A robot obstacle avoidance testing device for an electromagnetic shielded chamber

Abstract

The application relates to the technical field of robot testing, in particular to a robot obstacle avoidance testing device of an electromagnetic shielding room, which comprises a non-metal component located in the electromagnetic shielding room and an execution component located outside the electromagnetic shielding room; the non-metal component comprises a transmission base and a simulation wall reciprocally moving between the wall surface of the electromagnetic shielding room and the transmission base; a roller is arranged on the transmission base and abuts against the driving wheel of the robot; a signal acquisition device is arranged on the roller and used for acquiring the rotating speed and rotating direction signals of the roller; the execution component comprises a detection assembly and a driving unit; the detection assembly receives the rotating speed and rotating direction signals of the driving wheel of the robot measured by the signal acquisition device; the driving unit is in communication connection with the detection assembly, and the driving unit is in transmission connection with the simulation wall. The application can guarantee that the electromagnetism in the electromagnetic shielding room is not affected, so as to improve the testing precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot testing, in particular to a robot obstacle avoidance testing device of an electromagnetic shielding room. BACKGROUND

[0002] With the continuous development of science and technology, mobile robots begin to gradually replace people to complete some work. Mobile robots often need to travel in some harsh environments and complex spaces, and their obstacle avoidance function is particularly important. Therefore, mobile robots need to test their obstacle avoidance function in various environments. However, it is difficult to test the obstacle avoidance function of robots in an electromagnetic interference environment. The reason is that there are some metal objects and electronic devices in the electromagnetic shielding room that affect the electromagnetic field, making it impossible to accurately determine the intensity of the electromagnetic interference under which the robot can move normally. At the same time, the obstacle avoidance test of the robot needs to be carried out in a large space electromagnetic shielding room, which will make the electromagnetic shielding room expensive, and if the robot obstacle avoidance fails, it will hit and damage the shielding material on the inner wall of the electromagnetic shielding room. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a robot obstacle avoidance testing device of an electromagnetic shielding room, which can ensure that the electromagnetic field in the electromagnetic shielding room is not affected, so that the robot can perform obstacle avoidance function test in a specified complex electromagnetic field environment.

[0004] To solve the above technical problems, the technical scheme adopted by the present application is as follows: a robot obstacle avoidance testing device of an electromagnetic shielding room, comprising a non-metallic component located in the electromagnetic shielding room and an execution component located outside the electromagnetic shielding room.

[0005] The non-metallic component comprises a transmission base and a simulation wall reciprocally moving between the wall surface of the electromagnetic shielding room and the transmission base. The transmission base is provided with a roller, the roller abuts against the driving wheel of the robot, and the roller is provided with a signal acquisition device for acquiring the speed and rotation direction signals of the roller.

[0006] The execution component comprises a detection assembly and a driving unit. The detection assembly receives the speed and rotation direction signals of the driving wheel of the robot measured by the signal acquisition device. The driving unit is communicatively connected to the detection assembly, and the driving unit is drivingly connected to the simulation wall.

[0007] The beneficial effects of the present application are that: the non-metallic parts and the executing parts are additionally arranged outside and inside the electromagnetic shielding chamber respectively, the rollers on the transmission base of the non-metallic parts abut against the driving wheels of the robot, so that when the robot performs walking action, the rollers will rotate correspondingly, and the activity information of the rollers is transmitted to the detection assembly outside the electromagnetic shielding chamber by the signal acquisition device, finally the driving unit drives the simulation wall to move between the wall surface of the electromagnetic shielding chamber and the transmission base according to the activity information of the driving wheels of the robot analyzed by the detection assembly, so that the scene of the robot moving in the obstacle is simulated, so that whether the simulation wall continues to move towards the transmission base after the simulation wall approaches the transmission base can be judged to determine the obstacle avoidance ability of the robot under the electromagnetic interference of a specified intensity. At the same time, since the robot is always located on the transmission base during the test process, the occupied area of the electromagnetic shielding chamber is reduced, which not only facilitates the observation of the condition of the robot in the electromagnetic shielding chamber, but also prevents the robot from damaging the shielding material on the inner wall of the electromagnetic shielding chamber due to obstacle avoidance failure. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 It is a structural schematic view of a robot obstacle avoidance test device of an electromagnetic shielding chamber in the specific embodiment of the present application.

