CN112511243B

CN112511243B - Continuous sampling test device, system, method, equipment and storage medium for wireless performance

Info

Publication number: CN112511243B
Application number: CN202011294957.3A
Authority: CN
Inventors: 漆一宏
Original assignee: GENERAL TEST SYSTEMS Inc
Current assignee: GENERAL TEST SYSTEMS Inc
Priority date: 2020-11-18
Filing date: 2020-11-18
Publication date: 2022-10-28
Anticipated expiration: 2040-11-18
Also published as: CN112511243A

Abstract

The present disclosure provides a continuous sampling test apparatus, system, method, device and storage medium for wireless performance. Wherein, testing arrangement includes: the test antenna is connected with the tester and used for establishing wireless connection with the tested piece and obtaining the wireless performance of the tested piece; the mechanical arm is used for controlling the test antenna to move according to a preset track; the sensor is arranged at least one joint of the mechanical arm and used for detecting the relative motion between two adjacent arm rods at the joint in real time and outputting a position signal when the test antenna moves according to a preset track; and the controller is used for receiving the position signal of the sensor and triggering the tester to perform sampling when the trigger position signal meeting the preset trigger condition is received.

Description

Continuous sampling test device, system, method, equipment and storage medium for wireless performance

Technical Field

The present invention relates to the field of communications technologies, and in particular, to a device, a system, a method, an apparatus, and a storage medium for continuous sampling testing of wireless performance.

Background

In the field of wireless communication, most of wireless performance test methods for wireless devices refer to an Over-the-air (OTA) performance test method for mobile communication devices proposed in CTIA (american association of wireless communication and internet) specifications, which requires that a device to be tested is placed in the center of a test system, and the performance of a three-dimensional antenna of the device to be tested is tested through a test antenna.

The mechanical arm is an automatic control device with multiple joints and multiple degrees of freedom and capable of completing multiple operations, and is widely applied to multiple fields. In the related art of wireless testing, flexible three-dimensional testing can be realized by mounting a testing antenna at the end of a mechanical arm.

Disclosure of Invention

The present disclosure describes a continuous sampling test device, system, method, apparatus, and storage medium for wireless performance.

According to a first aspect of embodiments of the present disclosure, there is provided a continuous sampling test device of wireless performance, including: the test antenna is connected with the tester and used for establishing wireless connection with the tested piece so as to obtain the wireless performance of the tested piece; the test antenna is arranged at the tail end of the mechanical arm, and the mechanical arm is used for controlling the test antenna to move according to a preset track; the sensor is arranged at least one joint of the mechanical arm and used for detecting the relative motion between two adjacent arm rods at the joint in real time and outputting a position signal; and the controller is used for receiving the position signal of the sensor and triggering the tester to perform sampling when the triggering position signal meeting the preset triggering condition is received.

According to one embodiment of the testing device, the controller is further adapted to: when the mechanical arm controls the test antenna to reach each of the plurality of preset positioning points, receiving a position signal of the sensor; constructing a mapping relation between the position of the test antenna and the position signals according to the positions of the preset positioning points and the position signals; and determining a trigger position signal according to the position and the mapping relation of the preset sampling point.

According to one embodiment of the testing device, the controller is further adapted to: when sensors are arranged at least two joints of the mechanical arm, acquiring a mapping relation at each joint; and selecting the sensor with the mapping relation meeting the preset standard for triggering.

According to one embodiment of the testing device, the sensor is any one of: magnetic grid ruler, grating ruler, capacitance grid ruler or laser ruler.

According to a second aspect of embodiments of the present disclosure, there is provided a continuous sampling test system of wireless performance, comprising: an anechoic chamber; a tester; and a continuous sampling test device for the wireless performance.

According to a third aspect of the embodiments of the present disclosure, there is provided a continuous sampling test method for wireless performance, in which a test antenna is connected to a tester, the test antenna is used to establish wireless connection with a piece to be tested so as to obtain the wireless performance of the piece to be tested, the test antenna is installed at an end of a robot arm, and a sensor is installed at least one joint of the robot arm, the method including: controlling the test antenna to move according to a preset track through the mechanical arm; detecting the relative motion between two adjacent arm rods at the joint in real time through a sensor and outputting a position signal; and continuously receiving the position signal, and triggering the tester to perform sampling when receiving the trigger position signal meeting the preset trigger condition.

According to one embodiment of the testing method, further comprising: obtaining a mapping relation between the position of the test antenna and the position signal of the sensor; and determining a trigger position signal according to the position and the mapping relation of the preset sampling point.

