A method, system, and medium for animal binaural sound source perception modeling

Abstract

The application discloses an animal binaural sound source perception model method and system and a medium, relates to the technical field of a sound source model, and constructs a head sound transfer function of a target animal to quantize a physical transformation process of sound from a sound source to both ears of the animal, reveals sound localization ability differences of different species caused by differences in head shape and pinna structure, realizes analysis of an animal judgment mechanism for a sound source direction and distance based on a biological acoustics principle from a physical level, and through virtual sound signal playing, the same space hearing experience can be repeatedly simulated in a laboratory or a specific grazing scene, and the collected animal ecological behavior data has comparability and repeatability, so that a high-quality data set of stimulus and response pairing is constructed.

Description

Technical Field

[0001] This invention relates to the field of sound source modeling technology, specifically to a method, system, and medium for animal binaural sound source perception model. Background Technology

[0002] Smart farming and smart grazing, as important components of modern agriculture, are committed to improving the efficiency, welfare, and management sophistication of livestock and poultry farming through information technology and intelligent methods. With rising labor costs and increasing demands for the quality and safety of animal-derived foods, the development of remote control systems capable of real-time monitoring and effective intervention in animal behavior has become an urgent need for technological advancement in this field.

[0003] In animal behavior intervention techniques, acoustic information is considered a highly promising intervention method due to its advantages such as non-contact nature, wide range of dissemination, real-time capability, and relatively low cost. Studies have shown that key behaviors of livestock such as cattle and sheep under grazing conditions, as well as pigs and poultry in stall environments, including feeding, stress response, and socialization, are accompanied by specific acoustic characteristics. Furthermore, animal decision-making processes (such as choosing feeding locations and avoiding threats) are easily modulated and influenced by environmental and other animal acoustic signals. Therefore, to guide animal movement, adjust feeding areas, avoid dangerous zones, or alleviate stress by remotely playing specific sounds, it is essential to first deeply analyze the animal's acoustic perception mechanisms and its acoustically information-based behavioral decision-making rules.

[0004] However, while some studies have utilized audio technology to monitor animal behavior (such as recognizing coughing, fighting, and feeding sounds to assess health), there is still a lack of solid theoretical foundation and data support for its application in remote behavioral intervention using auditory information. The main technical bottlenecks are as follows:

[0005] First, there is a lack of standardized research models for animal acoustic perception and decision-making behavior. Existing technologies mostly focus on identifying an animal's physiological state (such as disease) or activity type (such as rumination and chewing) through sound, falling under the category of passive monitoring. Mature bioacoustic models or behavioral analysis frameworks have not yet been developed to understand how animals perceive, process, and make approach or avoidance decisions based on specific acoustic stimuli (such as sound signals of different frequencies, intensities, and rhythms). Especially in complex outdoor grazing environments or under high-density indoor noise conditions, key parameters such as the animal's perception threshold for acoustic commands, response probability, and decision-making delay remain unknown.

[0006] Secondly, there is a lack of standardized acoustic datasets to support model construction. Building reliable animal acoustic decision-making models requires massive amounts of standardized data containing clear behavioral labels and acoustic stimulus parameters. However, most existing publicly available animal sound datasets only label what the sound is (e.g., coughing, eating), rather than what decisions the animals made after hearing the sound. Especially for species heavily influenced by acoustics (e.g., birds sensitive to calls, female livestock responding to their young's calls), the technical means to collect data on animal decision-making behavior (including movement trajectories, temporal changes in behavior, and physiological responses) in controlled experimental environments or real grazing scenarios is still immature. This lack of high-quality datasets with stimulus-response pairings prevents the use of modern technologies such as deep learning to train and validate animal acoustic decision-making models.

