target scenario, and solve for a binaural virtual sound signal with azimuth in the target scenario by combining the left ear transfer function and the right ear transfer function.

[0006] Working principle of this solution: The objective of the present invention is to provide a method and system for constructing an animal binaural sound source perception model, which improves the method on the basis of the existing technology and establishes a binaural sound perception relationship model between a sound source signal at a specific position and a specific animal object in a specific pose; at the same time, this solution also provides an application method for the animal binaural sound source perception model, which realizes the intervention of remote animal behavior based on binaural virtual sound signals and lays a foundation for intelligent breeding and intelligent grazing technologies.

[0007] A further optimized solution is to conduct a sound simulation experiment in the target scenario to construct an animal head transfer function; the method includes: Play a pre-recorded animal sound signal at the sound source position; Randomly select a target position and collect a reference sound signal at the target position; the distance between the target position and the sound source position is d; Preset an animal binaural sound simulation acquisition mechanism, and based on the animal binaural sound simulation acquisition mechanism, obtain the left ear sound signal and the right ear sound signal under different simulation states under the stimulation of the animal sound signal; the simulation states include the states of the animal's two ears at different angular orientations; Solve the binaural time difference based on the left ear sound signal and the right ear sound signal; Perform Fourier transform on the reference sound signal, the left ear sound signal, and the right ear sound signal to obtain the reference sound frequency domain signal, the left ear sound frequency domain signal, and the right ear sound frequency domain signal; Solve the left ear transfer function and the right ear transfer function based on the reference sound frequency domain signal, the left ear sound frequency domain signal, and the right ear sound frequency domain signal.

[0008] A further optimized solution is to preset an animal binaural sound simulation acquisition mechanism and obtain the left ear sound signal and the right ear sound signal under different simulation states based on the animal binaural sound simulation acquisition mechanism; the method includes: Place sound sensors at the left ear canal opening and the right ear canal opening of the animal head model to collect the left ear sound signal and the right ear sound signal; Construct a three-dimensional coordinate system based on the animal head model to describe the azimuth information of the left ear sound signal and the right ear sound signal; take the center of the connection line between the two ears as the origin, the direction of the connection line between the two ears and pointing to the right ear direction as the positive x-axis direction, perpendicular to the connection line between the two ears and pointing to the front of the head as the positive y-axis direction, and perpendicular to the connection line between the two ears and pointing to the top of the animal's head as the z-axis direction; define the rotation around the x-axis as the pitch angle , and the rotation around the z-axis as the azimuth angle ; Adjust the pitch angle and the azimuth angle Obtain simulated states with different relative position relationships, and acquire the left-ear sound signals and right-ear sound signals in different simulated states.

[0009] A further optimization solution is that the interaural time difference is solved based on the left-ear sound signal and the right-ear sound signal; specifically, the interaural time difference is solved according to the following formula: Solve the interaural time difference based on the left-ear sound signal and the right-ear sound signal; including the method: Solve the interaural time difference according to the following formula: Configure ITD = 0; When the left ear receives the sound signal first:

[0010] Set ITD = ITD+ 1; When the right ear receives the sound signal first:

[0011] Set ITD = ITD+ 1; Set ITD = ITD+ 1; where ITD represents the number of sampling signals; represents t i the left-ear sound signal at time represents t i the right-ear sound signal at time

[0012] A further optimization solution is that the method for solving the left-ear transfer function and the right-ear transfer function includes: Solve the left-ear transfer function according to the following formula T L and the right-ear transfer function T R : ; ; where represents the left-ear sound frequency-domain signal; represents the reference sound frequency-domain signal; represents the right-ear sound frequency-domain signal; represents the reference sound time-domain signal; represents the left-ear sound time-domain signal; represents the right-ear sound time-domain signal; N represents the number of signals; represents the frequency;t represents time ($t\in1,2,\ldots,N$; N represents the signal length); j represents the imaginary unit; e represents the base of the natural logarithm.

