Intelligent bird matching and repelling system and method based on voiceprint library

Abstract

The invention discloses an intelligent bird matching repelling system and method based on a voiceprint library, and relates to the technical field of intelligent bird repelling, and the method comprises the steps: S10, predicting the sensitivity of target birds to the natural enemy sounds of the target birds at different frequencies; s20, predicting the sensitivity degree of the target birds to various target bird natural enemies; s30, generating a repelling strategy of the birds to be repelled; and S40, according to the repelling strategy, controlling a buzzing emitter to perform repelling operation on the birds to be repelled. According to the sensitive degrees of the target birds to different natural enemies under different frequencies and the flight states of the birds to be repelled, the birds to be repelled are segmented and divided, then directional repelling of the birds to be repelled is achieved in combination with the habits of the birds, and the repelling effect on the birds is further improved. The generated bird repelling strategy has high reliability, and the situation that the birds are not repelled does not occur.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent matching and repelling technology for birds, and specifically to a system and method for intelligent matching and repelling birds based on a voiceprint library. Background Art

[0002] Birds have different sensitivities and fear responses to different sounds. Therefore, the activities of birds can be driven or controlled by playing specific sound signals, and the behavior of birds can be affected by specific voiceprint signals, so as to achieve eco-friendly repelling.

[0003] When repelling birds with a relatively high activity density, multiple repelling methods need to be used to repel the birds. At present, the usage order of the repelling methods is still determined according to the repelling distance, which cannot ensure that the ideal effect can be achieved each time of repelling, resulting in the need to adjust the repelling strategy multiple times. At the same time, it is also impossible to make refined strategy adjustments according to different bird habits. Summary of the Invention

[0004] The purpose of the present invention is to provide a system and method for intelligent matching and repelling birds based on a voiceprint library to solve the problems raised in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A method for intelligent matching and repelling birds based on a voiceprint library, the method comprising:

[0006] S10: Simulate the calls of various natural enemies of target birds according to the voiceprint library, and play the simulated calls of various natural enemies of target birds at different times at a position at a certain distance from the target birds. By continuously changing the playback frequency of the simulated calls of various natural enemies of target birds and continuously shortening the playback distance of the simulated calls of various natural enemies of target birds, collect the response data of the target birds under different calls of various natural enemies of target birds. Based on the collection results, predict the sensitivity of the target birds to the calls of various natural enemies of target birds at different frequencies;

[0007] S20: Predict the sensitivity of the target birds to various natural enemies of target birds;

[0008] S30: Determine the birds to be repelled in the target area through the monitoring device in the target area. According to the position relationship of each bird to be repelled relative to the repelling position, analyze the type, frequency, and emission time period of the repelling calls emitted by the call emitter. Based on the analysis results, generate a repelling strategy for the birds to be repelled;

[0009] S40: Control the call emitter to perform a repelling operation on each bird to be repelled according to the repelling strategy.

[0010] Further, the S10 includes:;

[0011] S101: Simulate the sound of the target avian natural enemy i according to the voiceprint library. Denote the simulated sound of the target avian natural enemy i as Sound A. Play Sound A with a frequency of f at a position X meters away from the target bird in time segments. Only play the sound of one target avian natural enemy in each time segment. By shortening the playback distance of Sound A, collect the warning distance V fA , startle flight distance Y fA and escape flight distance Z fA of the target bird under the sound of Sound A with a frequency of f. The playback distance shortened each time is x meters, where X and x are both constants and X, x > 0, i = 1, 2, …, n, representing the numbers corresponding to each target avian natural enemy, and n represents the total number of target avian natural enemies;

[0012] S102: Calculate the products between the warning distance V fA and the weight coefficient a, the startle flight distance Y fA and the weight coefficient b, and the escape flight distance Z fA and the weight coefficient c respectively, and sum up all the calculated products. Denote the result of the summation as G fA , construct an exponential model W fA with the base e and -G fA as the exponent, where W fA = [1 - exp(-G fA )] × 100%, and predict the sensitivity of the target bird to the sound of Sound A with a frequency of f, where exp() represents the exponential function with the base e and e = 2.73;

[0013] Traverse all the simulated sounds of the target avian natural enemies, and predict the sensitivity W ji of the target bird to the sound of the target avian natural enemy i with a frequency of j, where j = 1, 2, …, m, representing the numbers corresponding to each playback frequency of each sound, and m represents the number of times the playback frequency of the sound changes.

[0014] Furthermore, the specific method for predicting the sensitivity of the target bird to various target avian natural enemies in S20 is as follows:

[0015] Find the maximum value maxW ji corresponding to W ji , determine the warning distance V ji , startle flight distance Y i and escape flight distance Z i corresponding to maxW i , and calculate the sum value R i of the three parameters of the warning distance V i , startle flight distance Y i and escape flight distance Z i ;

[0016] According to maxW ji Obtain the time length value L of the continuous vigilant behavior of the target bird;

[0017] According to H i = [exp(-L) × (1 / R i )] × 100% to predict the sensitivity of the target bird to the natural enemy i of the target bird.

[0018] The duration of the bird's vigilant behavior is introduced in the prediction process, which can improve the prediction accuracy to a certain extent.