[0009] Figure 2 It is a partial cross-sectional structural schematic view of a signal acquisition device of a robot obstacle avoidance test device of an electromagnetic shielding chamber in the specific embodiment of the present application.

[0010] Figure 3 It is a structural schematic view of a non-metallic rotating seat of a robot obstacle avoidance test device of an electromagnetic shielding chamber in the first embodiment of the specific embodiment of the present application.

[0011] Figure 4 It is a structural schematic view of a non-metallic rotating seat of a robot obstacle avoidance test device of an electromagnetic shielding chamber in the second embodiment of the specific embodiment of the present application.

[0012] Figure 5 It is Figure 1 It is an enlarged view of A of a robot obstacle avoidance test device of an electromagnetic shielding chamber.

[0013] REFERENCE NUMERALS:

[0014] 1, transmission base; 11, roller;

[0015] 2, simulation wall; 21, lead screw; 22, plate body; 23, guide rod;

[0016] 3, detection assembly; 4, driving unit;

[0017] 5, signal acquisition device; 51, annular water pipe; 52, gear;

[0018] 6, steering test assembly; 61, non-metal rotating seat; 611, stand; 612, connecting plate; 613, sleeve; 62, feedback plate; 63, connecting rod; 64, angle sensor;

[0019] 7. Non-metallic stop screw. DETAILED DESCRIPTION

[0020] To make the technical contents of the present application, the purposes and effects achieved more clear, the following will be described in detail in combination with the embodiments and the accompanying drawings.

[0021] Please refer to Figure 1 The robot obstacle avoidance testing device of the electromagnetic shielding room of the present application comprises a non-metallic part located inside the electromagnetic shielding room and an execution part located outside the electromagnetic shielding room.

[0022] The non-metallic part comprises a transmission base 1 and a simulation wall 2 reciprocally moving between the wall surface of the electromagnetic shielding room and the transmission base 1; the transmission base 1 is provided with a roller 11 abutting against the driving wheel of the robot, and the roller 11 is provided with a signal acquisition device 5 for acquiring the signals of the rotating speed and direction of the roller 11.

[0023] The execution part comprises a detection assembly 3 and a driving unit 4; the detection assembly 3 receives the signals of the rotating speed and direction of the driving wheel of the robot measured by the signal acquisition device 5; the driving unit 4 is communicatively connected to the detection assembly 3, and the driving unit 4 is drivingly connected to the simulation wall 2.

[0024] From the above description, the beneficial effects of the present application are as follows: the non-metallic part and the execution part are respectively added inside and outside the electromagnetic shielding room, the roller 11 on the transmission base 1 of the non-metallic part abuts against the driving wheel of the robot, so that when the robot performs the walking action, the roller 11 will rotate correspondingly, and the activity information of the roller 11 of the robot is transmitted to the detection assembly 3 outside the electromagnetic shielding room by the signal acquisition device 5, and finally the driving unit 4 drives the simulation wall 2 to move between the wall surface of the electromagnetic shielding room and the transmission base 1 according to the activity information of the driving wheel of the robot analyzed by the detection assembly 3, so as to simulate the scene of the robot moving in the obstacle, and thus whether the simulation wall 2 continues to move towards the transmission base 1 after the simulation wall 2 approaches the transmission base 1 can be judged as the obstacle avoidance ability of the robot under the fixed intensity electromagnetic interference. At the same time, since the robot is always located on the transmission base 1 during the testing process, the occupied area of the electromagnetic shielding room is reduced, which not only facilitates the observation of the condition of the robot inside the electromagnetic shielding room, but also prevents the robot from damaging the shielding material on the inner wall of the electromagnetic shielding room due to the failure of obstacle avoidance.