[0013] A further optimized solution is to obtain the positional relationship between the target animal and the sound source in the target scenario, and solve the azimuth-bearing binaural virtual sound signal based on the left-ear transfer function and the right-ear transfer function; it includes the method: Obtain the calculated sound reference signal at a distance $d$ from the sound source position : ; and the frequency-domain representation of the calculated sound reference signal : : ; where represents the animal sound signal; Calculate the left-ear sound pressure frequency-domain signal and the right-ear sound pressure frequency-domain signal based on the frequency-domain representation of the calculated sound reference signal, the left-ear transfer function, and the right-ear transfer function; Convert the left-ear sound pressure frequency-domain signal and the right-ear sound pressure frequency-domain signal into the left-ear sound pressure time-domain signal and the right-ear sound pressure time-domain signal; Add the time difference to the left-ear sound pressure time-domain signal and the right-ear sound pressure time-domain signal respectively to obtain the left-ear virtual sound signal and the right-ear virtual sound signal.

[0014] A further optimized solution is that the method for calculating the left-ear sound pressure frequency-domain signal and the right-ear sound pressure frequency-domain signal based on the frequency-domain representation of the calculated sound reference signal, the left-ear transfer function, and the right-ear transfer function; it includes the method: Calculate the left-ear sound pressure frequency-domain signal according to the following formula and the right-ear sound pressure frequency-domain signal : .

[0015] A further optimized solution is that the method for adding the time difference to the left-ear sound pressure time-domain signal and the right-ear sound pressure time-domain signal respectively to obtain the left-ear virtual sound signal and the right-ear virtual sound signal; it includes the method: When the sound source is on the left side, the left-ear virtual sound signal remains unchanged, and the right-ear virtual sound signal is superimposed with the time difference: ; where represents the right-ear virtual sound signal after superimposing the time difference; When the sound source is on the right side, the right-side signal remains unchanged, and the left-ear virtual sound signal is superimposed with the time difference: ; Among them, represents the left-ear virtual sound signal after superimposing the time difference.

[0016] This solution also provides a system for constructing an animal binaural sound source perception model, which is characterized by being used to implement the above-mentioned method for constructing an animal binaural sound source perception model. The system includes: A construction module for conducting a sound simulation experiment in a target scenario to construct an animal head transfer function; the animal head transfer function includes a left-ear transfer function and a right-ear transfer function; A solution module for obtaining the position relationship between a target animal and a sound source in a target scenario, and combining the left-ear transfer function and the right-ear transfer function to solve the binaural virtual sound signal with azimuth in the target scenario.

[0017] This solution also provides an application of an animal binaural sound source perception model, including the method: Preset the activity boundary area of the animal; Based on the above-mentioned method for constructing an animal binaural sound source perception model, obtain the binaural virtual sound signal with azimuth in the activity boundary area; When the animal is located in the activity boundary area, play the binaural virtual sound signal.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects: The present invention provides a method, a system and an application for constructing an animal binaural sound source perception model; on the basis of the prior art, an improvement is made in the method to establish a binaural sound perception relationship model between a sound source signal at a specific position and a specific animal object in a specific pose; at the same time, this solution also provides an application method for the animal binaural sound source perception model, and realizes the intervention of remote animal behavior based on the binaural virtual sound signal, laying a foundation for the technologies of intelligent breeding and intelligent grazing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings. In the drawings: Figure 1 is a schematic flowchart of the method for constructing an animal binaural sound source perception model; Figure 2 is a schematic structural diagram of the system for constructing an animal binaural sound source perception model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To make the objectives, technical solutions, and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to embodiments and the accompanying drawings. The illustrative embodiments of the present invention and their descriptions are only used to explain the present invention and do not limit the present invention.

[0021] In existing intelligent breeding or intelligent grazing technologies, the focus is mainly on remote data collection and environmental control, and it is difficult to remotely intervene in animal behavior. The following embodiments are provided in this solution to solve the above technical problems.

