Three-axis acceleration sensor testing device and method

Abstract

The present invention provides a three-axis acceleration sensor test device and method, belonging to the field of animal behavior simulation technology, the device includes: a simulation model, a controller and a processor, the actual acceleration data of animal behavior obtained in advance by the acceleration sensor, and the acceleration value of each limb of the animal is segmented and analyzed, and the acceleration value is converted into a linear velocity value and then into an angular velocity value as a control parameter. When the three-axis acceleration sensor to be tested is installed on the simulation model, the controller controls the movement of the simulation model according to the control parameter; the processor collects the first measured acceleration value of the three-axis acceleration sensor to be tested, compares it with the actual acceleration value, and determines whether the three-axis acceleration sensor to be tested is abnormal according to the comparison result. The present invention simulates the target behavior of the animal through a simulation device, so that the three-axis acceleration sensor to be tested can be installed on the simulation device to complete the performance test, the test process is simpler and controllable, and the time required for the performance test is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of animal behavior simulation, and in particular to a three-axis acceleration sensor testing device and method. Background Art

[0002] In order to achieve precision breeding, animals need to be equipped with various sensors to collect information such as their location, physiology, and exercise volume for animal anti-lost and animal health monitoring. Among them, three-axis acceleration sensors are widely used in animal behavior detection because of their small size, light weight, and ability to fully and accurately reflect the motion properties of objects.

[0003] Due to the differences between animal species and individuals, it is necessary to design various three-axis acceleration sensors with different accuracies to achieve accurate perception of animal behavior.

[0004] When performing application performance tests on a designed three-axis acceleration sensor, it is usually necessary to place it outdoors on a living animal of the corresponding species to complete data collection for the performance test. However, data collection operations outdoors are difficult and time-consuming. Summary of the invention

[0005] The present invention provides a three-axis acceleration sensor testing device and method, which are used to solve the defect of complex outdoor data collection operation when performing performance testing on a designed three-axis acceleration sensor in the prior art, and realize a three-axis acceleration sensor testing device and method, so as to complete the data collection work when testing the three-axis acceleration sensor without living animals.

[0006] The present invention provides a three-axis acceleration sensor testing device, comprising:

[0007] Simulation models of animals;

[0008] A controller connected to the simulation model, and in the case where a three-axis acceleration sensor to be tested is installed on the simulation model, the controller is used to control the movement of the simulation model according to control parameters acquired in advance for making the simulation model simulate the target behavior of the animal;

[0009] A processor is connected to the three-axis acceleration sensor to be tested, and the processor is used to collect a first measured acceleration value of the three-axis acceleration sensor to be tested, compare the first measured acceleration value with the actual acceleration value, and determine whether the three-axis acceleration sensor to be tested is abnormal according to the comparison result.

[0010] According to a three-axis acceleration sensor testing device provided by the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller is used to:

[0011] Controlling the movement of the simulation model so that the second measured acceleration value of the normal three-axis acceleration sensor is equal to the actual acceleration value;

[0012] When the second measured acceleration value is equal to the actual acceleration value, the control parameter is obtained.

[0013] According to a three-axis acceleration sensor testing device provided by the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller is specifically used for:

[0014] Determining a linear velocity value of the simulation model according to the second measured acceleration value;

[0015] Performing a fast Fourier transform on the linear velocity value of the simulation model to obtain a first frequency spectrum;

[0016] Performing fast Fourier transformation on the linear velocity value of the animal when performing the target behavior to obtain a second frequency spectrum;

[0017] Compare the first frequency spectrum diagram with the second frequency spectrum diagram to obtain a first comparison result;

[0018] According to the first comparison result, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

[0019] According to a three-axis acceleration sensor testing device provided by the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller is specifically used for:

[0020] Determining a first degree of match between a spectral shape of the first spectrogram and a spectral shape of the second spectrogram;

[0021] determining a second degree of match between a main frequency component of the first spectrogram and a main frequency component of the second spectrogram;

[0022] When the first matching value is greater than a first preset threshold and the second matching value is greater than a second preset threshold, it is determined that the second measured acceleration value is equal to the actual acceleration value.

[0023] According to a three-axis acceleration sensor testing device provided by the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller is specifically used for:

[0024] Determine a first time domain graph corresponding to the linear velocity value of the simulation model;

[0025] Determine a second time domain graph corresponding to the linear velocity value when the animal performs the target behavior;

[0026] Comparing the first time domain graph with the second time domain graph to obtain a second comparison result;

[0027] According to the first comparison result and the second comparison result, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

[0028] According to a three-axis acceleration sensor testing device provided by the present invention, the simulation model includes a simulation trunk and a plurality of simulation limbs connected to the simulation trunk, each simulation limb includes:

[0029] A second connecting rod, one end of which is rotatably connected to the simulation torso;

[0030] A first connecting rod, wherein one end of the first connecting rod is rotatably connected to the other end of the second connecting rod;

[0031] A control motor, wherein the output end of the control motor is connected to the side wall of the first connecting rod, the input end of the control motor is connected to the controller, and the control motor is used to drive the first connecting rod to rotate.

[0032] According to a three-axis acceleration sensor testing device provided by the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller is further used for:

[0033] In the case where the second measured acceleration value is not equal to the actual acceleration value, determining the current target speed of the control motor according to the difference between the second measured acceleration value and the actual acceleration and the previous target speed of the control motor;

[0034] Determining the current speed of the control motor according to the current target speed of the control motor, the current number of steps of the control motor and the preset number of steps;

[0035] When the current rotation speed is different from the current target rotation speed, adjusting the current number of steps of the control motor until the current rotation speed is the same as the current target rotation speed;

[0036] When the current rotation speed is the same as the current target rotation speed, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

[0037] According to a three-axis acceleration sensor testing device provided by the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller is further used for:

[0038] Determining the linear velocity values ​​corresponding to each simulated limb when the animal performs the target behavior according to the actual linear velocity values ​​when the animal performs the target behavior;

[0039] According to the linear velocity values ​​corresponding to the simulated limbs, the initial target rotation speeds of the control motors corresponding to the simulated limbs are determined.

[0040] According to a three-axis acceleration sensor testing device provided by the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller is further used for:

[0041] Selecting a control motor from the control motors of the plurality of simulated limbs as a reference target;

[0042] Determine a difference between current rotation speeds of other control motors of the control motors of the plurality of simulated limbs except the reference target and the current rotation speed of the reference target;

[0043] According to the difference between the current rotation speed of the other controlled motor and the current rotation speed of the reference target, the current rotation speed of the other controlled motor is compensated so that the current rotation speed of the other controlled motor is the same as the current rotation speed of the reference target.