[0025] Please refer to Figure 1 andFigure 2 As shown in the figure, further, the signal collecting device 5 comprises a ring-shaped water pipe 51 and a gear 52; the gear 52 is rotationally arranged in the ring-shaped water pipe 51, and the gear 52 is drivingly connected to the roller 11.

[0026] As can be seen from the above description, when the driving wheel of the robot rotates the roller 11, the gear 52 will rotate in the ring-shaped water pipe 51, so that the liquid in the ring-shaped water pipe 51 flows, and then the detection assembly 3 can determine the activity state of the driving wheel of the robot according to the flow rate and flow direction of the liquid in the ring-shaped water pipe 51.

[0027] As shown in the figure, Figure 1 As shown in the figure, further, the simulation wall 2 comprises a lead screw 21 and a plate body 22 threadedly connected to the lead screw 21, and the lead screw 21 is drivingly connected to the driving unit 4 through the wall surface of the electromagnetic shielding chamber.

[0028] As can be seen from the above description, the driving unit 4 drives the lead screw 21 to rotate correspondingly according to the activity information of the driving wheel of the robot obtained by the detection assembly 3, so that the plate body 22 is displaced correspondingly on the lead screw 21, thereby simulating the distance relationship between the robot and the obstacle in the moving state.

[0029] As shown in the figure, Figure 1 As shown in the figure, further, the simulation wall 2 further comprises a guide rod 23, the axis of the guide rod 23 is parallel to the axis of the lead screw 21, and the plate body 22 is slidably connected to the guide rod 23.

[0030] As can be seen from the above description, the guide rod 23 can ensure the moving direction of the plate body 22, thereby ensuring the accuracy of the simulation environment.

[0031] As shown in the figure, Figure 1 As shown in the figure, further, the robot obstacle avoidance testing device of the electromagnetic shielding chamber further comprises a turning testing assembly 6; the turning testing assembly 6 comprises a non-metallic rotary seat 61, a feedback plate 62, a connecting rod 63 and an angle sensor 64; the non-metallic rotary seat 61 is rotationally arranged on the transmission base 1, and the non-metallic rotary seat 61 is connected to the turning wheel of the robot;

[0032] The feedback plate 62 is rotationally arranged outside the electromagnetic shielding chamber, the two ends of the connecting rod 63 are hingedly connected to the feedback plate 62 and the non-metallic rotary seat 61 respectively, and the axis of the connecting rod 63 does not intersect with the rotation axes of the feedback plate 62 and the non-metallic rotary seat 61;

[0033] The angle sensor 64 is arranged outside the electromagnetic shielding chamber, the detection end of the angle sensor 64 faces the feedback plate 62, and the angle sensor 64 is communicatively connected to the detection assembly 3.

[0034] From the above description, the non-metal rotating seat 61 is connected with the steering wheel of the robot, and the feedback plate 62 outside the electromagnetic shielding chamber is pulled synchronously through the connecting rod 63, so that the angle sensor 64 can know the steering condition of the robot outside the electromagnetic shielding chamber, thereby further simulating the movement of the robot in a complex space environment.

[0035] Please refer to Figure 3 , further, the non-metal rotating seat 61 includes a column 611, a connecting plate 612 and a sleeve 613; the column 611 is fixedly arranged on the transmission base 1, the connecting plate 612 is rotatably arranged on one end of the column 611 away from the transmission base 1, the connecting rod 63 is hingedly connected with the connecting plate 612, and the sleeve 613 is fixedly arranged on the connecting plate 612.

[0036] From the above description, the sleeve 613 is sleeved on the steering wheel of the robot, which ensures the connection reliability between the non-metal rotating seat 61 and the steering wheel of the robot.