[0019] Furthermore, the S30 includes:

[0020] S301: Identify the birds to be driven away in the target area through the monitoring device in the target area. Take any point in the target area as the coordinate origin to construct a three-dimensional space coordinate system, and collect the position coordinates (x pt , y pt , z pt ) and (x rt , y rt , z rt ) of the bird p to be driven away and the driving position at time t respectively. According to the three-dimensional space distance formula, calculate the distance D pt of the bird p to be driven away from the driving position at time t. According to the calculation formula of the included angle of the three-dimensional space vector, calculate the direction angle U pt of the bird p to be driven away relative to the driving position at time t, where p = 1, 2,..., q represents the numbers corresponding to each bird to be driven away, and q represents the total number of birds to be driven away in the target area;

[0021] S302: Randomly select a direction angle U pt , determine the birds to be driven away with the same direction angle U pt . Judge whether the natural enemies of the determined birds to be driven away overlap. If there is an overlap, determine the frequency, type, and emission time period of the sound emitted by the sound emitter at the position with the direction angle U pt according to the division stage to which the distance values of each bird to be driven away from the driving position belong. The division stages include the vigilant stage, the flying escape stage, and the silent stage;

[0022] S303: If there is no overlap, determine the frequency, type, and emission time period of the sound emitted by the sound emitter at the position with the direction angle U pt in ascending order of the distance values of each determined bird to be driven away from the driving position;

[0023] S304: If there is partial overlap, first drive away the birds to be driven away that have overlapping natural enemies. The driving-away method is the same as that in S302. After that, drive away the remaining birds to be driven away. The driving-away method is the same as that in S303;

[0024] S305: Generate a driving-away strategy for the birds to be driven away according to the type, frequency, and emission time period of the driving-away sounds emitted by the sound emitters at each direction angle.

[0025] Furthermore, S302 further includes:

[0026] Number the determined birds to be driven away in ascending order of distance. The result of the numbering process: β = 1, 2, …, τ; τ represents the total number of determined birds to be driven away;

[0027] Determine the smallest number corresponding to the birds to be driven away in the silent stage, and denote the smallest number as ψ, ψ = 1, 2, …, τ. If the bird to be driven away ψ - 1 is in the alert stage, then take the distance D of the bird to be driven away ψ - 1 from the driving-away position at time t (ψ-1)t as the alert distance of the bird to be driven away ψ - 1, and take D (ψ-1)t , as well as the startle distance and flight distance of the bird to be driven away ψ - 1 corresponding to the natural enemy sounds at different frequencies, and input them into the exponential model W fA , to obtain the sensitivity of the bird to be driven away ψ - 1 to the natural enemy sounds at different frequencies. Take the frequency corresponding to the maximum sensitivity as the frequency of the sound emitted by the sound emitter at the position with the direction angle U pt . The type of the sound is the sound of the overlapping natural enemy simulated according to the sound print library, and the emission time period of the sound is [t, D 1t / δ1), where D 1t represents the distance of the determined bird to be driven away 1 from the driving-away position at time t, and δ1 represents the average flight speed of the determined bird to be driven away 1 in the target area;

[0028] If all the determined birds to be driven away are in the alert stage and the flight stage, then take D τt , as well as the startle distance and flight distance of the bird to be driven away τ corresponding to the natural enemy sounds at different frequencies, and input them into the exponential model W fA , to obtain the sensitivity of the bird to be driven away τ to the natural enemy sounds at different frequencies. Take the frequency corresponding to the maximum sensitivity as the frequency of the sound emitted by the sound emitter at the position with the direction angle U pt . The type of the sound is the sound of the overlapping natural enemy simulated according to the sound print library, and the emission time period of the sound is [t, D 1t / δ1).

[0029] Furthermore, S303 further includes:

[0030] Collect the sensitivity levels of the bird to be driven away β to various natural enemies, and take the natural enemy corresponding to the maximum value of the collected sensitivity as the target natural enemy of the bird to be driven away β. Use the sound of the target natural enemy simulated according to the voiceprint library as the type of the sound emitted by the sound emitter.

[0031] Take D βt , and the startle distance and flight distance corresponding to the target natural enemy sounds at different frequencies of the bird to be driven away β are respectively input into the exponential model W fA , to obtain the sensitivity level of the bird to be driven away β to the target natural enemy sounds at different frequencies. Take the frequency corresponding to the maximum value of the sensitivity level as the frequency of the sound emitted by the sound emitter at the position with the direction angle U pt . The emission time period of the sound is [t, D βt / δ β ), where D βt represents the distance of the bird to be driven away β from the driving-away position at time t, and δ β represents the average flight speed of the bird to be driven away β corresponding in the target area.

[0032] Traverse all the distance values of the determined birds to be driven away from the driving-away position, and determine the situation of the sound emitter emitting sounds in real time at the position with the direction angle U pt .

[0033] Furthermore, the specific method for the S305 to generate the driving-away strategies for each bird to be driven away is as follows:

[0034] Obtain the sound emission time periods of the sound emitter at each direction angle, perform redundancy processing on the obtained sound emission time periods, sort the end times of the sound emissions after redundancy processing in chronological order, and bind each end time of the sound emission to the corresponding direction angle. Number the end times of the sound emissions in the sorted order, and the numbering result is: ξ = 1, 2,..., φ; φ represents the total number of end times of the sound emissions.

[0035] Analyze the sorting reliability between the end time of the sound emission ξ + 1 and the end time of the sound emission ξ.