[0044] The present invention also provides a three-axis acceleration sensor testing method, comprising:

[0045] In a case where a three-axis acceleration sensor to be tested is installed on the simulation model, a controller is used to control the movement of the simulation model according to control parameters acquired in advance to make the simulation model simulate the target behavior of the animal;

[0046] A processor is used to collect a first measured acceleration value of the three-axis acceleration sensor to be tested, the first measured acceleration value is compared with the actual acceleration value, and whether the three-axis acceleration sensor to be tested is abnormal is determined according to the comparison result.

[0047] The three-axis acceleration sensor testing device and method provided by the present invention predetermine control parameters when a simulation model performs a target behavior of an animal, so that when a controller controls the movement of the simulation model through the control parameters, the simulation model and the animal have the same acceleration when performing the target behavior; after the three-axis acceleration sensor to be tested is installed on the simulation model, the movement of the simulation model is controlled based on the control parameters, so that the three-axis acceleration sensor to be tested can obtain a first measured acceleration value corresponding to the target behavior, and the first measured acceleration value is compared with the actual acceleration value corresponding to the target behavior, so as to complete the performance test of the three-axis acceleration sensor to be tested; the test process does not rely on living animals, thereby making the performance test process more controllable, reducing the complexity of the performance test operation, and reducing the time required for the performance test. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 It is a structural diagram of a three-axis acceleration sensor testing device provided by the present invention;

[0050] Figure 2 It is a structural diagram of a simulated limb in a three-axis acceleration sensor testing device provided by the present invention;

[0051] Figure 3 It is a schematic diagram for demonstrating the change of controlling the speed of a motor in the three-axis acceleration sensor testing device provided by the present invention;

[0052] Figure 4 It is a flow chart for demonstrating a method for determining the current speed of a control motor in a three-axis acceleration sensor testing device provided by the present invention;

[0053] Figure 5 It is a diagram of the deviation coupling control structure for displaying the control of the motor in the three-axis acceleration sensor test device provided by the present invention;

[0054] Figure 6 It is a flow chart of the three-axis acceleration sensor testing method provided by the present invention.

[0055] Reference numerals:

[0056] 1. Basic frame; 2. Control motor; 3. Second connecting rod; 4. First fisheye bearing; 5. Simulation trunk; 6. Controller; 7. Adapter plate; 8. Second fisheye bearing; 9. First connecting rod; 10. Angle piece. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Combine the following Figure 1-Figure 5 The present invention is described in detail with respect to a three-axis acceleration sensor testing device. Figure 1 As shown, the three-axis acceleration sensor test device includes:

[0059] Simulation models of animals;

[0060] A pre-built simulation model of the animal is used as a mounting base for the triaxial accelerometer to be tested for performance.

[0061] The animal simulation model is used to simulate different daily behaviors of living animals. Specifically, when the animal simulation model simulates a behavior of a living animal, the acceleration in each direction of the corresponding behavior is the same as the acceleration generated by the living animal when performing the corresponding behavior.

[0062] Optionally, the simulation model is a 3D printed model designed after a quadruped. The target behavior of a living animal can be better simulated by using a 3D printed model of a quadruped with a higher degree of simulation.

[0063] A controller 6 connected to the simulation model, and in the case where a three-axis acceleration sensor to be tested is installed on the simulation model, the controller 6 is used to control the movement of the simulation model according to control parameters acquired in advance to enable the simulation model to simulate the target behavior of the animal;

[0064] The controller 6 is electrically connected to the simulation model and is used to control the simulation model to simulate the target behavior.

[0065] The triaxial acceleration sensor to be tested is a triaxial acceleration sensor that needs to be tested for performance.

[0066] The target behavior refers to the behavior of the living animal that needs to be monitored during the test of the three-axis acceleration sensor.

[0067] By training the simulation model, the control parameters of the simulation model when performing each target behavior are obtained in advance. After the three-axis acceleration sensor to be tested is installed on the simulation model, the controller 6 can control the simulation model to simulate the corresponding target behavior according to the control parameters, so that the accelerations in the three directions generated by the simulation model when performing the target behavior are the same as the accelerations in the three directions generated by the living animal when performing the target behavior, which is used to test the three-axis acceleration sensor to be tested.

[0068] A processor is connected to the three-axis acceleration sensor to be tested, and the processor is used to collect a first measured acceleration value of the three-axis acceleration sensor to be tested, compare the first measured acceleration value with the actual acceleration value, and determine whether the three-axis acceleration sensor to be tested is abnormal according to the comparison result.

[0069] The processor is electrically connected to the three-axis acceleration sensor to be tested, and is used to receive a first measured acceleration value measured by the three-axis acceleration sensor to be tested.

[0070] The first measured acceleration value is measured when the simulation model simulates a certain target behavior of a living animal.

[0071] The first measured acceleration value is compared with the actual acceleration value of the living animal when performing the corresponding template behavior, that is, the performance test of the three-axis acceleration sensor to be tested is implemented. Through the comparison result, it is determined whether the performance of the designed three-axis acceleration sensor to be tested meets the design requirements.

[0072] Optionally, when the error range between the first measured acceleration value and the actual acceleration value is within a first preset deviation range, it is considered that the three-axis acceleration sensor to be tested has no abnormality. The first preset deviation range is determined according to design requirements.

[0073] The present invention predetermines control parameters when the simulation model performs the target behavior of the animal, so that when the controller 6 controls the movement of the simulation model through the control parameters, the simulation model and the animal have the same acceleration when performing the target behavior, and can better simulate the influence of the vibration of the animal when performing the target movement on the measurement value of the three-axis acceleration sensor; after the three-axis acceleration sensor to be tested is installed on the simulation model, the movement of the simulation model is controlled based on the control parameters, so that the three-axis acceleration sensor to be tested can obtain a first measured acceleration value corresponding to the target behavior, and the first measured acceleration value is compared with the actual acceleration value corresponding to the target behavior, so as to complete the performance test of the three-axis acceleration sensor to be tested; the test process does not rely on living animals, thereby making the performance test process more controllable, reducing the complexity of the performance test operation, and reducing the time required for the performance test.

[0074] In the three-axis acceleration sensor testing device of the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller 6 is used to:

[0075] Controlling the movement of the simulation model so that the second measured acceleration value of the normal three-axis acceleration sensor is equal to the actual acceleration value;

[0076] A normal three-axis acceleration sensor is installed on the simulation model to train the simulation model and obtain the corresponding control parameters when the simulation model performs each target behavior.

[0077] Specifically, the controller 6 controls the simulation model to move, and the normal three-axis acceleration sensor obtains the second measured acceleration value when the simulation model moves.