[0007] In summary, due to the lack of effective acoustic research models and standardized data foundations, the current field of smart farming and smart grazing struggles to overcome the technological bottlenecks in moving from passive monitoring to active acoustic intervention. This severely restricts the implementation of applications such as sound-based remote animal guidance, intelligent grazing path planning, and stress early warning intervention, failing to meet the actual needs of modern farming for refined and intelligent management. Summary of the Invention

[0008] To address the lack of effective acoustic research models and standardized data foundations, the current field of smart animal husbandry and grazing struggles to overcome the technological bottlenecks in moving from passive monitoring to active acoustic intervention, hindering the implementation of applications such as sound-based remote animal guidance, intelligent grazing path planning, and stress early warning intervention. The purpose of this invention is to provide a method, system, and medium for animal binaural sound source perception models. It constructs the head sound transfer function of the target animal to quantify the physical transformation process of sound from the sound source to the animal's ears, revealing the differences in sound localization abilities among different species due to differences in head shape and auricular structure. Based on bioacoustic principles, it analyzes the animal's judgment mechanism of sound source location and distance from a physical perspective. By using virtual sound signal playback, the auditory experience and sound recognition in the same space can be repeatedly simulated in a laboratory or specific grazing scenario, ensuring the comparability and repeatability of the collected animal ecological behavior data, thereby constructing a high-quality dataset of stimulus-response pairings.

[0009] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0010] This solution provides a method for constructing an animal binaural sound source perception model, the method including:

[0011] Sound simulation experiments were conducted, and the head sound transfer function of the target animal was constructed by combining an animal head model; the head sound transfer function includes the left ear transfer function and the right ear transfer function of the target animal in different binaural modes;

[0012] In the target scene, the binaural modality of the target animal and the positional relationship between the target animal and the sound source are obtained, and the directional binaural virtual sound signal is solved by combining the head sound transfer function.

[0013] The binaural virtual sound signal is played to both ears of the target animal, and the ecological behavior of the target animal under the binaural virtual sound signal is collected and analyzed.

[0014] A further optimization is that the method for constructing the head sound transfer function includes:

[0015] Using the first position as the sound source position, play pre-recorded animal sound signals at the sound source position;

[0016] Using the second position as the target position, a reference sound signal is acquired at the target position; the distance between the second position and the first position is d.

[0017] A binaural sound simulation acquisition mechanism for animals is constructed. Based on the binaural sound simulation acquisition mechanism, under the stimulation of animal sound signals, the sound signals of the left ear and the right ear under different binaural modalities are acquired; the binaural modalities include the state of the animal's two ears at different angles and orientations.

[0018] Based on the left and right ear sound signals, the binaural time difference of the target animal in different binaural modes was calculated.

[0019] Fourier transform is performed 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;

[0020] The left ear transfer function and the right ear transfer function are solved based on the reference acoustic frequency domain signal, the left ear acoustic frequency domain signal, and the right ear acoustic frequency domain signal.

[0021] A further optimized solution is that the method for acquiring the left ear sound signal and the right ear sound signal includes:

[0022] Sound sensors were placed in the left and right ear canals of the head model of the target animal to collect sound signals from the left and right ears.

[0023] A three-dimensional coordinate system is constructed based on the head model of the target animal. The origin is the center of the line connecting the two ears. The direction of the line connecting the two ears and pointing towards the right ear is the positive x-axis. The positive y-axis is perpendicular to the line connecting the two ears and pointing directly forward of the head. The z-axis is perpendicular to the line connecting the two ears and pointing towards the top of the animal's head. The rotation around the x-axis is defined as the pitch angle. Rotation about the z-axis is the azimuth angle ;

[0024] Adjust pitch angle and azimuth The binaural modes with different relative positional relationships were obtained, and the left and right ear sound signals were acquired under different simulation states.

[0025] A further optimized solution is that the method for determining the binaural time difference includes:

[0026] Obtain the head model at the pitch angle and azimuth Below, t i Left ear sound signal at any moment and right ear sound signal ;

[0027] The time difference between the two ears was determined using the following process:

[0028] Configure ITD=0;

[0029] When the left ear receives the sound signal first: ;

[0030] Configure ITD = ITD + 1;

[0031] When the right ear receives the sound signal first: ;

[0032] Configure ITD = ITD + 1;

[0033] Where ITD represents the number of sampled signals; threshold represents the audio signal difference threshold.

[0034] A further optimized solution involves finding the left and right ear transfer functions using the following methods:

[0035]

[0036] in, Indicates the head model at the pitch angle and azimuth The left ear audio frequency domain signal; Represents the reference audio frequency domain signal; Indicates the head model at the pitch angle and azimuth The right ear audio frequency domain signal; Represents the reference sound signal; Indicates the head model at the pitch angle and azimuth The time-domain signal of the left ear sound; Indicates the head model at the pitch angle and azimuth The right ear sound time-domain signal; N represents the number of signals; denoted by frequency; t represents sampling time (t∈1,2,…,N; N represents signal length); j represents the imaginary unit; e represents the base of the natural logarithm.