[0036] When the sorting reliability is 1, do not adjust the rotation speed of the sound emitter between the end time of the sound emission ξ and the end time of the sound emission ξ + 1.

[0037] When the sorting reliability is 0, adjust the rotation speed π ξ→ξ+1 of the sound emitter between the end time of the sound emission ξ and the end time of the sound emission ξ + 1.

[0038] The generated strategy for driving away birds is as follows: Determine the movement trajectory of the sound emitter in the sorting order. When the sorting reliability is 0, adjust the rotation speed of the sound emitter at the starting position of the corresponding movement trajectory segment. The sound emitter emits the sound type and frequency that match the birds to be driven away at each stop point of the movement trajectory.

[0039] Further, the specific method for the S305 to analyze the sorting reliability between the sound emission end time ξ + 1 and the sound emission end time ξ is as follows:

[0040] Calculate the time difference TV between the sound emission end time ξ + 1 and the sound emission end time ξ ξ→ξ+1 , and the absolute value α of the difference between the direction angle corresponding to the sound emission end time ξ + 1 and the direction angle corresponding to the sound emission end time ξ ξ→ξ+1 Calculate α ξ→ξ+1 and the ratio α' between α and the standard time required for the sound emitter to rotate 1°. ξ→ξ+1 Calculate TV ξ→ξ+1 and the difference ER' between TV and P 1-ξ ×ER ξ→ξ+1 Calculate the difference θ between α' ξ→ξ+1 and ER'. ξ→ξ+1 Calculate the sorting reliability judgment value between the two selected sound emission end times. If θ ξ→ξ+1 > 0, it is considered that the sorting reliability between the sound emission end time ξ and the sound emission end time ξ + 1 is 0. If θ ξ→ξ+1 ≤ 0, it is considered that the sorting reliability between the sound emission end time ξ and the sound emission end time ξ + 1 is 1. ER ξ→ξ+1 represents the average residence time of the sound emitter at the sound emission position. P ξ→ξ+1 = 1 or P ξ→ξ+1 = 0. When 1 - ξ = 0, P 1-ξ = 0. When 1 - ξ < 0, P 1-ξ = 1; 1-ξ When 1 - ξ < 0, P 1-ξ = 1;

[0041] The adjustment formula for the rotation speed π ξ→ξ+1 is: π ξ→ξ+1 = α ξ→ξ+1 / (TV ξ→ξ+1 - P 1-ξ × ER ξ→ξ+1 ).

[0042] A bird intelligent matching and repelling system based on a voiceprint library, a bird intelligent matching and repelling system based on a voiceprint library, the system includes a first sensitivity prediction module, a second sensitivity prediction module, a repelling strategy generation module, and a repelling strategy driving module;

[0043] The first sensitivity prediction module is used to predict the sensitivity of target birds to the calls of various target bird natural enemies at different frequencies;

[0044] The second sensitivity prediction module is used to predict the sensitivity of target birds to various target bird natural enemies;

[0045] The repelling strategy generation module is used to determine the birds to be repelled in the target area through a monitoring device in the target area, analyze the type, frequency, and emission time period of the repelling calls emitted by the call emitter according to the position relationship of each bird to be repelled relative to the repelling position, and generate a repelling strategy for the birds to be repelled based on the analysis results;

[0046] The repelling strategy driving module is used to control the call emitter to perform repelling operations on each bird to be repelled according to the repelling strategy.

[0047] Compared with the prior art, the beneficial effects of the present invention are:

[0048] 1. The present invention simulates the calls of various bird natural enemies according to the voiceprint library, and by changing the playback frequency and playback distance of the calls, realizes the prediction of the sensitivity of target birds to the calls of various target bird natural enemies at different frequencies, and the sensitivity of target birds to various target bird natural enemies. Combined with the flight state of the birds to be repelled, the birds to be repelled are divided into segments, and then combined with the habits of birds to realize the directional repelling of the birds to be repelled, further improving the repelling effect on birds.

[0049] 2. When the present invention realizes the directional repelling of the birds to be repelled, it classifies the bird groups by the call emission angle to ensure an effective repelling effect in a short time.

[0050] 3. The bird repelling strategy generated by the present invention has high reliability, and the situation where birds are not repelled will not occur. Description of the Drawings

[0051] Figure 1 It is a schematic diagram of the working process of a bird intelligent matching and repelling method based on a voiceprint library of the present invention. Detailed Embodiments

[0052] Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] As Figure 1 shown, the present invention provides a technical solution for an intelligent matching and driving-away system and method for birds based on a voiceprint library. An intelligent matching and driving-away method for birds based on a voiceprint library includes:

[0054] S10: Simulate the calls of various target bird predators according to the voiceprint library, play the simulated calls of various target bird predators at different times at a position a certain distance from the target bird, collect the response data of the target bird under different calls of various target bird predators by continuously changing the playback frequency of the simulated calls of various target bird predators and continuously shortening the playback distance of the simulated calls of various target bird predators, and predict the sensitivity of the target bird to the calls of different frequencies of various target bird predators based on the collection results;

[0055] S10 includes:;