[0078] According to the difference between the second measured acceleration value and the actual acceleration value, the control parameters of the simulation model are adjusted so that when the adjusted simulation model moves, the deviation between the second measured acceleration value and the actual acceleration value is reduced.

[0079] The motion of the simulation model is adjusted multiple times until the second measured acceleration value measured by the normal three-axis acceleration sensor is equal to the actual acceleration value.

[0080] Optionally, when the difference between the second measured acceleration value and the actual acceleration value is within a second preset deviation range, the second measured acceleration value is considered to be equal to the actual acceleration value. The second preset deviation range is determined according to the design requirements of the triaxial acceleration sensor.

[0081] When the second measured acceleration value is equal to the actual acceleration value, the control parameter is obtained.

[0082] When the second measured acceleration value is equal to the actual acceleration value, the control parameter at this time is obtained as the control parameter for simulating the target behavior. The motion of the simulation model is controlled according to the obtained control parameter, so that the linear acceleration value of the simulation model during the target motion is the same as the linear acceleration value generated by the animal during the target motion, so as to be used for the performance test of the three-axis acceleration sensor to be tested.

[0083] This embodiment does not limit the motion mode of controlling the simulation model, that is, the simulation model can be driven to move by a motor or a combination of a motor and other driving devices to simulate the linear acceleration of the animal when performing the target behavior. Different devices driving the simulation model to move have different types and values ​​of corresponding control parameters. As long as the control parameters can be satisfied, the linear acceleration generated by the simulation model when moving under the control parameters is the same as the actual acceleration value when the animal performs the target behavior.

[0084] The present invention obtains control parameters of a simulation model through normal three-axis acceleration sensor training, so that the linear acceleration generated by the simulation model when moving under the control parameters is consistent with the actual acceleration value of the animal when performing the target behavior, so as to be used for the performance test of the three-axis acceleration sensor to be tested, so that the performance test of the three-axis acceleration sensor to be tested does not need to rely on living animals, thereby reducing the test difficulty and reducing the test time.

[0085] In the three-axis acceleration sensor testing device of the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller 6 is specifically used for:

[0086] Determining a linear velocity value of the simulation model according to the second measured acceleration value;

[0087] Normally, the three-axis acceleration sensor measures a second measured acceleration value when the simulation model moves. It should be noted that the second measured acceleration value includes acceleration values ​​in three directions: the X-axis, the Y-axis, and the Z-axis.

[0088] In a feasible implementation, the simulation model simulates the process of the animal's limbs being lifted and dropped respectively during movement. Therefore, after the normal acceleration sensor collects data of the simulation model simulation process, firstly, according to the data collection moments corresponding to the lifting and dropping of the animal's limbs, the second measured acceleration value corresponding to the simulation model when each leg of the simulated animal moves is segmented, and the segmented acceleration value is integrated with the speed on the X-axis, Y-axis and Z-axis according to the following method to obtain the linear velocity value of the simulation model:

[0089] Determine the velocity v of the simulation model in the X-axis direction through the acceleration value of the simulation model in the X-axis direction x (t):

[0090] v x (t) = v x (t-Δt)+ax(t)*Δt (1)

[0091] Wherein, vx(t-Δt) refers to the velocity of the simulation model in the X-axis direction at Δt moments before the current moment; ax(t) represents the acceleration of the simulation model in the X-axis direction, and Δt is the time step.

[0092] Determine the velocity v of the simulation model in the Y-axis direction through the acceleration value of the simulation model in the Y-axis direction y (t):

[0093] v y (t) = v y (t-Δt)+ay(t)*Δt (2)

[0094] Among them, v y (t-Δt) refers to the velocity of the simulation model in the Y-axis direction at Δt moments before the current moment; ay(t) represents the acceleration of the simulation model in the Y-axis direction, and Δt is the time step.

[0095] The velocity vz(t) of the simulation model in the Z-axis direction is determined by the acceleration value of the simulation model in the Z-axis direction:

[0096] v z (t) = v z (t-Δt)+az(t)*Δt (3)

[0097] Wherein, vz(t-Δt) refers to the velocity of the simulation model in the Z-axis direction at Δt moments before the current moment; az(t) represents the acceleration of the simulation model in the Z-axis direction, and Δt is the time step.

[0098] The linear velocity value of the simulation model during movement is determined by calculating the velocity components of the simulation model in the three directions of X-axis, Y-axis and Z-axis:

[0099]

[0100] Based on the calculated linear velocity value of the simulation model during movement, determine whether the simulation model ideally simulates the target behavior of the animal.

[0101] Performing a fast Fourier transform on the linear velocity value of the simulation model to obtain a first frequency spectrum;

[0102] Performing fast Fourier transformation on the linear velocity value of the animal when performing the target behavior to obtain a second frequency spectrum;

[0103] The linear velocity value of the simulation model is subjected to fast Fourier transformation (FFT) to obtain a corresponding first frequency spectrum; the linear velocity value of the animal when performing the target behavior is subjected to fast Fourier transformation to obtain a corresponding second frequency spectrum.

[0104] The linear velocity data in the time domain is converted into frequency domain representation by the FFT algorithm, and then the similarity between the first spectrum graph and the second spectrum graph is judged by the frequency domain characteristics to determine the similarity between the linear velocity of the simulation model and the linear velocity of the animal when performing the target behavior.

[0105] Compare the first spectrum graph and the second spectrum graph to obtain a first comparison result;

[0106] The first spectrum graph is compared with the second spectrum graph, and the similarity between the first spectrum graph and the second spectrum graph is used as the first comparison result. This embodiment does not limit the comparison method between the first spectrum graph and the second spectrum graph.

[0107] Optionally, the spectrum shapes of the first spectrum graph and the second spectrum graph are compared, including the positions and numbers of peaks, the distribution of frequency ranges, etc.

[0108] Optionally, the energy distributions at different frequencies of the first spectrum graph and the second spectrum graph are compared, including the height and width of the peak, and the trend of the frequency distribution.

[0109] Optionally, the energy difference between the first spectrum map and the second spectrum map is compared.

[0110] According to the first comparison result, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

[0111] When the similarity between the first spectrum graph and the second spectrum graph is greater than a first preset value, it is considered that the simulation model has achieved an ideal state in simulating the linear velocity of the animal when performing the target motion, and therefore it is determined that the second measured acceleration value is equal to the actual acceleration value.

[0112] The first preset value is determined according to a comparison method between the first spectrum graph and the second spectrum graph.

[0113] The present invention determines the linear velocity value of the simulation model by measuring the acceleration values ​​in three directions obtained by a normal three-axis acceleration sensor, and determines whether the simulation of the simulation model has reached an ideal state by comparing the linear velocity of the simulation model with the frequency domain characteristics of the linear velocity of the animal when performing the target behavior.