[0037] A further optimized solution is that the method for solving the directional binaural virtual sound signal includes:

[0038] The animal's sound signal is played at a sound source location at a distance d from the target animal, and the binaural modalities of the target animal and the received sound signal at the target animal's location are collected. ;

[0039] For the received sound signal The received audio frequency domain representation obtained by performing discrete Fourier transform :

[0040] ;

[0041] Where N represents the number of signals; represents frequency; t represents sampling time (t∈1,2,…,N; N represents signal length); j represents imaginary unit; e represents the base of the natural logarithm; DFT[] represents Discrete Fourier Transform;

[0042] Based on the received sound frequency domain representation, left ear transfer function and right ear transfer function, the left ear sound pressure frequency domain signal and the right ear sound pressure frequency domain signal of the target animal are calculated, and the left ear sound pressure frequency domain signal and the right ear sound pressure frequency domain signal are converted into the left ear sound pressure time domain signal and the right ear sound pressure time domain signal.

[0043] Based on the positional relationship between the target animal and the sound source, the time difference is superimposed on 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 of the target animal.

[0044] A further optimized solution is that the method for obtaining the left ear sound pressure time-domain signal and the right ear sound pressure time-domain signal includes:

[0045] Calculate the pitch angle of the two-ear mode. and azimuth Left ear sound pressure frequency domain signal and the right ear sound pressure frequency domain signal :

[0046]

[0047] The time-domain signal of the left ear sound pressure level was calculated using inverse Fourier transform. and right ear sound pressure time domain signal :

[0048] .

[0049] A further optimized solution is that the method for acquiring the left ear virtual sound signal and the right ear virtual sound signal includes:

[0050] When the sound source is located to the left of the target animal, the virtual sound signal for the left ear is the time-domain signal of the left ear sound pressure, and the virtual sound signal for the right ear is the superposition of the time-domain signals of the right ear sound pressure.

[0051] ;

[0052] in, This represents the virtual sound signal of the right ear after the time difference is superimposed; This represents the time-domain signal of the left ear sound pressure level;

[0053] When the sound source is located on the right side of the target animal, the virtual sound signal for the right ear is the time-domain signal of the right ear sound pressure, and the virtual sound signal for the left ear is the time difference of the superimposed time-domain signals of the left ear sound pressure.

[0054] ;

[0055] in, This represents the virtual sound signal of the left ear after superimposing the time difference; This represents the time-domain signal of the right ear sound pressure level.

[0056] This solution also provides a system for constructing an animal binaural sound source perception model, used to implement the above-mentioned method for constructing an animal binaural sound source perception model, the system comprising:

[0057] The function construction module is used to conduct sound simulation experiments and construct the head sound transmission function of the target animal in combination with the animal head model; the head sound transmission function includes the left ear transmission function and the right ear transmission function of the target animal in different binaural modes;

[0058] The calculation module is used to obtain the binaural modality of the target animal and the positional relationship between the target animal and the sound source in the target scene, and solve the directional binaural virtual sound signal by combining the head sound transfer function.

[0059] The analysis module is used to play the binaural virtual sound signal to the target animal's ears and collect and analyze the target animal's ecological behavior under the binaural virtual sound signal.

[0060] This solution also provides a computer-readable medium storing a computer program thereon, which, when executed by a processor, can implement the above-described method for constructing an animal binaural sound source perception model.

[0061] This solution also provides a computer-readable medium storing a computer program thereon, which, when executed by a processor, can implement the above-described method for constructing an animal binaural sound source perception model.

[0062] Compared with the prior art, the present invention has the following beneficial effects:

[0063] 1. The purpose of this invention is to provide a method, system, and medium for animal binaural sound source perception modeling. This involves constructing the head sound transfer function of the target animal to quantify the physical transformation process of sound from the sound source to the animal's ears, revealing the differences in sound localization ability among different species due to differences in head shape and auricular structure. Based on bioacoustic principles, it enables the physical analysis of animals' judgment mechanisms regarding the location and distance of sound sources. By utilizing virtual sound signal playback, the auditory experience in the same space can be repeatedly simulated in a laboratory or specific grazing scenario, ensuring the comparability and repeatability of the collected animal ecological behavior data, thereby constructing a high-quality dataset of stimulus-response pairings.