[0056] S101: Simulate the call of target bird predator i according to the voiceprint library, denote the simulated call of target bird predator i as call A, play call A with a frequency of f at a position X meters away from the target bird at different times, and play only the call of one target bird predator in each time period. Collect the warning distance V fA (The warning distance refers to the distance between the target bird and the predator when the target bird first shows a warning behavior towards the approaching predator; the longer the warning distance, the higher the sensitivity of the target bird to the predator, indicating that it can detect the threat earlier), the startle flight distance Y fA (The startle flight distance refers to the distance between the target bird and the predator when the target bird escapes and flies away; the longer the startle flight distance, the farther the target bird can fly away when facing the predator, indicating a stronger escape ability), and the flight escape distance Z fA (The flight escape distance refers to the distance between the position where the target bird escapes and flies away and the position where it first lands; the longer the flight escape distance, the farther the target bird can stay after escaping, further reflecting its sensitivity to the predator) by shortening the playback distance of call A. Each time the shortened playback distance is x meters, where X and x are both constants and X, x > 0, i = 1, 2,..., n, representing the numbers corresponding to each target bird predator, and n represents the total number of target bird predators;

[0057] S102: Calculate the products of the warning distance V fA and the weight coefficient a, the startle flight distance Y fA and the weight coefficient b, and the flight escape distance Z fA and the weight coefficient c respectively, sum up all the calculated products, denote the sum result as G fA , construct an exponential model W fA with e as the base and -G fA as the exponent, WfA = [1 - exp(-G fA )] × 100%, to predict the sensitivity of the target bird to the sound A with frequency f, where exp() represents the exponential function with base e and e = 2.73, W fA represents the sensitivity of the target bird to the sound A with frequency f;

[0058] Traverse all the simulated sounds of the target bird's natural enemies, and predict the sensitivity W ji of the target bird to the sound of the target bird's natural enemy i with frequency j, where j = 1, 2,..., m, representing the numbers corresponding to the playback frequencies of each sound, and m represents the number of times the playback frequency of the sound changes;

[0059] S20: Predict the sensitivity of the target bird to various target bird natural enemies;

[0060] The specific method for S20 to predict the sensitivity of the target bird to various target bird natural enemies is:

[0061] Find the maximum value maxW corresponding to W ji , determine the warning distance V ji corresponding to maxW, ji the startle flight distance Y i and the escape flight distance Z i , calculate the sum value R i of the three parameters of the warning distance V i , the startle flight distance Y i , and the escape flight distance Z i ; i Calculate;

[0062] Obtain the time length value L for which the target bird continuously maintains a warning behavior according to maxW ji ;

[0063] According to H i = [exp(-L) × (1 / R i )] × 100% to predict the sensitivity of the target bird to the target bird natural enemy i;

[0064] S30: Determine the birds to be driven away in the target area through the monitoring device in the target area, analyze the type, frequency, and emission time period of the driving-away sound emitted by the sound emitter according to the positional relationship of each bird to be driven away relative to the driving-away position, and generate a driving-away strategy for the birds to be driven away based on the analysis results;

[0065] S30 includes:

[0066] S301: Identify the birds to be driven away within the target area through the monitoring devices in the target area. The monitoring devices include cameras. Construct a three-dimensional space coordinate system with an arbitrary point within the target area as the coordinate origin, and collect the position coordinates (x pt , y pt , z pt ) and (x rt , y rt , z rt ) of the bird to be driven away p and the driving position at time t respectively. According to the three-dimensional space distance formula, calculate the distance D pt of the bird to be driven away p from the driving position at time t. According to the calculation formula of the included angle of three-dimensional space vectors, calculate the direction angle U pt of the bird to be driven away p compared with the driving position at time t. U pt = arccos((s·h) / (|s||h|)), where s·h represents the dot product of vector s and vector h, and |s| and |h| are the magnitudes of vector s and vector h respectively. Vector s = (x pt - x rt , y pt - y rt , z pt - z rt ), vector h = (w, y rt , z rt ), w is a constant and w > 0. Here, p = 1, 2, …, q, representing the numbers corresponding to each bird to be driven away, and q represents the total number of birds to be driven away in the target area;

[0067] S302: Randomly select a direction angle U pt , determine the birds to be driven away with the same direction angle U pt , and judge whether the natural enemies of the determined birds to be driven away overlap. If there is an overlap, then determine the frequency, type, and emission time period of the sound emitted by the sound emitter at the position with the direction angle U pt according to the division stage to which the distance values of each bird to be driven away from the driving position belong. The specific method is: number the determined birds to be driven away in ascending order of distance, and the numbering result is: β = 1, 2, …, τ; τ represents the total number of determined birds to be driven away;

[0068] Determine the smallest number corresponding to the bird to be driven away in the silent stage, denoted as ψ, ψ = 1, 2, …, τ. If the bird to be driven away ψ - 1 is in the alert stage, then take the distance D (ψ-1)t of the bird to be driven away ψ - 1 from the driving position at time t as the alert distance of the bird to be driven away ψ - 1, and take D (ψ-1)t, and the startle distances and flight distances of the birds ψ-1 to be driven away corresponding to the natural enemy calls at different frequencies are respectively input into the exponential model W fA , to obtain the sensitivity of the birds ψ-1 to be driven away to the natural enemy calls at different frequencies, and the frequency corresponding to the maximum value of the sensitivity is used as the frequency of the call emitted by the call emitter at the position with the direction angle U pt . The type of the call is the call of the overlapping natural enemy simulated according to the voiceprint library, and the emission time period of the call is [t, D 1t / δ1), where D 1t represents the distance of the determined bird to be driven away 1 from the driving-away position at time t, and δ1 represents the average flight speed of the determined bird to be driven away 1 corresponding in the target area;