[0114] In the three-axis acceleration sensor testing device of the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller 6 is specifically used for:

[0115] Determining a first degree of match between a spectral shape of the first spectrogram and a spectral shape of the second spectrogram;

[0116] Specifically, the spectrum shape of the first spectrum graph and the spectrum shape of the second spectrum graph are compared, and the similarity thereof is determined as the first matching degree.

[0117] Optionally, the first matching degree is determined by directly observing the distribution of the positions, quantities and frequency ranges of the peaks in the first spectrum graph and the second spectrum graph.

[0118] Optionally, the first matching degree is determined by extracting peak information from the first spectrum graph and the second spectrum graph, including the position and intensity of the peaks, and calculating the distance or similarity between the peaks.

[0119] Optionally, the first degree of match is determined by fitting the first spectrum graph and the second spectrum graph into a mathematical model and comparing the distance or similarity between curves of the fitted model.

[0120] determining a second degree of match between a main frequency component of the first spectrogram and a main frequency component of the second spectrogram;

[0121] The first spectrum graph and the second spectrum graph are observed to determine information of different frequency components in the first spectrum graph and the second spectrum graph. After obtaining the first spectrum graph and the second spectrum graph through the FFT algorithm, the linear velocity data corresponding to the first spectrum graph and the second spectrum graph can be decomposed into a series of spectrum components, and the amplitude of each spectrum component can be displayed.

[0122] The main frequency components of the first spectrum graph and the main frequency components of the second spectrum graph are compared, and the similarity thereof is determined as the second matching degree.

[0123] When the first matching value is greater than a first preset threshold and the second matching value is greater than a second preset threshold, it is determined that the second measured acceleration value is equal to the actual acceleration value.

[0124] When the first match value corresponding to the first match is greater than the first preset threshold, and the second match value corresponding to the second match is greater than the second preset threshold, it is considered that the simulation model has achieved an ideal state in simulating the linear velocity generated when the animal performs target movement, and it is determined that the second measured acceleration value at this time is equal to the actual acceleration value.

[0125] The present invention compares the main frequency components and spectrum shapes of the first spectrum graph and the second spectrum graph. When the corresponding first matching degree is greater than the first preset threshold and the second matching degree is greater than the second preset threshold, it is considered that the simulation model has achieved an ideal state in simulating the linear velocity generated when the animal performs target movement.

[0126] In the three-axis acceleration sensor testing device of the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller 6 is specifically used for:

[0127] Determine a first time domain graph corresponding to the linear velocity value of the simulation model;

[0128] Determine a second time domain graph corresponding to the linear velocity value when the animal performs the target behavior;

[0129] Since the comparison between the first spectrum diagram and the second spectrum diagram only analyzes the linear velocity of the simulation model and the linear velocity of the animal when performing the target behavior in the frequency domain, time domain analysis is also required to further determine whether the simulation results of the simulation model have reached the ideal state.

[0130] Specifically, a first time domain graph corresponding to the linear velocity value of the simulation model is drawn, and a second time domain graph corresponding to the linear velocity when the animal performs the target behavior is drawn.

[0131] Optionally, when drawing the first time domain graph and the second time domain graph, the horizontal axes of the first time domain graph and the second time domain graph are adjusted to be aligned to facilitate comparison and determination of the distance and difference between the peak curve in the first time domain graph and the peak curve in the second time domain graph.

[0132] Comparing the first time domain graph with the second time domain graph to obtain a second comparison result;

[0133] The similarity between the first time domain image and the second time domain image is used as the second comparison result.

[0134] When the second comparison result is greater than the second preset value, it is considered that the linear velocity of the simulation model and the linear velocity of the animal when performing the target behavior match in the time domain.

[0135] The second preset value is determined according to a comparison method between the first time domain diagram and the second time domain diagram.

[0136] According to the first comparison result and the second comparison result, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

[0137] When the first comparison result is greater than the first preset value, it is considered that the linear velocity of the simulation model and the linear velocity of the animal when performing the target behavior match in the frequency domain.

[0138] When the second comparison result is greater than the second preset value, it is considered that the linear velocity of the simulation model and the linear velocity of the animal when performing the target behavior match in the time domain.

[0139] When the linear velocity of the simulation model matches the linear velocity of the animal when performing the target behavior in both the frequency domain and the time domain, it is determined that the second measured acceleration value at this time is equal to the actual acceleration value, that is, the simulation model achieves an ideal state in simulating the target behavior.

[0140] In the three-axis acceleration sensor testing device of the present invention, the simulation model includes a simulation trunk 5 and a plurality of simulation limbs connected to the simulation trunk 5, each simulation limb including:

[0141] A second connecting rod 3, one end of which is rotatably connected to the simulation torso 5;

[0142] A first connecting rod 9, one end of which is rotatably connected to the other end of the second connecting rod 3;

[0143] A control motor 2 , wherein the output end of the control motor 2 is connected to the side wall of the first connecting rod 9 , and the input end of the control motor 2 is connected to the controller 6 , and the control motor 2 is used to drive the first connecting rod 9 to rotate.

[0144] like Figure 1 As shown, the three-axis acceleration sensor testing device in the present application includes a basic frame 1, which is a rectangular frame assembled from aluminum profiles of model 4040. The aluminum profiles are fixed and connected by bolts through corner pieces 10, and the basic frame 1 can be constructed in the laboratory without welding.

[0145] Optionally, the aluminum profile of the basic frame 1 is anodized to improve its corrosion resistance, thereby extending the service life of the basic frame 1.

[0146] The simulation model is installed upside down in the basic frame 1.

[0147] Specifically, the simulation model in this embodiment includes a simulation trunk 5 and simulation limbs. The simulation trunk is made by 3D printing to simulate the true scale printing of the animal required for the three-axis acceleration sensor test.

[0148] Optionally, the simulation trunk 5 is a hollow model so that the simulation model can be adjusted by adding weights into the simulation trunk 5 .

[0149] The simulation model in the present application simulates a quadruped, so one simulation trunk 5 is correspondingly equipped with four simulation limbs.

[0150] Combined with reference Figure 2 The simulated limb includes a second connecting rod 3, one end of which is equipped with a first fisheye bearing 4. The second connecting rod 3 is rotatably connected to the simulated torso 5 through the first fisheye bearing 4 to simulate the thigh of an animal.

[0151] The cross section of the second connecting rod 3 is hexagonal, and the second connecting rod 3 is fixedly connected to the first fisheye bearing 4 by threads.

[0152] The other end of the second connecting rod 3 is threadedly connected to a second fisheye bearing 8 , and one end of the second fisheye bearing 8 away from the second connecting rod 3 is threadedly connected to the first connecting rod 9 .