[0037] The connecting plate 612 is rotatably arranged on the column 611, which not only ensures that the non-metal rotating seat 61 synchronously moves with the steering wheel of the robot, but also ensures that the connecting plate 612 does not rub against the transmission base 1, thereby affecting the control of the feedback plate 62 by the connecting rod 63.

[0038] Please refer to Figure 4 , further, the non-metal rotating seat 61 includes a column 611, a connecting plate 612 and a sleeve 613; the column 611 is rotatably arranged on the transmission base 1, the connecting plate 612 is fixedly arranged on one end of the column 611 away from the transmission base 1, the connecting rod 63 is hingedly connected with the connecting plate 612, and the sleeve 613 is fixedly arranged on the connecting plate 612.

[0039] From the above description, the sleeve 613 is sleeved on the steering wheel of the robot, which ensures the connection reliability between the non-metal rotating seat 61 and the steering wheel of the robot.

[0040] The connecting plate 612 is rotatably arranged on the column 611, which not only ensures that the non-metal rotating seat 61 synchronously moves with the steering wheel of the robot, but also ensures that the connecting plate 612 does not rub against the transmission base 1, thereby affecting the control of the feedback plate 62 by the connecting rod 63.

[0041] Please refer to Figure 1 , further, the side wall of the sleeve 613 is threadedly connected with a non-metal stop screw 7.

[0042] From the above description, the non-metal stop screw 7 can further ensure the connection reliability between the non-metal rotating seat 61 and the steering wheel of the robot.

[0043] The application scenario of the robot obstacle avoidance testing device of the electromagnetic shielding room: non-metallic components and execution components are additionally arranged inside and outside the electromagnetic shielding room, the roller 11 on the transmission base 1 of the non-metallic component abuts against the driving wheel of the robot, so that when the robot performs a walking action, the roller 11 will rotate correspondingly, and the activity information of the roller 11 of the robot is transmitted to the detection assembly 3 outside the electromagnetic shielding room by the signal acquisition device 5, finally the driving unit 4 drives the simulation wall 2 to move between the wall surface of the electromagnetic shielding room and the transmission base 1 according to the activity information of the driving wheel of the robot analyzed by the detection assembly 3, so as to simulate the scene that the robot moves in the obstacle, so that whether the simulation wall 2 continues to move towards the transmission base 1 after the simulation wall 2 approaches the transmission base 1 can be judged as the obstacle avoidance ability of the robot under the fixed strength electromagnetic interference. At the same time, since the robot is always located on the transmission base 1 during the testing process, the occupied area of the electromagnetic shielding room is reduced, so as to facilitate the observation of the status of the robot in the electromagnetic shielding room.

[0044] Embodiment one

[0045] A robot obstacle avoidance testing device of an electromagnetic shielding room, please refer to Figure 1 , which comprises a non-metallic component located in the electromagnetic shielding room and an execution component located outside the electromagnetic shielding room; the non-metallic component comprises a transmission base 1 and a simulation wall 2 reciprocally moving between the wall surface of the electromagnetic shielding room and the transmission base 1; the transmission base 1 is provided with a roller 11, the roller 11 abuts against the driving wheel of the robot, the roller 11 is provided with a signal acquisition device 5, and the signal acquisition device 5 is used for acquiring the signals of the rotating speed and rotating direction of the roller 11; the execution component comprises a detection assembly 3 and a driving unit 4; the detection assembly 3 receives the signals of the rotating speed and rotating direction of the driving wheel of the robot measured by the signal acquisition device 5; the driving unit 4 is communicatively connected with the detection assembly 3, and the driving unit 4 is drivingly connected with the simulation wall 2.

[0046] Please refer to Figure 1 and Figure 2 , the signal acquisition device 5 comprises a ring-shaped water pipe 51 and a gear 52; the gear 52 is rotationally arranged in the ring-shaped water pipe 51, and the gear 52 is drivingly connected with the roller 11.