According to one embodiment of the test method, the mapping relationship is obtained by: the mechanical arm controls the test antenna to reach a plurality of preset positioning points, and a position signal of the sensor is obtained at each preset positioning point; and constructing a mapping relation according to the positions of the preset positioning points and the position signals.

According to one embodiment of the testing method, when sensors are installed at least two joints of the robot arm, a mapping relationship at each joint is obtained; and selecting a sensor with the mapping relation meeting the preset standard for triggering.

According to one embodiment of the test method, the sensor is any one of: magnetic grid ruler, grating ruler, capacitance grid ruler or laser ruler.

According to a fourth aspect of embodiments of the present disclosure, there is provided an electronic apparatus including: a processor; a memory for storing a computer program executable by the processor; wherein the processor implements the aforementioned method of continuous sample testing of wireless performance when executing the computer program.

According to a fifth aspect of embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the aforementioned method of continuous sampling testing of wireless performance.

The embodiment of the disclosure indirectly tracks the motion of the test antenna in real time by detecting the relative motion between two adjacent arm rods at the joint of the mechanical arm in real time, and triggers the tester to perform sampling when the test antenna reaches a preset sampling point. The utility model provides a solution that can ensure the continuous sampling of arm of measuring accuracy has guaranteed efficiency of software testing to the work of having avoided testing the antenna causes the interference.

Drawings

FIG. 1 is a schematic diagram of a continuous sampling test device of wireless performance shown in the present disclosure according to one embodiment.

FIG. 2a is a partial schematic diagram of a continuous sampling test device of wireless performance shown in the present disclosure according to one embodiment.

FIG. 2b is a partial schematic diagram of a continuous sampling test device of wireless performance shown in the present disclosure according to one embodiment.

FIG. 3 is a schematic diagram of a continuous sampling test system of wireless performance shown by the present disclosure according to one embodiment.

Fig. 4 is a flow diagram illustrating a method for continuous sample testing of wireless performance according to one embodiment of the present disclosure.

Fig. 5 is a flow diagram illustrating a method for continuous sample testing of wireless performance according to one embodiment of the present disclosure.

Figure 6 is a flow diagram illustrating a method for continuous sample testing of wireless performance according to one embodiment of the present disclosure.

FIG. 7 is a block diagram illustrating the structure of an electronic device according to one embodiment of the present disclosure.

Detailed Description

Embodiments of the present disclosure are described below with reference to the drawings. It should be understood that the drawings are not necessarily to scale. The described embodiments are exemplary and not intended to limit the present disclosure, which features may be combined with or substituted for those of the embodiments in the same or similar manner. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

In the present disclosure, the test object is a wireless device, and the wireless device refers to a device capable of performing wireless communication, and may be, for example, a small device such as a computer, a mobile phone, a tablet, a wearable smart device, or a wireless router, or a large device such as a base station, a large antenna, a vehicle, or an airplane. The performance of a wireless device refers to the wireless signal transmission capability of the antenna of the wireless device, including the transmission performance or/and the reception performance.

The scanning test of wireless performance is divided into two sampling modes according to whether the sampling process is continuous or not: one is step sampling, that is, the test antenna stops after reaching a certain sampling point, the tester performs sampling, and moves to the next sampling point after sampling is completed, and the sampling is performed, and the steps are repeated. The other method is continuous sampling, namely, the test antenna moves continuously according to a preset sampling track, the sampling point is positioned on the sampling track, when the test antenna reaches the sampling point, the test antenna does not pause, and the tester is triggered to perform sampling (hereinafter, referred to as "reach trigger sampling") in other ways, for example, the triggering way is to calculate the time of reaching each sampling point according to the stroke and the movement speed of the test antenna, trigger sampling at a preset time point, or monitor the position of the test antenna in real time, and when the test antenna reaches the sampling point, trigger sampling in real time. The step sampling requires a long test time, and the continuous sampling efficiency is extremely high.

Continuous sampling can be realized by using the mechanical arm as a scanning mechanism of the test antenna, but certain limitations exist. The controller in the mechanical arm can monitor and feed back the postures and positions of all joints of the mechanical arm in real time, and therefore position reaching triggering sampling is achieved. However, the controller of the mechanical arm communicates with the mechanical arm through the industrial ethernet, and the communication of the industrial ethernet has uncertain delay, which causes uncertainty in the actual sampling position, and for a test scenario with high precision requirement, the precision of the sampling position cannot be controlled through continuous sampling realized through the industrial ethernet.