[0069] If all the determined birds to be driven away are in the alert stage and the flight stage, then D τt , and the startle distances and flight distances of the birds τ to be driven away corresponding to the natural enemy calls at different frequencies are respectively input into the exponential model W fA , to obtain the sensitivity of the birds τ to be driven away to the natural enemy calls at different frequencies, and the frequency corresponding to the maximum value of the sensitivity is used as the frequency of the call emitted by the call emitter at the position with the direction angle U pt . The type of the call is the call of the overlapping natural enemy simulated according to the voiceprint library, and the emission time period of the call is [t, D 1t / δ1);

[0070] The divided stages include the alert stage, the flight stage and the silent stage. The alert stage means that the distance value of the bird to be driven away from the driving-away position is within the range of [γ, λ], where γ represents the distance value of the bird to be driven away from the overlapping natural enemy at the last time of generating the alert behavior, and λ represents the distance value of the bird to be driven away from the overlapping natural enemy at the first time of generating the alert behavior. The flight stage means that the distance value of the bird to be driven away from the driving-away position is within the range of [0, γ), and the silent stage means that the distance value of the bird to be driven away from the driving-away position is within the range of (λ, +∞);

[0071] S303: If there is no overlap, then in the order of the distance values of the determined birds to be driven away from the driving-away position from small to large, the frequency, type, and emission time period of the call emitted by the call emitter at the position with the direction angle U pt are determined in sequence. If there is only one bird to be driven away at the selected direction angle U pt , and this bird to be driven away is denoted as the bird to be driven away L, then according to the distance of the bird to be driven away L from the driving-away position, for the call emitter at the direction angle U ptDetermine the frequency, type, and emission time period of the sound emitted at the position of , and the emission time period is [t, T), where T represents the distance from the bird L to be driven away from the driving position divided by the average flight speed of the bird L to be driven away in the target area. The average flight speed does not introduce the grounded state of the bird L to be driven away into the calculation process. The specific method is as follows: Collect the sensitivity of the bird β to be driven away to various natural enemies, and use the natural enemy corresponding to the maximum collected sensitivity as the target natural enemy of the bird β to be driven away. Use the sound of the target natural enemy simulated according to the voiceprint library as the type of the sound emitted by the sound emitter.

[0072] Put D βt , and the startle distance and escape distance of the bird β to be driven away corresponding to the target natural enemy sounds at different frequencies are respectively input into the exponential model W fA , to obtain the sensitivity of the bird β to be driven away to the target natural enemy sounds at different frequencies. Use the frequency corresponding to the maximum sensitivity as the frequency of the sound emitted by the sound emitter at the position with the direction angle of U pt . The emission time period of the sound is [t, D βt / δ β ), where D βt represents the distance from the bird β to be driven away from the driving position at time t, and δ β represents the average flight speed of the bird β to be driven away corresponding to the target area.

[0073] Traverse all the distance values of the birds to be driven away from the driving position, and determine the situation of the sound emitter emitting sounds in real time at the position with the direction angle of U pt .

[0074] S304: If there is partial overlap, give priority to driving away the birds to be driven away with overlapping natural enemies. The driving method is the same as that in S302. After that, drive away the remaining birds to be driven away, and the driving method is the same as that in S303.

[0075] S305: Generate a driving strategy for the birds to be driven away according to the type, frequency, and emission time period of the driving sounds emitted by the sound emitter at each direction angle. The specific method is as follows:

[0076] Obtain the sound emission time periods of the sound emitter at each direction angle, perform redundancy processing on the obtained sound emission time periods, sort the end times of the redundant processed sound emissions in chronological order, bind each sound emission end time to the corresponding direction angle, and number the end times of the sound emissions according to the sorting order. The numbering result is: ξ = 1, 2,..., φ; φ represents the total number of sound emission end times.

[0077] The time difference TV between the end time ξ+1 of the sound emission and the end time ξ of the sound emission ξ→ξ+1 , and the absolute value α of the difference between the direction angle corresponding to the end time ξ+1 of the sound emission and the direction angle corresponding to the end time ξ of the sound emission ξ→ξ+1 are calculated. For α ξ→ξ+1 the ratio α′ to the standard time required for the sound emitter to rotate 1° ξ→ξ+1 is calculated. For TV ξ→ξ+1 and P 1-ξ ×ER ξ→ξ+1 the difference ER′ between them ξ→ξ+1 is calculated. For α′ ξ→ξ+1 and ER′ ξ→ξ+1 the difference θ between them ξ→ξ+1 is calculated to obtain the sorting reliability judgment value between the two selected end times of the sound emission. If θ ξ→ξ+1 >0, it is considered that the sorting reliability between the end time ξ of the sound emission and the end time ξ+1 of the sound emission is 0. If θ ξ→ξ+1 ≤0, it is considered that the sorting reliability between the end time ξ of the sound emission and the end time ξ+1 of the sound emission is 1. ER ξ→ξ+1 represents the average residence time of the sound emitter at the sound emission position. P 1-ξ =1 or P 1-ξ =0. When 1 - ξ = 0, P 1-ξ =0. When 1 - ξ < 0, P 1-ξ =1; The standard time refers to the time required for the sound emitter to rotate 1° at the default rotation speed;