[0022] Embodiment 1: This embodiment provides a method for constructing an animal binaural sound source perception model, as Figure 1 described, including: Step 1: Conduct a sound simulation experiment in a target scenario to construct an animal head transfer function; the animal head transfer function includes a left ear transfer function and a right ear transfer function; this step specifically includes the following methods: S11, play a pre-recorded animal sound signal at the sound source position ; t ∈1,2,…, N ; N represents the signal length; S12, randomly select a target position and collect a reference sound signal at the target position ; the distance between the target position and the sound source position is d; S13, preset an animal binaural sound simulation acquisition mechanism, and based on the animal binaural sound simulation acquisition mechanism, obtain left ear sound signals and right ear sound signals in different simulation states under the stimulation of the animal sound signal ; the simulation states include the states of the animal's two ears at different angular orientations; this step specifically includes the following methods: S131, place sound sensors at the left ear canal opening and the right ear canal opening of the animal head model to collect left ear sound signals and right ear sound signals; S132, construct a three-dimensional coordinate system based on the animal head model to describe the azimuth information of the left ear sound signal and the right ear sound signal; take the center of the connection line between the two ears as the origin, the direction of the connection line between the two ears and pointing to the right ear direction as the positive x-axis direction, perpendicular to the connection line between the two ears and pointing to the front of the head as the positive y-axis direction, and perpendicular to the connection line between the two ears and pointing to the top of the animal's head as the z-axis direction; define the rotation around the x-axis as the pitch angle , and the rotation around the z-axis as the azimuth angle ; S133, adjust the pitch angle and the azimuth angle Obtain simulated states with different relative position relationships, and acquire the left-ear sound signals and right-ear sound signals under different simulated states. Specifically, fix the pitch angle (for example, keep it in the horizontal position) unchanged, and adjust the change in the azimuth angle. The step size of the azimuth angle change is , and correspondingly, m groups of left-ear sound signals and right-ear sound signals can be collected, where m = 360° / △ .

[0023] S14, solve the interaural time difference based on the left-ear sound signal and the right-ear sound signal; specifically, solve the interaural time difference according to the following formula: Configure ITD = 0; When the left ear receives the sound signal first:

[0024] Set ITD = ITD+ 1; When the right ear receives the sound signal first:

[0025] Set ITD = ITD+ 1; Wherein, ITD represents the number of sampling signals; represents t i the left-ear sound signal at time represents t i the right-ear sound signal at time

[0026] S15, perform Fourier transform on the reference sound signal , the left-ear sound signal and the right-ear sound signal to obtain the reference sound frequency domain signal , the left-ear sound frequency domain signal and the right-ear sound frequency domain signal ; ; Wherein, DFT[] represents Fourier transform; S16, solve the left-ear transfer function and the right-ear transfer function based on the reference sound frequency domain signal, the left-ear sound frequency domain signal and the right-ear sound frequency domain signal. Solve the left-ear transfer function according to the following formula T L and the right-ear transfer function T R : ; ; Among them, represents the left-ear audio frequency domain signal; represents the reference audio frequency domain signal; represents the right-ear audio frequency domain signal; represents the reference audio time domain signal; represents the left-ear audio time domain signal; represents the right-ear audio time domain signal; N represents the number of signals; represents the frequency; t represents the time (t ∈ 1, 2, …, N; N represents the signal length); j represents the imaginary unit; e represents the base of the natural logarithm.

[0027] Step 2: Obtain the relationship between the target animal and the sound source position in the target scenario, and solve the binaural virtual sound signal with azimuth in the target scenario by combining the left-ear transfer function and the right-ear transfer function; this step specifically includes the method: S21, obtain the calculated sound reference signal at the distance d from the sound source position : ; and the frequency domain representation of the calculated sound reference signal : : ; among them, represents the animal sound signal; S22, calculate the left-ear sound pressure frequency domain signal and the right-ear sound pressure frequency domain signal based on the frequency domain representation of the calculated sound reference signal, the left-ear transfer function and the right-ear transfer function; specifically calculate the left-ear sound pressure frequency domain signal and the right-ear sound pressure frequency domain signal : .