[0047] As shown in Figure 5 , two test pipelines are arranged in parallel on the ring-shaped water pipe 51, a flowmeter and a one-way valve are arranged on each of the two test pipelines, the flow directions of the two one-way valves are opposite, and the detection assembly 3 is communicatively connected with the two flowmeters.

[0048] Specifically, in the process of measuring the rotating speed and steering of the robot driving wheel, the gear 52 will push the liquid in the annular water pipe 51 to flow, and the flowmeter corresponding to the flow direction will measure the speed of the water flow in the annular water pipe 51, while the flowmeter throttled by the one-way valve cannot measure the speed of the water flow in the annular water pipe 51 or measures a very low flow rate value; then the detection assembly 3 will analyze the rotating speed of the robot driving wheel according to the data measured by the flowmeter, and at the same time determine the steering of the robot driving wheel according to the flowmeter with normal numerical value feedback.

[0049] Please refer to Figure 1 The simulation wall 2 includes a lead screw 21 and a plate body 22 threadedly connected to the lead screw 21, and the lead screw 21 is in transmission connection with the driving unit 4 through the wall surface of the electromagnetic shielding chamber. The simulation wall 2 further includes a guide rod 23, the axis of the guide rod 23 is parallel to the axis of the lead screw 21, and the plate body 22 is in sliding connection with the guide rod 23.

[0050] Please refer to Figure 1 and Figure 3 The robot obstacle avoidance testing device of the electromagnetic shielding chamber further includes a steering testing assembly 6; the steering testing assembly 6 includes a non-metallic rotating seat 61, a feedback plate 62, a connecting rod 63 and an angle sensor 64; the non-metallic rotating seat 61 is rotationally arranged on the transmission base 1, and the non-metallic rotating seat 61 is connected with the steering wheel of the robot; the feedback plate 62 is rotationally arranged outside the electromagnetic shielding chamber, the two ends of the connecting rod 63 are respectively hingedly connected with the feedback plate 62 and the non-metallic rotating seat 61, and the axis of the connecting rod 63 does not intersect with the rotation axes of the feedback plate 62 and the non-metallic rotating seat 61; the angle sensor 64 is arranged outside the electromagnetic shielding chamber, the detection end of the angle sensor 64 faces the feedback plate 62, and the angle sensor 64 is in communication connection with the detection assembly 3. The non-metallic rotating seat 61 includes a stand 611, a connecting plate 612 and a sleeve 613; the stand 611 is fixedly arranged on the transmission base 1, the connecting plate 612 is rotationally arranged on the end of the stand 611 away from the transmission base 1, the connecting rod 63 is hingedly connected with the connecting plate 612, and the sleeve 613 is fixedly arranged on the connecting plate 612. The side wall of the sleeve 613 is threadedly connected with a non-metallic stop screw 7.

[0051] Embodiment two

[0052] A robot obstacle avoidance testing device of an electromagnetic shielding chamber, please refer to Figure 1As shown, the device comprises a non-metallic component located in the electromagnetic shielding chamber and an execution component located outside the electromagnetic shielding chamber; the non-metallic component comprises a transmission base 1 and an analog wall 2 reciprocally moving between the wall surface of the electromagnetic shielding chamber and the transmission base 1; the transmission base 1 is provided with a roller 11 abutting against the driving wheel of the robot, and the roller 11 is provided with a signal acquisition device 5 for acquiring the signals of the rotating speed and direction of the roller 11; the execution component comprises a detection assembly 3 and a driving unit 4; the detection assembly 3 receives the signals of the rotating speed and direction of the driving wheel of the robot measured by the signal acquisition device 5; the driving unit 4 is communicatively connected with the detection assembly 3, and the driving unit 4 is drivingly connected with the analog wall 2.

[0053] As shown in Figure 1 and Figure 2 As shown, the signal acquisition device 5 comprises a ring-shaped water pipe 51 and a gear 52; the gear 52 is rotatably arranged in the ring-shaped water pipe 51, and the gear 52 is drivingly connected with the roller 11.