[0078] When the sorting reliability is 1, the rotation speed of the sound emitter between the end time ξ of the sound emission and the end time ξ+1 of the sound emission is not adjusted;

[0079] When the sorting reliability is 0, the rotation speed π of the sound emitter between the end time ξ of the sound emission and the end time ξ+1 of the sound emission ξ→ξ+1 is adjusted. The specific adjustment formula is: π ξ→ξ+1 =α ξ→ξ+1 / (TV ξ→ξ+1 -P 1-ξ ×ER ξ→ξ+1 );

[0080] The generated strategy for driving away birds is: determine the movement trajectory of the sound emitter according to the sorting order. When the sorting reliability is 0, adjust the rotation speed of the sound emitter at the starting position of the corresponding movement trajectory segment. The sound emitter emits the sound type and sound frequency matching the birds to be driven away at each movement trajectory stop point;

[0081] S40: Control the sound emitter to perform a repelling operation on each bird to be repelled according to the repelling strategy.

[0082] An intelligent bird matching and repelling system based on a voiceprint library, the system includes a first sensitivity prediction module, a second sensitivity prediction module, a repelling strategy generation module, and a repelling strategy driving module;

[0083] The first sensitivity prediction module is used to predict the sensitivity of the target bird to the sounds of various natural enemies of the target bird at different frequencies;

[0084] The second sensitivity prediction module is used to predict the sensitivity of the target bird to various natural enemies of the target bird;

[0085] The repelling strategy generation module is used to determine the birds to be repelled in the target area through the monitoring device in the target area, analyze the type, frequency, and emission time period of the repelling sounds emitted by the sound emitter according to the positional relationship of each bird to be repelled relative to the repelling position, and generate a repelling strategy for the birds to be repelled based on the analysis results;

[0086] The repelling strategy driving module is used to control the sound emitter to perform a repelling operation on each bird to be repelled according to the repelling strategy.

[0087] Embodiment 1: Suppose the sound emission time periods corresponding to the sound emitter at a direction angle of 30° are [t, t + 2), [t, t + 20), the sound emission time period corresponding to the direction angle of 45° is [t, t + 11), and the sound emission time period corresponding to the direction angle of 20° is [t, t + 26). The units of 2, 8, 6, and 11 are all seconds. Sort the end times of each sound emission in chronological order and bind each end time of the sound emission to the corresponding direction angle to obtain the sorted sequence Q1: (t + 2) 30° →(t + 11) 45° →(t + 20) 30° →(t + 26) 20° ;

[0088] Suppose the standard time required for the sound emitter to rotate 1° is 4 seconds, and the average residence time of the sound emitter at the sound emission position is 5 seconds, then:

[0089] θ 1→2 =(|45 - 30| / 4)-[(t + 11)-(t + 2)-0×5]= -5.25;

[0090] θ 2→3 =(|30 - 45| / 4)-[(t + 20)-(t + 11)-1×5]= -0.25;

[0091] θ 3→4=(|30 - 20| / 4) - [(t + 26) - (t + 20) - 1×5] = 1.5;

[0092] It can be seen that the sorting reliability between the end time t + 2 of the sound emission and the end time t + 11 of the sound emission is 1, the sorting reliability between the end time t + 13 of the sound emission and the end time t + 11 of the sound emission is 1, and the sorting reliability between the end time t + 22 of the sound emission and the end time t + 13 of the sound emission is 0;

[0093] Adjust the rotation speed π of the sound emitter between the end time t + 26 and the end time t + 20 of the sound emission 3→4 π 3→4 = |30 - 20| / {[(t + 26) - (t + 20)] - 5} = 10, that is, the time required for the sound emitter to rotate 1° is 0.1 second.

[0094] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements on some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A bird intelligent matching and driving away method based on voiceprint library, characterized by: The method comprises: S10: simulating the calls of various natural enemies of target birds according to the voiceprint library, playing the simulated calls of various natural enemies of target birds at different time periods at a certain distance from the target birds, collecting the response data of the target birds to the different calls of the natural enemies of target birds by continuously changing the playback frequency of the simulated calls of the natural enemies of target birds, and continuously shortening the playback distance of the simulated calls of the natural enemies of target birds, and predicting the sensitivity of the target birds to the calls of the natural enemies of target birds at different frequencies based on the collection results; S20: predict the sensitivity of target birds to various natural enemies of target birds; S30: The birds to be driven away in the target area are determined by the monitoring device in the target area, and the type, frequency, and emission time period of the driving away sound emitted by the sound transmitter are analyzed according to the position relationship of each bird to be driven away compared to the driving away position, and a driving away strategy for the birds to be driven away is generated based on the analysis result; S40: Controlling the chirping transmitter to drive away the birds to be driven away according to the driving away strategy.