[0153] The first connecting rod 9 is used to simulate the lower leg of an animal. The first connecting rod 9 is rotationally connected to the second connecting rod 3 through the second fisheye bearing 8, thereby simulating the movement of the limbs of the animal when exercising.

[0154] Optionally, a plurality of threaded holes are provided on the first connecting rod 9, and the plurality of threaded holes are arranged at intervals on the first connecting rod 9 along the length direction of the first connecting rod 9. By threading the first connecting rod 9 and the second fisheye bearing 8 at threaded holes at different positions, the effective rotation length of the first connecting rod 9 can be changed, thereby controlling the movement of the simulation model.

[0155] One end of the first connecting rod 9 away from the second connecting rod 3 is fixedly connected to the output end of the control motor 2, so that when the output end of the control motor 2 rotates, it drives the first connecting rod 9 to rotate around its own radial direction. The rotation of the first connecting rod 9 then drives the second connecting rod 3 to rotate, thereby realizing the simulation of animal limb movement.

[0156] Optionally, the control motor 2 is a 12V DC motor with a photoelectric encoder, and the output speed of the control motor 2 is counted and fed back in time by the photoelectric encoder, so that the tester can adjust the output speed of the control motor 2 according to the count.

[0157] On this basis, when the controller 6 selects the MCU controller 6 (Microcontroller Unit), since the MCU cannot directly drive the control motor 2, a driving board needs to be set up. The driving board is electrically connected to the MCU and the control motor 2 at the same time, and the MCU indirectly controls the drive motor through the driving board.

[0158] In this embodiment, the driver board is connected to a 12V DC power supply, the M+ terminal of the control motor 2 is connected to the positive pole of the driver board output power supply, the M- terminal is connected to the ground of the driver board output power supply, the VCC terminal is connected to the 3.3V power supply on the MCU, the GND terminal is connected to the ground on the MCU, and the A phase is connected to the clock enable serial port on the MCU to capture the clock pulse.

[0159] Furthermore, an L-shaped adapter plate 7 is hung on the control motor 2. Specifically, the portion corresponding to the short side of the L-shape of the adapter plate 7 is hung on the control motor 2, and the portion corresponding to the long side of the L-shape is fixed to the base frame 1 by bolts, and then the control motor 2 is fixed to the base frame 1 by the adapter plate 7.

[0160] After fixing the four control motors 2 to the basic frame 1, the simulation model can be installed upside down on the basic frame 1 as a whole. The MCU drives the output end of the control motor 2 to rotate, which can drive the first connecting rod 9 and the second connecting rod 3 to rotate in turn, and then drive the simulation torso 5 to move.

[0161] When in use, the three-axis acceleration sensor to be tested and the normal three-axis acceleration sensor are both installed on the simulated torso 5 to detect the acceleration of the simulated torso 5 when the simulated limbs drive the simulated torso 5 to move, which is used as the acceleration of the simulation model.

[0162] Among them, the rotational connection between the simulated torso 5, the second connecting rod 3 and the first connecting rod 9 is realized by the first fisheye bearing 4 and the second fisheye bearing 8, which can better simulate the state of the animal's ankle joint during movement and realize multi-directional rotation.

[0163] The MCU controller 6 is a 32-bit flash memory microcontroller 6 developed based on ARM (Advanced RISC Machines, a computer processor architecture). It is connected to the driver board through a DuPont line, and then a control code based on C language is written in the software. The speed and rotation angle of the control motor 2 can be controlled through the code, thereby controlling the simulation model to make different movements.

[0164] The present application realizes the simulation of limb movements of various animals when performing target movements through the cooperation of a controller 6, a control motor 2, simulated limbs and a simulated torso 5. The cooperation of a first connecting rod 9, a first fisheye bearing 4, a second connecting rod 3 and a second fisheye bearing 8 is used to simulate the movement of the legs of animals when performing target behaviors, thereby simulating the target behaviors of animals. When the control motor 2 controls the movement of the simulation model according to the control parameters, the acceleration of the simulation model is equal to the acceleration of the living animal when performing the target behavior, thereby realizing the simulation of the target behavior of the animal.

[0165] Furthermore, under different parameters, there is a certain functional relationship between the angular acceleration generated by the simulation model and the linear acceleration generated by the animal. By studying the functional relationship between the two, we can prepare for the realization of expanded functions.

[0166] In the three-axis acceleration sensor testing device of the present invention, a bending section is provided at one end of the simulation trunk 5 along the length direction of the simulation trunk 5, and the three-axis acceleration sensor is installed on the bending section.

[0167] The curved segment is used to simulate the neck of the animal.

[0168] In this embodiment, the end of the curved section away from the simulated trunk body is arranged toward the control motor to simulate the posture of the animal when lowering its head.

[0169] Specifically, a three-axis acceleration sensor is placed on a living animal, and when the acceleration of the living animal is collected when the living animal performs a target behavior, the three-axis acceleration sensor is fixed on the neck of the animal.

[0170] Optionally, both ends of the simulated torso 5 in the length direction are provided with curved sections.

[0171] In the three-axis acceleration sensor testing device of the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller 6 is further used for:

[0172] In the case where the second measured acceleration value is not equal to the actual acceleration value, determining the current target speed of the control motor 2 according to the difference between the second measured acceleration value and the actual acceleration value and the previous target speed of the control motor 2;

[0173] When training the simulation model to obtain the control parameters corresponding to the target behavior of the animal when the simulation model simulates the target behavior, the initial control parameters are first determined according to the actual linear speed of the animal when performing the target behavior, that is, the initial target speed of the control motor 2 is determined.

[0174] After the controller 6 drives the control motor 2 to rotate based on the initial target speed, the simulation model preliminarily simulates the target behavior of the animal corresponding to the control parameter. At this time, the second measured acceleration value measured by the normal three-axis acceleration sensor installed on the simulation model is read and compared with the actual acceleration value corresponding to the target behavior.

[0175] When the second measured acceleration value is not equal to the actual acceleration value, it indicates that the motion of the simulation model needs to be further adjusted until the second measured acceleration value is equal to the actual acceleration value.

[0176] In a feasible implementation manner, the simulation model is adjusted for multiple times in different ways, and the second measured acceleration value corresponding to each adjustment is determined, and the difference between the second measured acceleration value corresponding to each adjustment and the actual acceleration value is calculated.

[0177] The differences are sorted from large to small, and the adjustment direction of the control parameters is determined according to the sorting. The control parameters include the target speed of the control motor 2.