[0064] 2. The purpose of this invention is to provide a method, system and medium for animal binaural sound source perception model. By playing binaural virtual sound signals containing spatial orientation information, it is possible to observe whether animals make ecological decisions to approach or avoid the sound based on its "direction". Attached Figure Description

[0065] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0066] Figure 1 A schematic diagram illustrating the method for constructing a binaural sound source perception model for animals;

[0067] Figure 2 A schematic diagram of the system structure for constructing an animal binaural sound source perception model. Detailed Implementation

[0068] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0069] In the field of smart farming or smart grazing, in order to remotely intervene in animal behavior, it is necessary to study the behavioral decision-making methods of animals, especially those animals that are greatly affected by acoustic information. However, there is currently no suitable acoustic research model and data foundation, which makes it difficult for the current smart farming and smart grazing field to break through the technical bottleneck of moving from passive monitoring to active acoustic intervention.

[0070] Example 1: This example provides a method for constructing an animal binaural sound source perception model, such as... Figure 1 As shown, the method includes:

[0071] Step 1: Conduct a sound simulation experiment and construct the head sound transfer function of the target animal using an animal head model; the head sound transfer function includes the left ear transfer function and the right ear transfer function of the target animal in different binaural modes;

[0072] In step one, the method for constructing the head sound transfer function includes:

[0073] S11, using the first position as the sound source position, play a pre-recorded animal sound signal at the sound source position;

[0074] S12, using the second position as the target position, acquire a reference sound signal at the target position; the distance between the second position and the first position is d;

[0075] S13, Construct an animal binaural sound simulation acquisition mechanism. Based on the animal binaural sound simulation acquisition mechanism, acquire left ear sound signals and right ear sound signals under different binaural modalities under animal sound signal stimulation; the binaural modalities include the state of the animal's two ears at different angles and orientations.

[0076] In step S13, the methods for acquiring the left ear sound signal and the right ear sound signal include:

[0077] S131, Place sound sensors in the left and right ear canals of the head model of the target animal to collect sound signals from the left and right ears;

[0078] S132. A three-dimensional coordinate system is constructed based on the head model of the target animal. The center of the line connecting the two ears is taken as the origin. The direction of the line connecting the two ears and pointing towards the right ear is the positive x-axis. The positive y-axis is perpendicular to the line connecting the two ears and pointing directly forward of the head. The z-axis is perpendicular to the line connecting the two ears and pointing towards the top of the animal's head. The rotation around the x-axis is defined as the pitch angle. Rotation about the z-axis is the azimuth angle ;

[0079] S133, Adjust pitch angle and azimuth The binaural modes with different relative positional relationships were obtained, and the left and right ear sound signals were acquired under different simulation states.

[0080] S14, Based on the left ear sound signal and the right ear sound signal, the binaural time difference of the target animal in different binaural modes is calculated;

[0081] In step S14, the method for determining the binaural time difference includes:

[0082] S141, Obtain the head model at the pitch angle and azimuth Below, t i Left ear sound signal at any moment and right ear sound signal ;

[0083] S142, the binaural time difference is determined according to the following process:

[0084] Configure ITD=0;

[0085] When the left ear receives the sound signal first: ;

[0086] Configure ITD = ITD + 1;

[0087] When the right ear receives the sound signal first: ;

[0088] Configure ITD = ITD + 1;

[0089] Where ITD represents the number of sampled signals; threshold represents the audio signal difference threshold.

[0090] 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;

[0091] S16, the left ear transfer function and the right ear transfer function are solved based on the reference acoustic frequency domain signal, the left ear acoustic frequency domain signal and the right ear acoustic frequency domain signal.

[0092] In step S16, the methods for solving the left ear transfer function and the right ear transfer function include:

[0093]

[0094] in, Indicates the head model at the pitch angle and azimuth The left ear audio frequency domain signal; Represents the reference audio frequency domain signal; Indicates the head model at the pitch angle and azimuth The right ear audio frequency domain signal; Represents the reference sound signal; Indicates the head model at the pitch angle and azimuth The time-domain signal of the left ear sound; Indicates the head model at the pitch angle and azimuth The right ear sound time-domain signal; N represents the number of signals; denoted by frequency; t represents sampling time (t∈1,2,…,N; N represents signal length); j represents the imaginary unit; e represents the base of the natural logarithm.