2. According to claim 1, a bird intelligent matching and driving away method based on voiceprint library is characterized by: The S10 includes: S101: simulate the call of the natural enemy i of the target bird according to the voiceprint library, record the simulated call of the natural enemy i of the target bird as call A, play the call A with a frequency of f in time periods at a position X meters away from the target bird, and only play one call of the natural enemy of the target bird in each time period. By shortening the playing distance of call A, the warning distance V of the target bird under the call A with a frequency of f is shortened. fA , Startle distance Y fA and flight distance Z fA The broadcast distance is shortened by x meters each time, where X and x are constants and are greater than 0, i = 1, 2, ..., n, representing the number of the natural enemies of each target bird, and n represents the total number of natural enemies of the target bird; S102: respectively set the warning distance V fA With weight coefficient a, startled flight distance Y fA and weight coefficient b, and escape distance Z fA The product between the weight coefficient c is calculated, and all the calculated products are summed up. The summation result is recorded as G fA , with e as the base, -G fA Construct an exponential model for the index W fA , W fA =[1-exp(-G fA )]×100%, predicting the sensitivity of the target birds to the call A with a frequency of f, where exp() represents an exponential function with e as the base and e=2.73; Traverse all simulated calls of natural enemies of target birds, and calculate the sensitivity W of target birds to the call of natural enemy i of target bird with frequency j. ji A prediction is made, where j=1, 2, ..., m, representing the number corresponding to each playback frequency of each sound, and m represents the number of times the playback frequency of the sound is changed.

3. The method for intelligent matching and driving away birds based on voiceprint library according to claim 2 is characterized by: The specific method of S20 predicting the sensitivity of target birds to various natural enemies of target birds is as follows: To W ji The corresponding maximum value maxW ji Search for maxW ji Corresponding warning distance V i , Startle distance Y i and flight distance Z i Determine the warning distance V i , Startle distance Y i , Escape distance Z i The sum of these three parameters is R i Perform calculations; According to maxW ji Obtain the length of time L that the target bird continues to maintain vigilance behavior; According to H i =[exp(-L)×(1 / R i )]×100% to predict the sensitivity of the target bird to the natural enemy i of the target bird.

4. The method for intelligent matching and driving away birds based on voiceprint library according to claim 3 is characterized by: The S30 includes: S301: The birds to be driven away in the target area are identified by the monitoring device in the target area, and a three-dimensional space coordinate system is constructed by taking any point in the target area as the origin of the coordinates, and the position coordinates (x) of the bird to be driven away p and the driving position at time t are respectively pt ,y pt ,z pt )、(x rt ,y rt ,z rt ) is collected, and according to the three-dimensional space distance formula, the distance D of the driven bird p from the driven position at time t is calculated. pt Calculate the direction angle U of the bird p to be driven away at time t compared to the driving position according to the calculation formula of the three-dimensional space vector angle pt Calculation is performed, wherein p = 1, 2, ..., q, representing the number corresponding to each bird to be driven away, and q representing the total number of birds to be driven away in the target area; S302: Randomly select a direction angle U pt , for the same direction angle U pt The birds to be driven away are determined, and it is judged whether there is overlap among the natural enemies of the birds to be driven away. If there is overlap, the sound transmitter is set at a direction angle of U according to the division stage to which the distance value of each bird to be driven away from the driving position belongs. pt The frequency, type, and emission time period of the sound emitted at the location of the target are determined, and the stages include the alert stage, the flight stage, and the silent stage. S303: If there is no overlap, the distance values ​​of the determined birds to be driven away from the driving away position are ordered from small to large, and the chirping sound transmitters at the direction angle U pt The frequency, type, and emission time period of the chirping sound emitted at the location are determined; S304: If there is partial overlap, the birds to be driven away with overlapping natural enemies are driven away first, and the driving method is the same as the method in S302. After that, the remaining birds to be driven away are driven away, and the driving method is the same as the method in S303. S305: Generate a strategy for driving away birds to be driven away according to the type, frequency, and emission time period of the driving away sounds emitted by the sound transmitter at various direction angles.

5. The method for intelligent matching and driving away birds based on voiceprint library according to claim 4 is characterized by: The S302 further includes: The determined birds to be driven away are numbered in the order of distance from small to large, and the numbering result is: β = 1, 2, ..., τ; τ represents the total number of the determined birds to be driven away; Determine the minimum number corresponding to the bird to be driven away in the silent stage, and record the minimum number as ψ, ψ=1,2,…,τ. If the bird to be driven away ψ-1 is in the alert stage, then the distance D between the bird to be driven away ψ-1 and the driving position at time t is (ψ-1)t as the warning distance of the birds to be driven away ψ-1, and D (ψ-1)t , and the startled flight distance and flight distance of the bird ψ-1 to be driven away under the different frequencies of the natural enemy calls are input into the exponential model W fA , the sensitivity of the bird ψ-1 to be driven away to the calls of natural enemies of different frequencies is obtained, and the frequency corresponding to the maximum sensitivity is used as the frequency of the call transmitter at the direction angle U pt The frequency of the sound emitted at the position, the sound type is the sound of the overlapping natural enemy simulated according to the voiceprint library, and the emission time period of the sound is [t,D 1t / δ1), where D 1t represents the distance of the determined bird 1 to be driven away from the driving away position at time t, and δ1 represents the corresponding average flight speed of the determined bird 1 to be driven away in the target area; If the birds to be driven away are all in the alert stage and the flight stage, D τt , and the startled flight distance and flight distance of the bird τ to be driven away under the different frequencies of the natural enemy calls are input into the exponential model W fA , the sensitivity of the bird τ to be driven away to the calls of natural enemies of different frequencies is obtained, and the frequency corresponding to the maximum sensitivity is used as the frequency of the call transmitter at the direction angle U pt The frequency of the sound emitted at the position, the sound type is the sound of the overlapping natural enemy simulated according to the voiceprint library, and the emission time period of the sound is [t,D 1t / δ1).