[0178] On the basis of the last target speed of the control motor 2, the control parameters are adjusted according to the adjustment direction, and the target speed of the control motor 2 in this control parameter is determined, so that when the control motor 2 runs at the target speed in this control parameter, the second measured acceleration value measured by the normal three-axis acceleration sensor can be closer to the actual acceleration value.

[0179] Determine the current speed of the control motor 2 according to the current target speed of the control motor 2, the current number of steps of the control motor 2 and the preset number of steps;

[0180] After determining the current target speed of the control motor 2, it is necessary to determine whether the current speed of the control motor 2 reaches the current target speed.

[0181] Specifically, Figure 4 As shown, first initialize the timer and PWM wave (Pulse Width Modulation). Divide the target speed into i parts, the number of steps of the control motor 2 corresponding to the target speed is i, and the initial speed of the control motor 2 is 0. Taking the target speed of 50r / min as an example, as time t increases, the current number of steps of the control motor 2 is obtained and recorded as j, then the current speed of the control motor 2 is equal to the target speed divided by i and then multiplied by j.

[0182] When the current rotation speed is different from the current target rotation speed, adjusting the current number of steps of the control motor 2 until the current rotation speed is the same as the current target rotation speed;

[0183] When the calculated current speed is different from the target speed, taking the case where the target speed is greater than the current speed as an example, the number of steps of the control motor 2 is increased, and the current number of steps j is continuously increased until the calculated current speed is equal to the target speed.

[0184] After the current speed is equal to the target speed, the loop is exited and the output end of the motor 2 is controlled to maintain the current speed and continue to rotate.

[0185] Optionally, after the current speed of the control motor 2 is equal to the target speed, it is maintained at the current speed for 500ms, and then the control motor 2 stops rotating. After a delay of 500ms, the above process is repeated to control the motor 2 to work periodically.

[0186] When the current rotation speed is the same as the current target rotation speed, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

[0187] The current speed is the same as the target speed, indicating that the current speed has been adjusted to the speed required for this test.

[0188] At this time, the second measured acceleration value may be collected and compared with the actual acceleration value to determine whether the second measured acceleration value is equal to the actual acceleration value.

[0189] In the three-axis acceleration sensor testing device of the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller 6 is further used for:

[0190] Determining the linear velocity values ​​corresponding to each simulated limb when the animal performs the target behavior according to the actual linear velocity values ​​when the animal performs the target behavior;

[0191] Specifically, during the movement of the animal, the force exerted by the four limbs is different, and the time of movement of the four limbs is also different. Therefore, the MCU controller 6 controls the speed of the four control motors 2 respectively, so that each control motor 2 simulates the limbs of the animal in different positions to simulate the movement state of the animal.

[0192] Take the simulation of animal running as an example. Before the simulation, a normal three-axis acceleration sensor is used to collect the actual acceleration value of the live animal when performing the target behavior, and observe the movement habits of the limbs of the live animal during the movement. For example, when an animal runs, it usually lifts the right front leg first. The time from lifting to falling of the right front leg is about 300ms. Then it lifts the left hind leg and the right hind leg, and pushes the body forward through the coordinated movement of the hind legs. This process takes about 350ms. Then, the left front leg will be lifted for about 200ms to maintain balance and push more power. A complete running process is about 800 to 1000ms.

[0193] The actual linear velocity value is determined based on the actual acceleration value.

[0194] According to the time when the animal's limbs are raised and lowered, the actual linear velocity value is divided to determine the time period corresponding to the movement of each animal's limb, and the time period is associated with the simulated limb corresponding to each animal's limb, that is, the actual linear velocity value of each animal's limb is determined, and based on the actual linear velocity value of each animal's limb, the linear velocity value of the simulated limb corresponding to each animal's limb is determined.

[0195] On this basis, each simulated limb simulates the corresponding actual linear velocity value in the corresponding time period, thereby realizing the simulation of the animal's target action.

[0196] According to the linear velocity values ​​corresponding to the simulated limbs, the initial target rotation speeds of the control motors corresponding to the simulated limbs are determined.

[0197] After determining the linear velocity value corresponding to each simulated limb, the linear velocity corresponding to the simulated limb is converted into the angular velocity output by the control motor 2 according to the rotation parameters of the control motor 2, and the rotation speed of the control motor corresponding to the angular velocity is determined according to the angular velocity as the initial target rotation speed of the control motor 2.

[0198] The control motor 2 first runs at the initial target speed, and the control simulation model makes a preliminary simulation of the target action of the animal. Then, according to the second measured acceleration value and the actual acceleration value measured by the normal three-axis acceleration sensor during the preliminary simulation, the target speed of the control motor 2 is adjusted until the second measured acceleration value and the actual acceleration value are reached.

[0199] In a feasible implementation, during simulation, the zero position of the control motor 2 is preset to ensure that the initial position of the control motor 2 is the same each time it is started, and the speed of the control motor 2 is controlled by adding PID control (Proportional-Integral-Derivative, a feedback control algorithm).

[0200] The input speed of the motor refers to the actual acceleration value collected in advance. The speed change of each leg of the animal corresponds to the lifting and lowering of the leg. Therefore, the first connecting rod 9 and the second connecting rod 3 are driven to rotate by the motor speed change. When simulating the leg movement of the animal, the speed change of one of the control motors 2 is as follows: Figure 3 As shown, Figure 3 The vertical axis represents the speed of the control motor 2, and the horizontal axis represents the rotation time of the control motor 2. Among them, segment a simulates the process of the animal raising its legs, segment b simulates the process of the animal's raised legs staying in the air, segment c simulates the process of the animal putting down its legs, and segment d simulates the state when the animal's legs are completely put down and stand still. The four processes of a, b, c and d together constitute a complete cycle of leg movement.

[0201] It should be noted that during the simulation, it is assumed that the animal's limbs have successively performed the same lifting, stopping, and lowering movements. Therefore, the speed change process of the four control motors 2 used to simulate the animal's limbs is the same, with only a difference in the time of the speed change.

[0202] The MCU controller 6 drives the output ends of the four control motors 2 to rotate at the same speed change process at a fixed time interval, so that the simulation model can simulate the running action of the animal. On this basis, the normal three-axis acceleration sensor installed on the simulation model collects the acceleration of the simulation model when simulating the animal running, and compares it with the real acceleration of the living animal collected in advance, and determines the similarity between the acceleration of the simulation model and the acceleration of the animal when performing the target behavior according to the first comparison result and the second comparison result.

[0203] When the acceleration of the simulation model is not equal to the acceleration of the animal while performing the target behavior, the movement of the simulation model is adjusted.

[0204] Optionally, the movement of the simulation model is controlled by changing the speed of each control motor 2 .

[0205] Optionally, by adding a weight into the hollow simulation torso 5, the acceleration change of the simulation model can be made more obvious.