In order to solve the above problems to a certain extent, an embodiment of the present disclosure provides a continuous sampling test device for wireless performance, including:

the test antenna is connected with the tester and used for establishing wireless connection with the tested piece so as to obtain the wireless performance of the tested piece;

the mechanical arm is used for controlling the test antenna to move according to a preset track;

the sensor is arranged at least one joint of the mechanical arm and used for detecting the relative motion between two adjacent arm rods at the joint in real time and outputting a position signal, and optionally, the sensor is any one of the following: magnetic grid ruler, grating ruler, capacitance grid ruler or laser ruler;

and the controller is used for receiving the position signal of the sensor and triggering the tester to perform sampling when the triggering position signal meeting the preset triggering condition is received.

The controller in the mechanical arm can monitor and feed back the position of the tail end of the mechanical arm in real time, namely the position of the test antenna. However, as previously mentioned, there is an indeterminate delay in the intra-arm communication. In order to accurately obtain the current position of the test antenna in real time, one idea is to add some positioning device, such as a target of a laser tracker, at the test antenna, and obtain the absolute position of the test antenna by matching with the laser tracker. Such devices are often expensive and the addition of other devices near the test antenna may interfere with the testing of wireless performance. The method comprises the steps of arranging a sensor at least one joint of a mechanical arm, and triggering a tester to perform sampling by monitoring relative motion at the joint in real time. The motion of the mechanical arm is completed by the joint participation, when the tail end of the mechanical arm moves with a certain preset track, the relative motion of a certain track also occurs between every joint of the mechanical arm or two adjacent arm rods at least one joint of the mechanical arm, and a certain corresponding relation exists between the motion of the tail end of the mechanical arm and the motion of the joint.

As shown in fig. 1, as an example of the test apparatus, the test apparatus includes:

a test antenna 200, the test antenna 200 being connected to a tester (not shown) for establishing a wireless connection with the device under test 100 to obtain wireless performance of the device under test 100, including wireless transmission performance or wireless reception performance;

the mechanical arm 300 is provided, the test antenna 200 is installed at the tail end of the mechanical arm 300, the mechanical arm 300 is used for controlling the test antenna 200 to move according to a preset track S, and a preset sampling point of the test antenna 200 is located on the preset track S;

a sensor 400, wherein the sensor 400 is installed at least one joint 301 of the mechanical arm 300 and is used for detecting the relative movement between two

adjacent arm rods

3011 and 3012 at the joint 301 in real time and outputting a position signal;

and a controller (not shown) for receiving the position signal of the sensor 400 and triggering the tester to perform sampling in response to receiving a trigger position signal satisfying a preset trigger condition.

More specifically, referring to fig. 2a and 2b, fig. 2a and 2b show one of the joints 301 of the robot arm, and the adjacent arm 3011 and arm 3012 at the joint 301 can rotate around the rotation axis L. Fig. 2a shows the joint 301 without the sensor mounted, and fig. 2b shows the joint 301 with the sensor mounted. The sensor is a magnetic grid ruler, as shown in fig. 2b, and comprises a magnetic head 401 and a magnetic ruler 402, wherein the magnetic head 401 is fixedly arranged on the arm 3011, and the magnetic ruler 402 is fixedly arranged on the arm 3012. When the test antenna moves according to a preset track, the arm 3011 and the arm 3012 rotate relatively around the rotation axis L, and the magnetic grid ruler can detect the angle or arc length of the relative rotation in real time and output a position signal in real time.

Optionally, in this embodiment, the controller is further configured to:

when the mechanical arm controls the test antenna to reach each of the plurality of preset positioning points, receiving a position signal of the sensor;

constructing a mapping relation between the position of the test antenna and the position signals according to the positions of the preset positioning points and the position signals;

and determining a trigger position signal according to the position and the mapping relation of the preset sampling point.

By constructing the mapping relation, the motion of the test antenna can be indirectly tracked in real time and continuous sampling can be realized.

Optionally, in this embodiment, the controller is further configured to:

when the sensors are installed at least two joints of the mechanical arm, obtaining the mapping relation of each sensor;

and selecting the sensor with the mapping relation meeting the preset standard for triggering.

The mechanical arm comprises a plurality of joints, the sensors can be arranged at the joints, and the sensors with more accurate mapping relation are selected for triggering sampling by evaluating and comparing position signals of the sensors at different joints so as to improve the precision of triggering sampling. The term "sensor with a relatively accurate mapping relationship" means that when the sensor outputs a trigger position signal, a relatively small deviation exists between the actual position of the test antenna and the position of the preset sampling point. The aforementioned "preset criterion" is, specifically, for example, that a linear mapping or a near linear mapping is satisfied and the resolution between different position signals is sufficiently large.