[0028] S23, convert the left-ear sound pressure frequency domain signal and the right-ear sound pressure frequency domain signal into the left-ear sound pressure time domain signal and the right-ear sound pressure time domain signal; S24, add the time difference to the left-ear sound pressure time domain signal and the right-ear sound pressure time domain signal respectively to obtain the left-ear virtual sound signal and the right-ear virtual sound signal; this step specifically includes the method: When the sound source is on the left side, the left-ear virtual sound signal remains unchanged, and the time difference is added to the right-ear virtual sound signal: ; Among them, represents the right-ear virtual sound signal after adding the time difference; When the sound source is on the right side, the right-side signal remains unchanged, and the time difference is superimposed on the left-ear virtual sound signal: ; where represents the left-ear virtual sound signal after superimposing the time difference.

[0029] Embodiment 2: This embodiment provides a system for constructing an animal binaural sound source perception model, as Figure 2 shown, for implementing the method for constructing an animal binaural sound source perception model in Embodiment 1. The system includes: A construction module for conducting a sound simulation experiment in a target scenario to construct an animal head transfer function; the animal head transfer function includes a left-ear transfer function and a right-ear transfer function; A solution module for obtaining the positional relationship between the target animal and the sound source in the target scenario, and solving the binaural virtual sound signal with azimuth in the target scenario by combining the left-ear transfer function and the right-ear transfer function.

[0030] Embodiment 3: This embodiment provides an application of an animal binaural sound source perception model, including a method: Preset the activity boundary area of the animal; Based on the method for constructing an animal binaural sound source perception model described in Embodiment 1, obtain the binaural virtual sound signal with azimuth in the activity boundary area; When the animal is in the activity boundary area, play the binaural virtual sound signal; in this solution, by giving the simulated binaural virtual sound signal with azimuth information (the sound of a cow attracting a calf) to a calf that crosses the fence, the calf can hear with both ears and turn around in time to stay within the activity area.

[0031] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for constructing an animal binaural sound source perception model, characterized in that: include: Conducting a sound simulation experiment in a target scene to construct an animal head transfer function; the animal head transfer function includes a left ear transfer function and a right ear transfer function; The position relationship between the target animal and the sound source in the target scene is obtained, and the binaural virtual sound signal with orientation in the target scene is solved by combining the left ear transfer function and the right ear transfer function.

2. The method for constructing an animal binaural sound source perception model according to claim 1, characterized in that: The sound simulation experiment is carried out in the target scene to construct the animal head transfer function; Included methods: Play pre-recorded animal sound signals at the sound source location; A target position is randomly selected, and a reference sound signal is collected at the target position; the distance between the target position and the sound source position is d; Preset an animal binaural sound simulation acquisition mechanism, and based on the animal binaural sound simulation acquisition mechanism, obtain left ear sound signals and right ear sound signals in different simulation states under the stimulation of animal sound signals; the simulation states include states of the animal's binaural ears at different angles and orientations; Solve the interaural time difference based on the left ear sound signal and the right ear sound signal; Performing Fourier transform on the reference sound signal, the left ear sound signal and the right ear sound signal to obtain a reference sound frequency domain signal, a left ear sound frequency domain signal and a right ear sound frequency domain signal; The left ear transfer function and the right ear transfer function are solved based on the reference audio frequency domain signal, the left ear audio frequency domain signal and the right ear audio frequency domain signal.

3. The method for constructing an animal binaural sound source perception model according to claim 2, characterized in that: The preset animal binaural sound simulation acquisition mechanism obtains left ear sound signals and right ear sound signals under different simulation states based on the animal binaural sound simulation acquisition mechanism; Included methods: Placing sound sensors in the left ear canal opening and the right ear canal opening of the animal head model to collect left ear sound signals and right ear sound signals; A three-dimensional coordinate system is constructed based on the animal head model to describe the azimuth information of the left ear sound signal and the right ear sound signal; the center of the binaural line is taken as the origin, the direction of the binaural line and pointing to the right ear is the positive direction of the x-axis, the direction perpendicular to the binaural line and pointing to the front of the head is the positive direction of the y-axis, and the direction perpendicular to the binaural line and pointing to the top of the animal's head is the z-axis; the rotation around the x-axis is defined as the pitch angle , the rotation around the z axis is the azimuth ; Adjust the pitch angle and azimuth Simulation states of different relative position relationships are obtained, and left ear sound signals and right ear sound signals under different simulation states are acquired.