[0054] As shown in Figure 5 , two test pipelines are arranged in parallel on the ring-shaped water pipe 51, and a flowmeter and a one-way valve are arranged on each of the two test pipelines, and the flow directions of the two one-way valves are opposite, and the detection assembly 3 is communicatively connected with the two flowmeters.

[0055] Specifically, in the process of measuring the rotating speed and direction of the driving wheel of the robot, the gear 52 will push the liquid in the ring-shaped water pipe 51 to flow, and the flowmeter corresponding to the flow direction will measure the speed of the water flow in the ring-shaped water pipe 51, while the flowmeter throttled by the one-way valve cannot measure the speed of the water flow in the ring-shaped water pipe 51 or measures a very low flow rate; then the detection assembly 3 will analyze the rotating speed of the driving wheel of the robot according to the data measured by the flowmeter, and at the same time, the detection assembly 3 will determine the rotating direction of the driving wheel of the robot according to the flowmeter with normal numerical value feedback.

[0056] As shown in Figure 1 , the analog wall 2 comprises a lead screw 21 and a plate body 22 threadedly connected with the lead screw 21, and the lead screw 21 penetrates through the wall surface of the electromagnetic shielding chamber and is drivingly connected with the driving unit 4. The analog wall 2 further comprises a guide rod 23, the axis of the guide rod 23 is parallel to the axis of the lead screw 21, and the plate body 22 is slidingly connected with the guide rod 23 in opposition.

[0057] As shown in Figure 1 and Figure 4As shown in the figure, the robot obstacle avoidance testing device of the above-mentioned electromagnetic shielding chamber further comprises a steering testing assembly 6; the steering testing assembly 6 comprises a non-metallic rotating seat 61, a feedback plate 62, a connecting rod 63 and an angle sensor 64; the non-metallic rotating seat 61 is rotationally arranged on the transmission base 1, and the non-metallic rotating seat 61 is connected with the steering wheel of the robot; the feedback plate 62 is rotationally arranged outside the electromagnetic shielding chamber, the two ends of the connecting rod 63 are respectively hingedly connected with the feedback plate 62 and the non-metallic rotating seat 61, and the axis of the connecting rod 63 does not intersect with the rotation axes of the feedback plate 62 and the non-metallic rotating seat 61; the angle sensor 64 is arranged outside the electromagnetic shielding chamber, the detection end of the angle sensor 64 faces the feedback plate 62, and the angle sensor 64 is communicatively connected with the detection assembly 3. The non-metallic rotating seat 61 comprises a stand 611, a connecting plate 612 and a sleeve 613; the stand 611 is rotationally arranged on the transmission base 1, the connecting plate 612 is fixedly arranged on the end of the stand 611 away from the transmission base 1, the connecting rod 63 is hingedly connected with the connecting plate 612, and the sleeve 613 is fixedly arranged on the connecting plate 612. The side wall of the sleeve 613 is threadedly connected with a non-metallic stop screw 7.

[0058] Embodiment three

[0059] The number of the simulation walls 2 is further limited based on the embodiments one or two;

[0060] Please refer to Figure 1 As shown in the figure, the number of the simulation walls 2 is four, and the four plate bodies 22 are arranged around the four sides of the transmission base 1 to simulate a more complex scene in which the robot moves among obstacles.

[0061] Working principle: during the testing process, the driving wheel of the robot is placed on the roller 11 on the transmission base 1, and the steering wheel of the robot is placed in the sleeve 613 of the non-metallic rotating seat 61 and locked by the non-metallic stop screw 7.