The utility model provides a solution that can ensure the continuous sampling of arm of measuring accuracy has guaranteed efficiency of software testing to the work of test antenna has been avoided causing the interference.

An embodiment of an aspect of the present disclosure is a continuous sampling test system for wireless performance. As shown in fig. 3, according to one embodiment of the test system, the test system includes the aforementioned test device, an anechoic chamber 500, and a tester (not shown). The anechoic chamber provides a test environment for testing, and specifically can be a full anechoic chamber, a half anechoic chamber (EMC anechoic chamber), or a field provided with a wave-absorbing screen. The tester is used to generate test signals to the test antenna or/and to receive signals from the wireless device to obtain test data.

Optionally, the test system further comprises a turntable 600 carrying the piece under test 100.

An embodiment of an aspect of the disclosure is a method for continuous sampling testing of wireless performance. Referring to FIG. 4, according to one embodiment of the testing method, the following steps are included:

step S11: and controlling the test antenna to move according to a preset track through the mechanical arm.

Step S12: the relative motion between two adjacent arm rods at the joint is detected in real time through a sensor, and a position signal is output.

Step S13: and continuously receiving the position signal, and triggering the tester to perform sampling when receiving the trigger position signal meeting the preset trigger condition.

In the related art, common scanning test methods for antennas include plane scanning, cylindrical scanning, and spherical scanning, and accordingly, sampling points may be set on a scanning plane, a scanning cylindrical surface, and a scanning spherical surface. As an example, when a spherical scanning test is adopted, the test antenna is controlled by the mechanical arm to do one-half or one-quarter circular motion, and sampling points with certain angle intervals are arranged on a circular motion track. And the mechanical arm controls the test antenna to move on a plurality of circular arcs of the scanning spherical surface until all sampling points are traversed, and then the spherical surface scanning test value of the tested piece can be obtained. According to different test requirements, the scanning spherical surface can be a whole spherical surface or a partial spherical surface. Optionally, when the spatial range of the scanning spherical surface exceeds the working space of the mechanical arm, the scanning spherical surface can be matched with a rotary table for bearing the tested piece to rotate at a certain angle interval so as to complete scanning sampling; or the scanning and sampling are completed through the movement of the mechanical arm.

In one embodiment of the testing method, the testing antenna is controlled by the mechanical arm to move according to a fixed quarter circular arc track and sample, and the testing antenna is matched with the rotary table to rotate 360 degrees on a plane by taking a preset angle as a step, so that the scanning test of the upper hemispherical surface of the tested piece is completed.

The following is an exemplary description of the implementation of trigger sampling.

Referring to fig. 5, in an embodiment of the testing method, before the test is performed, a trigger position signal meeting a trigger condition needs to be obtained in advance, and the specific steps include:

step S21: and obtaining a mapping relation between the position of the test antenna and the position signal of the sensor.

Step S22: and determining a trigger position signal according to the position and the mapping relation of the preset sampling point. The trigger position signal is used for triggering the tester to execute sampling, and when the trigger position signal is received, the test antenna is just positioned at a preset sampling point, and at the moment, the tester is triggered to execute sampling.

Specifically, as an example, referring to fig. 6, step S21 includes the steps of:

step S211: the mechanical arm controls the test antenna to reach a plurality of preset positioning points, and position signals of the sensor are obtained at each preset positioning point.

Step S212: and constructing a mapping relation according to the positions of the preset positioning points and the position signals.

When the test antenna moves, the joint provided with the sensor rotates relatively, and the sensor generates and outputs a position signal which reflects the stroke (angle or arc length) of relative rotation between the two arms connected at the joint. The positions of the preset positioning points are known, and the mapping relation between the position information of the plurality of preset positioning points and the plurality of position signal information corresponding to the plurality of preset positioning points, namely the mapping relation between the position of the test antenna and the position signal can be obtained through calculation. Specifically, the mapping relationship may be calculated by linear fitting, for example. As an example, in step S211, a preset sampling point for testing may be used as the preset positioning point.