6. The method for intelligent matching and driving away birds based on voiceprint database according to claim 5 is characterized by: The S303 further includes: The sensitivity of the bird β to be driven away to various natural enemies is collected, and the natural enemy corresponding to the maximum sensitivity collected is used as the target natural enemy of the bird β to be driven away, and the sound of the target natural enemy simulated according to the soundprint library is used as the type of sound emitted by the sound transmitter; D βt , and the startled flight distance and flight distance of the bird β to be driven away under the target natural enemy calls of different frequencies are input into the exponential model W fA , the sensitivity of the bird β to the target natural enemy calls of different frequencies is obtained, and the frequency corresponding to the maximum sensitivity is used as the frequency of the call transmitter at the direction angle U pt The frequency of the chirping sound emitted at the position, and the emission time period of the chirping sound is [t,D βt / δ β ), where D βt represents the distance between the determined bird β to be driven away and the driving position at time t, δ β It represents the average flight speed of the determined bird β to be driven away in the target area; Traverse the distance values ​​of all the determined birds to be driven away from the driving position, and the chirping sound transmitter is at a direction angle U pt It is determined by the real-time emission of the sound at the location.

7. The method for intelligent matching and driving away birds based on voiceprint database according to claim 6 is characterized by: The specific method of generating the expelling strategy for each bird to be expelled in S305 is: The chirping emission time period of the chirping transmitter at each direction angle is obtained, and the obtained chirping emission time period is processed redundantly. The chirping emission end time after the redundant processing is sorted according to the time sequence, and each chirping emission end time is bound to the corresponding direction angle, and each chirping emission end time is numbered according to the sorting order. The numbering result is: ξ=1,2,…,φ; φ represents the total number of chirping emission end times; Analyze the reliability of the order between the end time ξ+1 of the chirping emission and the end time ξ of the chirping emission; When the sorting reliability is 1, the rotation speed of the chirping transmitter between the chirping emission end time ξ and the chirping emission end time ξ+1 is not adjusted; When the sorting reliability is 0, the rotation speed π of the chirp transmitter between the chirp emission end time ξ and the chirp emission end time ξ+1 ξ→ξ+1 Make adjustments; The generated strategy for driving away birds is as follows: the motion trajectory of the chirping transmitter is determined according to the sorting order. When the sorting reliability is 0, the rotation speed of the chirping transmitter is adjusted at the starting point of the corresponding motion trajectory segment. The chirping transmitter emits the chirping type and frequency that match the birds to be driven away at each stop point on the motion trajectory.

8. The method for intelligent matching and driving away birds based on voiceprint database according to claim 7 is characterized in that: The specific method of analyzing the reliability of the order between the chirp emission end time ξ+1 and the chirp emission end time ξ in S305 is: The time difference TV between the end time ξ+1 of the beep emission and the end time ξ of the beep emission ξ→ξ+1 , and the absolute value α of the difference between the direction angle corresponding to the end time ξ+1 of the chirping emission and the direction angle corresponding to the end time ξ of the chirping emission ξ→ξ+1 Calculate and ξ→ξ+1 The ratio of α′ to the standard time required for the sound transmitter to rotate 1° ξ→ξ+1 Calculate the TV ξ→ξ+1 With P 1-ξ ×ER ξ→ξ+1 The difference between ER′ ξ→ξ+1 Calculate α′ ξ→ξ+1 With ER′ ξ→ξ+1 The difference between ξ→ξ+1 Calculate and obtain the sort reliability judgment value between the two selected sound emission end times. If θ ξ→ξ+1 >0, the sorting reliability between the end time ξ of the chirping emission and the end time ξ+1 of the chirping emission is considered to be 0. ξ→ξ+1 ≤0, the sorting reliability between the end time ξ of the chirping emission and the end time ξ+1 of the chirping emission is considered to be 1, and ER ξ→ξ+1 represents the average dwell time of the chirping transmitter at the chirping emission position, P 1-ξ =1 or P 1-ξ = 0, when 1-ξ = 0, P 1-ξ =0, when 1-ξ<0, P 1-ξ =1; Rotation speed π ξ→ξ+1 The adjustment formula is: ξ→ξ+1 =α ξ→ξ+1 / (TV ξ→ξ+1 -P 1-ξ ×ER ξ→ξ+1 ).

9. A bird intelligent matching and driving away system based on a voiceprint library applied to the bird intelligent matching and driving away method based on a voiceprint library as claimed in any one of claims 1 to 8, characterized in that: The system includes a first sensitivity prediction module, a second sensitivity prediction module, a drive-away strategy generation module and a drive-away strategy driving module; The first sensitivity prediction module is used to predict the sensitivity of the target birds to the calls of the natural enemies of the target birds at different frequencies; The second sensitivity prediction module is used to predict the sensitivity of the target bird to various natural enemies of the target bird; The expulsion strategy generation module is used to determine the birds to be expelled in the target area through the monitoring device in the target area, analyze the type, frequency, and emission time period of the expulsion sound emitted by the sound transmitter according to the position relationship of each bird to be expelled compared to the expulsion position, and generate an expulsion strategy for the birds to be expelled based on the analysis result; The driving module for driving away the birds is used to control the chirping transmitter to drive away the birds to be driven away according to the driving away strategy.

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