[0095] Step 2: In the target scene, obtain the binaural modality of the target animal and the positional relationship between the target animal and the sound source, and solve the directional binaural virtual sound signal by combining the head sound transfer function.

[0096] In step two, the method for solving the directional binaural virtual sound signal includes:

[0097] S21, Play the animal's sound signal at a sound source location at a distance d from the target animal, and collect the target animal's binaural modality and the received sound signal at the target animal's location. ;

[0098] S22, regarding the received audio signal The received audio frequency domain representation obtained by performing discrete Fourier transform :

[0099] ;

[0100] Where N represents the number of signals; represents frequency; t represents sampling time (t∈1,2,…,N; N represents signal length); j represents imaginary unit; e represents the base of the natural logarithm; DFT[] represents Discrete Fourier Transform;

[0101] S23, calculate the frequency domain signal of the left ear sound pressure and the frequency domain signal of the right ear sound pressure of the target animal based on the received sound frequency domain representation, the left ear transfer function and the right ear transfer function, and convert the frequency domain signal of the left ear sound pressure and the frequency domain signal of the right ear sound pressure into the time domain signal of the left ear sound pressure and the time domain signal of the right ear sound pressure;

[0102] In step S23, the method for obtaining the left ear sound pressure time-domain signal and the right ear sound pressure time-domain signal includes:

[0103] S231, Calculate the pitch angle of the binaural mode. and azimuth Left ear sound pressure frequency domain signal and the right ear sound pressure frequency domain signal :

[0104]

[0105] S232, the time-domain signal of the left ear sound pressure level is calculated based on the inverse Fourier transform. and right ear sound pressure time domain signal :

[0106] .

[0107] T24, based on the positional relationship between the target animal and the sound source, superimposes the time difference 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 of the target animal.

[0108] In step T24, the methods for acquiring the left ear virtual sound signal and the right ear virtual sound signal include:

[0109] T241, when the sound source is located to the left of the target animal, the virtual sound signal for the left ear is the time-domain signal of the left ear sound pressure, and the virtual sound signal for the right ear is the superposition of the time-domain signals of the right ear sound pressure.

[0110] ;

[0111] in, This represents the virtual sound signal of the right ear after the time difference is superimposed; This represents the time-domain signal of the left ear sound pressure level;

[0112] T242, when the sound source is located on the right side of the target animal, the virtual sound signal for the right ear is the time-domain signal of the right ear sound pressure, and the virtual sound signal for the left ear is the time difference of the superimposed time-domain signals of the left ear sound pressure:

[0113] ;

[0114] in, This represents the virtual sound signal of the left ear after superimposing the time difference; Represents the time-domain signal of the right ear sound pressure level.

[0115] Step 3: Play the binaural virtual sound signal to both ears of the target animal, and collect and analyze the ecological behavior of the target animal under the binaural virtual sound signal.

[0116] Example 2: This example provides a system for constructing an animal binaural sound source perception model, such as... Figure 2 As shown, the system used to implement the animal binaural sound source perception model construction method described in Example 1 includes:

[0117] The function construction module is used to conduct sound simulation experiments and construct the head sound transmission function of the target animal in combination with the animal head model; the head sound transmission function includes the left ear transmission function and the right ear transmission function of the target animal in different binaural modes;

[0118] The calculation module is used to obtain the binaural modality of the target animal and the positional relationship between the target animal and the sound source in the target scene, and solve the directional binaural virtual sound signal by combining the head sound transfer function.

[0119] The analysis module is used to play the binaural virtual sound signal to the target animal's ears and collect and analyze the target animal's ecological behavior under the binaural virtual sound signal.

[0120] By playing binaural virtual sound signals containing spatial orientation information, it is possible to observe whether animals make ecological decisions to approach or avoid the sound based on its direction. For example, when a virtual warning signal is played in a specific location, if the animal can accurately turn towards the sound source and exhibit alert behavior, it proves that the model has successfully reproduced the animal's natural auditory response. This provides direct control logic and algorithm input for the subsequent development of intelligent grazing equipment such as directional herding and fixed-point calling.