[0206] When the acceleration of the simulation model is equal to the acceleration of the animal when performing the target behavior, the control parameters corresponding to each control motor 2 are recorded as the control parameters when the simulation model simulates the target behavior.

[0207] The simulation model in this application is mainly used to simulate the behaviors of quadrupeds such as running, lifting legs and walking.

[0208] The present application uses the actual linear speed of the animal when performing the target movement to divide the actual linear speed corresponding to each limb of the animal when performing the target movement, which is used to determine the linear speed corresponding to each simulated limb of the simulated animal limb, and then converts the linear speed corresponding to the simulated limb into the angular speed corresponding to the control motor 2, and finally determines the initial target rotation speed of the control motor 2 during simulation, so as to facilitate the simulation model to simulate the target behavior of the animal.

[0209] In the three-axis acceleration sensor testing device of the present invention, when a normal three-axis acceleration sensor is installed on the simulation model, the controller 6 is further used for:

[0210] Selecting a control motor 2 from the control motors 2 of the plurality of simulated limbs as a reference target;

[0211] After the simulation cycle design for a single control motor 2 is completed, one of the control motors 2 is selected as a reference target.

[0212] The control motor 2 as the reference target is the master control motor 2, and the other three control motors 2 are slave control motors 2. The synchronous action of the four control motors 2 is achieved through cooperative control.

[0213] Specifically, if the animal is running, the animal's limbs will be in a cycle of lifting and falling, but there is a time difference between them. The time difference can be used to determine the order of movement of the control motor 2 and achieve coordinated control.

[0214] Optionally, the control motor 2 corresponding to the leg that is first lifted when the animal moves is used as a reference target, and the other control motors 2 are used as slave motors.

[0215] After the main control motor 2 as the reference target works at a certain speed, the slave control motors 2 work in sequence according to a preset time interval. The preset time interval simulates the time difference between the animal limb corresponding to each control motor 2 and the animal limb that is lifted first.

[0216] For example, in one cycle, if the reference target of the main control motor 2 is at time t0 according to Figure 3 The speed changes shown in FIG. 1 , then after a preset time interval, the other driven control motors 2 also follow the speed change shown in FIG. Figure 3 The speed shown in the figure is changed in the same way, and all four control motors 2 complete a round. Figure 3 The speed changes shown simulate the process of the animal's limbs being lifted and dropped at once.

[0217] Determine a difference between a current rotation speed of other control motors 2 of the control motors 2 of the plurality of simulated limbs except the reference target and a current rotation speed of the reference target;

[0218] According to the difference between the current rotation speed of the other controlled motor 2 and the current rotation speed of the reference target, the current rotation speed of the other controlled motor 2 is compensated so that the current rotation speed of the other controlled motor 2 is the same as the current rotation speed of the reference target.

[0219] Specifically, the four control motors 2 are used as follows Figure 5 The deviation coupling control structure shown.

[0220] Wherein, W* is the given input of the speed of the control motor 2 of the entire deviation coupling control structure, and W1 is the output speed of the first control motor 2.

[0221] The main idea of ​​the deviation coupling control is to subtract the speed feedback of the main control motor 2 as the reference target from the speed feedback of other motors to determine the difference; then add the obtained difference and the current speed of the control motor 2 corresponding to the difference as the compensation signal of the control motor 2. Since the deviation coupling synchronous control strategy uses the difference between all control motors 2 as the compensation signal, it links each control motor 2 together, and any speed fluctuation or load change of any control motor 2 can be followed by other motors.

[0222] In this embodiment, the target speed of the main control motor 2 serving as a reference target is adjusted, and the current speed of the slave control motor 2 is automatically adjusted through the deviation coupling structure, so that the speed change of the slave control motor 2 is always synchronized with the speed change of the main control motor 2.

[0223] The following is a description of a three-axis acceleration sensor testing method provided by the present invention. The three-axis acceleration sensor testing method described below and the three-axis acceleration sensor testing device described above can be referenced to each other.

[0224] like Figure 6 As shown, the three-axis acceleration sensor testing method of the present invention includes:

[0225] Step 601, when a three-axis acceleration sensor to be tested is installed on a simulation model, a controller is used to control the movement of the simulation model according to control parameters acquired in advance to make the simulation model simulate the target behavior of the animal;

[0226] A pre-built simulation model of the animal is used as a mounting base for the triaxial accelerometer to be tested for performance.

[0227] The animal simulation model is used to simulate different daily behaviors of living animals. Specifically, when the animal simulation model simulates a behavior of a living animal, the acceleration in each direction of the corresponding behavior is the same as the acceleration generated by the living animal when performing the corresponding behavior.

[0228] Optionally, the simulation model is a 3D printed model designed after a quadruped, so as to better simulate the target behavior of the living animal by using a 3D printed model with a higher degree of simulation than that of a quadruped.

[0229] The controller is electrically connected to the simulation model and is used to control the simulation model to perform target behavior.

[0230] The triaxial acceleration sensor to be tested is a triaxial acceleration sensor that needs to be tested for performance.

[0231] The target behavior refers to the behavior of the living animal that needs to be monitored during the test of the three-axis acceleration sensor.

[0232] By training the simulation model, the control parameters of the simulation model when performing each target behavior are obtained in advance. After the three-axis acceleration sensor to be tested is installed on the simulation model, the controller can control the simulation model to simulate the corresponding target behavior according to the control parameters, so that the accelerations in the three directions generated by the simulation model when performing the target behavior are the same as the accelerations in the three directions generated by the living animal when performing the target behavior, which is used to test the three-axis acceleration sensor to be tested.

[0233] Step 602, using a processor to collect a first measured acceleration value of the three-axis acceleration sensor to be tested, comparing the first measured acceleration value with the actual acceleration value, and determining whether the three-axis acceleration sensor to be tested is abnormal according to the comparison result;

[0234] The processor is electrically connected to the three-axis acceleration sensor to be tested, and is used to receive a first measured acceleration value measured by the three-axis acceleration sensor to be tested.

[0235] The first measured acceleration value is measured when the simulation model simulates a certain target behavior of a living animal.

[0236] The first measured acceleration value is compared with the actual acceleration value of the living animal when performing the corresponding template behavior, that is, the performance test of the three-axis acceleration sensor to be tested is implemented. Through the comparison result, it is determined whether the performance of the designed three-axis acceleration sensor to be tested meets the design requirements.

[0237] Optionally, when the error range between the first measured acceleration value and the actual acceleration value is within a first preset deviation range, it is considered that the three-axis acceleration sensor to be tested has no abnormality. The first preset deviation range is determined according to design requirements.