Optionally, in an embodiment of the testing method, when sensors are installed at least two joints of the robot arm, obtaining a mapping relationship at each joint; and selecting the sensor with the mapping relation meeting the preset standard for triggering. The mechanical arm comprises a plurality of joints, the sensors can be arranged at the joints, and the sensors with more accurate mapping relation are selected for triggering sampling by evaluating and comparing position signals of the sensors at different joints so as to improve the precision of triggering sampling. The term "sensor with a relatively accurate mapping relationship" means that when the sensor outputs a trigger position signal, a relatively small deviation exists between the actual position of the test antenna and the position of the preset sampling point. The aforementioned "preset criterion", specifically, for example, is that a linear mapping or a near linear mapping is satisfied and the resolution between different position signals is sufficiently large.

Corresponding to the foregoing embodiment of the method for testing wireless performance, another embodiment of the present disclosure is an electronic device, including: a processor; a memory for storing a computer program executable by the processor; the processor executes the computer program to implement the above-mentioned method for testing wireless performance, which is not described herein again. Fig. 7 shows a block diagram of the present embodiment according to an embodiment of the electronic device. The electronic device may be a computer, a mobile phone, a tablet device, a messaging device, or other terminal device. The electronic device may comprise a memory 1001, a processor 1002 and a computer program stored on the memory 1001 and executable on the processor 1002. The processor 1002, when executing the computer program, implements the method of testing wireless performance provided in the embodiments described above.

Optionally, the electronic device of this embodiment further includes: a communication interface 1003 for communicating between the memory 1001 and the processor 1002. Memory 1001 may include high-speed RAM memory and may also include non-volatile memory, such as at least one disk memory. If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc.

Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.

The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present disclosure.

In accordance with the foregoing embodiments of the method for testing wireless performance, another embodiment of the present disclosure is a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for testing wireless performance is implemented, and will not be described herein again.

In the description above, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In the present disclosure, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present disclosure.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this disclosure, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present disclosure.

Claims

1. A continuous sampling test device for wireless performance, comprising:

the mechanical arm is used for controlling the test antenna to continuously move according to a preset track, and a preset sampling point of the test antenna is positioned on the preset track;

the sensor is arranged at least one joint of the mechanical arm and used for detecting the relative motion between two adjacent arm rods at the joint in real time and outputting a position signal;

the controller is used for receiving the position signal of the sensor and triggering the tester to perform sampling when a triggering position signal meeting a preset triggering condition is received;

the controller is further configured to: obtaining a mapping relation between the position of the test antenna and the position signal of the sensor; and determining the trigger position signal according to the position of the preset sampling point and the mapping relation.

2. The testing device of claim 1, wherein the controller is further configured to:

when the mechanical arm controls the test antenna to reach each of a plurality of preset positioning points, receiving a position signal of the sensor;

constructing a mapping relation between the position of the test antenna and the position signal according to the positions of the preset positioning points and the position signals;

and determining the trigger position signal according to the position of a preset sampling point and the mapping relation.

3. The testing device of claim 2, wherein the controller is further configured to:

4. The test device of claim 1, wherein the sensor is any one of: magnetic grid ruler, grating ruler, capacitance grid ruler or laser ruler.

5. A continuous sampling test system for wireless performance, comprising:

an anechoic chamber; a tester; and a test device according to any one of claims 1-4.

6. The continuous sampling test method of wireless performance, wherein, test antenna and tester link to each other, test antenna is used for establishing wireless connection with the measured piece to obtain the wireless performance of measured piece, test antenna installs at the terminal of arm, its characterized in that, the sensor is installed to at least one joint department of arm, the method includes:

controlling the test antenna to continuously move according to a preset track through the mechanical arm, wherein a preset sampling point of the test antenna is positioned on the preset track;

detecting the relative motion between two adjacent arm rods at the joint in real time through the sensor and outputting a position signal;

continuously receiving the position signal, and triggering the tester to execute sampling when receiving a trigger position signal meeting a preset trigger condition;

the trigger position signal is determined by: obtaining a mapping relation between the position of the test antenna and the position signal of the sensor; and determining the trigger position signal according to the position of the preset sampling point and the mapping relation.

7. The test method of claim 6, wherein the mapping relationship is obtained by:

the mechanical arm controls the test antenna to reach a plurality of preset positioning points, and a position signal of the sensor is obtained at each preset positioning point;

and constructing the mapping relation according to the positions of the preset positioning points and the position signals.

8. The testing method according to claim 6, wherein the mapping relationship of each of the sensors is obtained when the sensors are mounted at least two joints of the robot arm; and selecting the sensor with the mapping relation meeting the preset standard for triggering.

9. An electronic device, comprising:

a processor;

a memory for storing a computer program executable by the processor;

wherein the processor, when executing the computer program, implements the testing method of any of claims 6-8.

10. Non-transitory computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements a testing method according to any one of claims 6-8.