[0121] Example 3: This example provides a computer-readable medium storing a computer program, which, when executed by a processor, can implement a method for constructing an animal binaural sound source perception model as described in Example 1; specifically, the following steps are performed:

[0122] Step 1: Conduct a sound simulation experiment and construct the head sound transfer function of the target animal using an animal head model; the head sound transfer function includes the left ear transfer function and the right ear transfer function of the target animal in different binaural modes;

[0123] Step 2: In the target scene, obtain the binaural modality of the target animal and the positional relationship between the target animal and the sound source, and solve the directional binaural virtual sound signal by combining the head sound transfer function.

[0124] Step 3: Play the binaural virtual sound signal into both ears of the target animal, and collect and analyze the ecological behavior of the target animal under the binaural virtual sound signal.

[0125] Example 4: This example studies the ecological behavior of yaks, which are sensitive to vocalizations. The animal binaural sound source perception model construction method provided in this scheme is applied. The sound of the mother yak is pre-recorded as an animal sound signal for sound simulation experiments. The head sound transfer function of the calf yak is constructed by combining the head model of the calf yak.

[0126] In the target scenario, the binaural modality of the calf yak and the positional relationship between the target animal and the sound source are obtained, and the directional binaural virtual sound signal is solved by combining the head sound transfer function.

[0127] The method involves playing the aforementioned binaural virtual sound signals to target yak calves, collecting and analyzing the ecological behavior of the calves under the binaural virtual sound signals. This method utilizes the playback of virtual sound signals to repeatedly simulate the auditory experience in the same space in a laboratory or specific grazing scenario, ensuring that the collected animal ecological behavior data is comparable and repeatable, thereby constructing a high-quality dataset of stimulus-response pairings.

[0128] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for constructing an animal binaural sound source perception model, characterized in that, The methods include: Conduct sound simulation experiments and construct the head sound transfer function of the target animal by combining it with an animal head model; The head sound transfer function includes the left ear transfer function and the right ear transfer function of the target animal in different binaural modes; In the target scene, the binaural modality of the target animal and the positional relationship between the target animal and the sound source are obtained, and the directional binaural virtual sound signal is solved by combining the head sound transfer function. The binaural virtual sound signal is played to both ears of the target animal, and the ecological behavior of the target animal under the binaural virtual sound signal is collected and analyzed.

2. The method for constructing an animal binaural sound source perception model according to claim 1, characterized in that, The method for constructing the head voice transfer function includes: Using the first position as the sound source position, play pre-recorded animal sound signals at the sound source position; Using the second position as the target position, a reference sound signal is acquired at the target position; the distance between the second position and the first position is d. A binaural sound simulation acquisition mechanism for animals is constructed. Based on the binaural sound simulation acquisition mechanism, under the stimulation of animal sound signals, the sound signals of the left ear and the right ear under different binaural modalities are acquired; the binaural modalities include the state of the animal's two ears at different angles and orientations. Based on the left and right ear sound signals, the binaural time difference of the target animal in different binaural modes was calculated. Fourier transform is performed 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; The left ear transfer function and the right ear transfer function are solved based on the reference acoustic frequency domain signal, the left ear acoustic frequency domain signal, and the right ear acoustic frequency domain signal.

3. The method for constructing an animal binaural sound source perception model according to claim 2, characterized in that, The methods for acquiring the left ear sound signal and the right ear sound signal include: Sound sensors were placed in the left and right ear canals of the head model of the target animal to collect sound signals from the left and right ears. A three-dimensional coordinate system is constructed based on the head model of the target animal. The origin is the center of the line connecting the two ears. The direction of the line connecting the two ears and pointing towards the right ear is the positive x-axis. The positive y-axis is perpendicular to the line connecting the two ears and pointing directly forward of the head. The z-axis is perpendicular to the line connecting the two ears and pointing towards the top of the animal's head. The rotation around the x-axis is defined as the pitch angle. Rotation about the z-axis is the azimuth angle ; Adjust pitch angle and azimuth The binaural modes with different relative positional relationships were obtained, and the left and right ear sound signals were acquired under different simulation states.

4. The method for constructing an animal binaural sound source perception model according to claim 3, characterized in that, The method for determining the binaural time difference includes: Obtain the head model at the pitch angle and azimuth Below, t i Left ear sound signal at any moment and right ear sound signal ; The time difference between the two ears was determined using the following process: Configure ITD=0; When the left ear receives the sound signal first: ; Configure ITD = ITD + 1; When the right ear receives the sound signal first: ; Configure ITD = ITD + 1; Where ITD represents the number of sampled signals; threshold represents the audio signal difference threshold.