[0238] The present invention predetermines control parameters when a simulation model performs a target behavior of an animal, so that when a controller controls the movement of the simulation model through the control parameters, the simulation model and the animal have the same acceleration when performing the target behavior; after a three-axis acceleration sensor to be tested is installed on the simulation model, the movement of the simulation model is controlled based on the control parameters, so that the three-axis acceleration sensor to be tested obtains a first measured acceleration value corresponding to the target behavior, and the first measured acceleration value is compared with an actual acceleration value corresponding to the target behavior, thereby completing a performance test of the three-axis acceleration sensor to be tested; the test process does not rely on living animals, thereby making the performance test process more controllable, reducing the complexity of the performance test operation, and reducing the time required for the performance test.

[0239] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-axis acceleration sensor testing device, characterized in that: include: Simulation models of animals; A controller connected to the simulation model, and in the case where a three-axis acceleration sensor to be tested is installed on the simulation model, the controller is used to control the movement of the simulation model according to control parameters acquired in advance to enable the simulation model to simulate the target behavior of the animal; a processor connected to the three-axis acceleration sensor to be tested, the processor being used to collect a first measured acceleration value of the three-axis acceleration sensor to be tested, compare the first measured acceleration value with an actual acceleration value, and determine whether the three-axis acceleration sensor to be tested is abnormal according to the comparison result; When a normal three-axis acceleration sensor is installed on the simulation model, the controller is used to: Controlling the movement of the simulation model so that the second measured acceleration value of the normal three-axis acceleration sensor is equal to the actual acceleration value; When the second measured acceleration value is equal to the actual acceleration value, acquiring the control parameter; In the case where a normal three-axis acceleration sensor is installed on the simulation model, the controller is specifically used for: Determining a linear velocity value of the simulation model according to the second measured acceleration value; Performing a fast Fourier transform on the linear velocity value of the simulation model to obtain a first frequency spectrum; Performing fast Fourier transformation on the linear velocity value of the animal when performing the target behavior to obtain a second frequency spectrum; Compare the first frequency spectrum diagram with the second frequency spectrum diagram to obtain a first comparison result; According to the first comparison result, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

2. The three-axis acceleration sensor testing device according to claim 1, characterized in that: In the case where a normal three-axis acceleration sensor is installed on the simulation model, the controller is specifically used for: Determining a first degree of match between a spectral shape of the first spectrogram and a spectral shape of the second spectrogram; determining a second degree of match between a main frequency component of the first spectrogram and a main frequency component of the second spectrogram; When the first matching value is greater than a first preset threshold and the second matching value is greater than a second preset threshold, it is determined that the second measured acceleration value is equal to the actual acceleration value.

3. The three-axis acceleration sensor testing device according to claim 1, characterized in that: In the case where a normal three-axis acceleration sensor is installed on the simulation model, the controller is specifically used for: Determine a first time domain graph corresponding to the linear velocity value of the simulation model; Determine a second time domain graph corresponding to the linear velocity value when the animal performs the target behavior; Comparing the first time domain graph with the second time domain graph to obtain a second comparison result; According to the first comparison result and the second comparison result, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

4. The three-axis acceleration sensor testing device according to any one of claims 1 to 3, characterized in that: The simulation model includes a simulation trunk and a plurality of simulation limbs connected to the simulation trunk, each simulation limb including: A second connecting rod, one end of which is rotatably connected to the simulation torso; A first connecting rod, one end of which is rotatably connected to the other end of the second connecting rod; A control motor, wherein the output end of the control motor is connected to the side wall of the first connecting rod, the input end of the control motor is connected to the controller, and the control motor is used to drive the first connecting rod to rotate.

5. The three-axis acceleration sensor testing device according to claim 4, characterized in that: In the case where a normal three-axis acceleration sensor is installed on the simulation model, the controller is further used for: In the case where the second measured acceleration value is not equal to the actual acceleration value, determining the current target speed of the control motor according to the difference between the second measured acceleration value and the actual acceleration value and the previous target speed of the control motor; Determining the current speed of the control motor according to the current target speed of the control motor, the current number of steps of the control motor and the preset number of steps; When the current rotation speed is different from the current target rotation speed, adjusting the current number of steps of the control motor until the current rotation speed is the same as the current target rotation speed; When the current rotation speed is the same as the current target rotation speed, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

6. The three-axis acceleration sensor testing device according to claim 5, characterized in that: In the case where a normal three-axis acceleration sensor is installed on the simulation model, the controller is further used for: Determining the linear velocity values ​​corresponding to each simulated limb when the animal performs the target behavior according to the actual linear velocity values ​​when the animal performs the target behavior; According to the linear velocity values ​​corresponding to the simulated limbs, the initial target rotation speeds of the control motors corresponding to the simulated limbs are determined.

7. The three-axis acceleration sensor testing device according to claim 4, characterized in that: In the case where a normal three-axis acceleration sensor is installed on the simulation model, the controller is further used for: Selecting a control motor from the control motors of the plurality of simulated limbs as a reference target; Determine a difference between current rotation speeds of other control motors of the control motors of the plurality of simulated limbs except the reference target and the current rotation speed of the reference target; According to the difference between the current rotation speed of the other controlled motor and the current rotation speed of the reference target, the current rotation speed of the other controlled motor is compensated so that the current rotation speed of the other controlled motor is the same as the current rotation speed of the reference target.

8. A three-axis acceleration sensor testing method, characterized in that: include: In the case where a normal three-axis acceleration sensor is installed on the simulation model, a controller is used to control the movement of the simulation model so that a second measured acceleration value of the normal three-axis acceleration sensor is equal to an actual acceleration value, and in the case where the second measured acceleration value is equal to the actual acceleration value, a control parameter that enables the simulation model to simulate a target behavior of an animal is obtained; In a case where a triaxial acceleration sensor to be tested is installed on the simulation model, the controller is used to control the movement of the simulation model according to the control parameters acquired in advance; Using a processor to collect a first measured acceleration value of the three-axis acceleration sensor to be tested, comparing the first measured acceleration value with the actual acceleration value, and determining whether the three-axis acceleration sensor to be tested is abnormal according to the comparison result; The method of using the controller to determine that the second measured acceleration value of the normal three-axis acceleration sensor is equal to the actual acceleration value includes: Determining a linear velocity value of the simulation model according to the second measured acceleration value; Performing a fast Fourier transform on the linear velocity value of the simulation model to obtain a first frequency spectrum; Performing fast Fourier transformation on the linear velocity value of the animal when performing the target behavior to obtain a second frequency spectrum; Compare the first frequency spectrum diagram with the second frequency spectrum diagram to obtain a first comparison result; According to the first comparison result, it is determined whether the second measured acceleration value is equal to the actual acceleration value.

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