4. The method for constructing an animal binaural sound source perception model according to claim 2, characterized in that: The method of solving the interaural time difference based on the left ear sound signal and the right ear sound signal includes: The interaural time difference is solved according to the following formula: Configuration ITD =0; When the left ear receives the sound signal first: ; set up ITD = ITD+ 1; When the right ear receives the sound signal first: ; set up ITD = ITD+ 1; among them, ITD Indicates the number of sampled signals; express t i The left ear sound signal at the moment; express t i The right ear sound signal at the moment.

5. The method for constructing an animal binaural sound source perception model according to claim 2, characterized in that: The method for solving the left ear transfer function and the right ear transfer function includes: The left ear transfer function is solved according to the following formula: T L and the right ear transfer function T R : ； ； in, Represents the left ear sound frequency domain signal; represents a reference acoustic frequency domain signal; Represents the right ear sound frequency domain signal; represents a reference sound time domain signal; Represents the time domain signal of the left ear sound; Represents the time domain signal of the right ear sound; N Indicates the number of signals; Indicates frequency; t represents time (t∈1,2,…,N; N Indicates the signal length); j represents an imaginary unit; e Represents the base of natural logarithms.

6. The method for constructing an animal binaural sound source perception model according to claim 4, characterized in that: The step of obtaining the position relationship between the target animal and the sound source in the target scene, and solving the binaural virtual sound signal with orientation based on the left ear transfer function and the right ear transfer function; Included methods: Get the calculated sound reference signal at a distance d from the sound source : ; and calculate the sound reference signal Frequency domain representation of : ;in, Representing an animal sound signal; calculating a left ear sound pressure frequency domain signal and a right ear sound pressure frequency domain signal based on the frequency domain representation of the calculated sound reference signal, the left ear transfer function and the right ear transfer function; Converting the left ear sound pressure frequency domain signal and the right ear sound pressure frequency domain signal into the left ear sound pressure time domain signal and the right ear sound pressure time domain signal; The time difference is superimposed into the left ear sound pressure time domain signal and the right ear sound pressure time domain signal respectively to obtain the left ear virtual sound signal and the right ear virtual sound signal.

7. The method for constructing an animal binaural sound source perception model according to claim 6, characterized in that: The method comprises: calculating the left ear sound pressure frequency domain signal and the right ear sound pressure frequency domain signal based on the frequency domain representation of the calculated sound reference signal, the left ear transfer function and the right ear transfer function; comprising: method: The left ear sound pressure frequency domain signal is calculated according to the following formula: and the right ear sound pressure frequency domain signal : 。 8. The method for constructing an animal binaural sound source perception model according to claim 6, characterized in that: The method of superimposing the time difference into the left ear sound pressure time domain signal and the right ear sound pressure time domain signal to obtain the left ear virtual sound signal and the right ear virtual sound signal comprises: When the sound source is on the left, the virtual sound signal of the left ear remains unchanged, and the virtual sound signal of the right ear is superimposed with the time difference: ； in, It represents the virtual sound signal of the right ear after superimposing the time difference; When the sound source is on the right, the right signal remains unchanged, and the left ear virtual sound signal is superimposed with the time difference: ； in, Represents the virtual sound signal of the left ear after superimposing the time difference.

9. A system for constructing an animal binaural sound source perception model, characterized in that: A method for constructing an animal binaural sound source perception model according to any one of claims 1 to 8, the system comprising: A construction module is used to conduct a sound simulation experiment in a target scene to construct an animal head transfer function; the animal head transfer function includes a left ear transfer function and a right ear transfer function; The solution module is used to obtain the position relationship between the target animal and the sound source in the target scene, and solve the binaural virtual sound signal with orientation in the target scene by combining the left ear transfer function and the right ear transfer function.

10. An application of an animal binaural sound source perception model, characterized in that: Included methods: Set animal activity boundary areas in advance; Based on the method for constructing an animal binaural sound source perception model according to any one of claims 1 to 8, obtaining a binaural virtual sound signal with orientation in the activity boundary area; When the animal is located in the activity boundary area, the binaural virtual sound signal is played.

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