5. The method for constructing an animal binaural sound source perception model according to claim 4, characterized in that, The methods for solving the left ear transfer function and the right ear transfer function include: in, Indicates the head model at the pitch angle and azimuth The left ear audio frequency domain signal; Represents the reference audio frequency domain signal; Indicates the head model at the pitch angle and azimuth The right ear audio frequency domain signal; Represents the reference sound signal; Indicates the head model at the pitch angle and azimuth The time-domain signal of the left ear sound; Indicates the head model at the pitch angle and azimuth The right ear sound time-domain signal; N represents the number of signals; The frequency is represented by t; the sampling time is represented by t (t∈1,2,…,N; N represents the signal length); j represents the imaginary unit; and e represents the base of the natural logarithm.

6. The method for constructing an animal binaural sound source perception model according to claim 4, characterized in that, The method for solving the directional binaural virtual sound signal includes: The animal's sound signal is played at a sound source location at a distance d from the target animal, and the binaural modalities of the target animal and the received sound signal at the target animal's location are collected. ; For the received sound signal The received audio frequency domain representation obtained by performing discrete Fourier transform : ； Where N represents the number of signals; represents frequency; t represents sampling time (t∈1,2,…,N; N represents signal length); j represents imaginary unit; e represents the base of the natural logarithm; DFT[] represents Discrete Fourier Transform; Based on the received sound frequency domain representation, left ear transfer function and right ear transfer function, the left ear sound pressure frequency domain signal and the right ear sound pressure frequency domain signal of the target animal are calculated, and the left ear sound pressure frequency domain signal and the right ear sound pressure frequency domain signal are converted into the left ear sound pressure time domain signal and the right ear sound pressure time domain signal. Based on the positional relationship between the target animal and the sound source, the time difference is superimposed on 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 of the target animal.

7. The method for constructing an animal binaural sound source perception model according to claim 6, characterized in that, The methods for obtaining the left ear sound pressure time-domain signal and the right ear sound pressure time-domain signal include: Calculate the pitch angle of the two-ear mode. and azimuth Left ear sound pressure frequency domain signal and the right ear sound pressure frequency domain signal : The time-domain signal of the left ear sound pressure level was calculated using inverse Fourier transform. and right ear sound pressure time domain signal : 。 8. The method for constructing an animal binaural sound source perception model according to claim 6, characterized in that, The methods for acquiring the left ear virtual sound signal and the right ear virtual sound signal include: When the sound source is located to the left of the target animal, the virtual sound signal for the left ear is the time-domain signal of the left ear sound pressure, and the virtual sound signal for the right ear is the superposition of the time-domain signals of the right ear sound pressure. ； in, This represents the virtual sound signal of the right ear after the time difference is superimposed; This represents the time-domain signal of the left ear sound pressure level; When the sound source is located on the right side of the target animal, the virtual sound signal for the right ear is the time-domain signal of the right ear sound pressure, and the virtual sound signal for the left ear is the time difference of the superimposed time-domain signals of the left ear sound pressure. ； in, This represents the virtual sound signal of the left ear after superimposing the time difference; This represents the time-domain signal of the right ear sound pressure level.

9. A system for constructing an animal binaural sound source perception model, characterized in that, A system for implementing the animal binaural sound source perception model construction method according to any one of claims 1-8, the system comprising: The function construction module is used to conduct sound simulation experiments and construct the head sound transmission function of the target animal in combination with the animal head model; the head sound transmission function includes the left ear transmission function and the right ear transmission function of the target animal in different binaural modes; The calculation module is used to obtain the binaural modality of the target animal and the positional relationship between the target animal and the sound source in the target scene, and solve the directional binaural virtual sound signal by combining the head sound transfer function. The analysis module is used to play the binaural virtual sound signal to the target animal's ears and collect and analyze the target animal's ecological behavior under the binaural virtual sound signal.

10. A computer-readable medium having a computer program stored thereon, characterized in that, The computer program, when executed by a processor, can implement a method for constructing an animal binaural sound source perception model as described in any one of claims 1-8.

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