[0062] Then the robot can move on the transmission base 1, the roller 11 rotates in the annular water pipe 51 through the gear 52, so that the liquid in the annular water pipe 51 flows, and then the detection assembly 3 can determine the activity state of the driving wheel of the robot according to the flow rate and flow direction of the liquid in the annular water pipe 51, and at the same time, the feedback plate 62 can make corresponding steering through the connecting plate 612 pulling the connecting rod 63 according to the rotation state of the steering wheel of the robot, so that the angle sensor 64 can know the steering condition of the robot outside the electromagnetic shielding chamber.

[0063] Finally, the final driving unit 4 can drive the lead screw 21 to rotate correspondingly according to the feedback information of the angle sensor 64 and the detection assembly 3, so that the plate body 22 can move correspondingly on the lead screw 21.

[0064] When the plate body 22 is close to the transmission base 1, the robot should make a pause or reverse action, and the application determines whether the robot actually makes a pause or reverse action according to the stop or away of the plate body 22 from the transmission base 1, so as to determine the obstacle avoidance ability of the robot under the fixed strength electromagnetic interference created in the electromagnetic shielding room.

[0065] The above is only an embodiment of the application, and does not limit the patent scope of the application, and any equivalent transformation, direct or indirect application in related technical fields using the content of the application specification and drawings are also included in the patent protection scope of the application.

Claims

1. A robot obstacle avoidance testing device for an electromagnetic shielded room, characterized in that: It includes non-metallic components located inside the electromagnetic shielding chamber and actuating components located outside the electromagnetic shielding chamber; The non-metallic components include a transmission base and a simulated wall that reciprocates between the wall of the electromagnetic shielding room and the transmission base; the transmission base is provided with rollers, which abut against the drive wheel of the robot, and the rollers are provided with signal acquisition devices for acquiring signals of the rotation speed and rotation direction of the rollers. The execution component includes a detection component and a drive unit; the detection component receives signals from a signal acquisition device that measure the rotational speed and direction of rotation of the robot's drive wheels; the drive unit is communicatively connected to the detection component and is drive-transmittedly connected to the simulated wall; It also includes a steering test assembly; the steering test assembly includes a non-metallic rotary seat, a feedback plate, a linkage, and an angle sensor; the non-metallic rotary seat is rotatably mounted on a transmission base, and the non-metallic rotary seat is connected to the robot's steering wheel; The non-metallic rotating seat includes a column, a connecting plate, and a sleeve; the column is fixedly mounted on the transmission base, the connecting plate is rotatably mounted on the end of the column away from the transmission base, the connecting rod is hinged to the connecting plate, and the sleeve is fixedly mounted on the connecting plate.

2. The robot obstacle avoidance testing device for an electromagnetic shielding room according to claim 1, characterized in that: The signal acquisition device includes an annular water pipe and a gear; the gear is rotatably disposed inside the annular water pipe, and the gear is connected to a roller for transmission.

3. The robot obstacle avoidance testing device for an electromagnetic shielding room according to claim 1, characterized in that: The simulated wall includes a lead screw and a plate threaded onto the lead screw. The lead screw passes through the wall of the electromagnetic shielding chamber and is connected to the drive unit for transmission.

4. The robot obstacle avoidance testing device for an electromagnetic shielding room according to claim 3, characterized in that: The simulated wall also includes a guide rod, the axis of which is parallel to the axis of the lead screw, and the plate body is slidably connected to the guide rod.

5. The robot obstacle avoidance testing device for an electromagnetic shielding room according to claim 1, characterized in that: The feedback plate is rotatably mounted outside the electromagnetic shielding room. The two ends of the connecting rod are respectively hinged to the feedback plate and the non-metallic rotating seat. The axis of the connecting rod does not intersect with the rotation axis of the feedback plate and the non-metallic rotating seat. The angle sensor is installed outside the electromagnetic shielding room, with the detection end of the angle sensor facing the feedback plate, and the angle sensor is communicatively connected to the detection component.

6. The robot obstacle avoidance testing device for an electromagnetic shielding room according to claim 1, characterized in that: The sleeve has a non-metallic locking screw threaded onto its side wall.

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