CN117360647A

CN117360647A - An electric field inspection robot capable of climbing stairs and a method for climbing stairs

Info

Publication number: CN117360647A
Application number: CN202311499150.7A
Authority: CN
Inventors: 张丹; 李红彦; 黄宗伟; 朱娟
Original assignee: Electric Power Research Institute of State Grid Jilin Electric Power Co Ltd; Changchun University of Technology
Current assignee: Electric Power Research Institute of State Grid Jilin Electric Power Co Ltd; Changchun University of Technology
Priority date: 2023-11-13
Filing date: 2023-11-13
Publication date: 2024-01-09

Abstract

An electric field inspection robot capable of climbing stairs and a method for climbing stairs belong to the field of intelligent robot technology. The robot in the present invention can adjust itself according to the width and height of the stairs when climbing stairs, has a wider adaptability range, can realize smooth driving on complex road surfaces, and can ensure the stability, balance and climbing ability of the supporting robot body during the stair climbing process. The stairs have better flexibility; the front forks used by the robot are all shock-absorbing front forks, which can better realize the smooth operation of the robot on uneven roads; the robot's support platform has reserved cargo space to carry electric fields Inspection equipment; the robot can achieve multi-directional flexible operation through the Mecanum wheel set, which enhances the robot's agility.

Description

Electric field inspection robot capable of climbing stairs and stair climbing method thereof

Technical Field

The invention belongs to the technical field of intelligent robots, and particularly relates to an electric field inspection robot capable of climbing stairs and a stair climbing method thereof.

Background

Robots are multidisciplinary fusion products of advanced integrated control theory, mechatronics, computers, materials and bionics, which have important uses in industry, medicine, agriculture, construction industry and even military and other fields.

The existing robot mainly has the following defects: 1. the flexibility is poor, the device can move on a flat road, but can not automatically go upstairs; 2. the storage function is not provided, and the transportation cannot be performed; 3. small space operation is not flexible enough.

The prior patent 'a stair climbing robot and a stair climbing control method' (CN 109850029A) adopts two sets of driving systems to alternatively climb, which is similar to the double legs of a person. The robot with the structure can only aim at stairs with consistent height and width. In order to meet the installation requirements of various power equipment in an electric field, stairs sections with different heights and widths are erected, and sometimes the situation that the heights and the widths are different exists even in the same stairs. In electric field inspection, the common robot obviously cannot adapt to the complex road surface working condition of an electric field and cannot be used as an electric field inspection robot.

There is a need in the art for a new solution to this problem.

Disclosure of Invention

The technical problems to be solved by the invention are as follows: the electric field inspection robot capable of climbing stairs and the stair climbing method are used for solving the technical problem that an existing robot cannot adapt to the road surface working condition of complex electric fields.

The electric field inspection robot comprises a supporting platform, a front supporting structure, a rear supporting structure, a platform lifting structure and a central processing unit, wherein the supporting platform comprises an upper platform, a lower platform and a supporting rod fixedly connected with the upper platform and the lower platform; the front supporting structure comprises a front supporting frame, two wheel group height adjusting devices arranged on the outer sides of two supporting legs at the front part of the front supporting frame, and two horizontal position adjusting devices arranged on the two sides of the rear part of the front supporting frame; the rear supporting structure comprises a rear supporting frame and four wheel group height adjusting devices which are respectively arranged at the outer sides of four supporting legs at the lower part of the rear supporting frame; the front part of the rear supporting frame is sleeved on the outer side of the rear part of the front supporting frame, and the rear supporting frame and the front supporting frame are both positioned below the upper platform;

the four groups of platform lifting structures are arranged in total, wherein two groups of platform lifting structures are symmetrically arranged between the supporting platform and the front supporting structure, the other two groups of platform lifting structures are symmetrically arranged between the supporting platform and the rear supporting structure, and the platform lifting structures control the upper platform to be relatively close to/far from the front supporting frame or the rear supporting frame;

wheels in the wheel set height adjusting device adopt Mecanum wheels, and the wheel set height adjusting device also comprises a height adjusting component and a motor I; the height adjusting component is arranged on the upper part of the Mecanum wheel and drives the Mecanum wheel to lift; the motor I is fixedly arranged on one side of the Mecanum wheel through a motor fixing block and drives the Mecanum wheel to advance or turn;

A horizontal ranging sensor and a vertical ranging sensor are fixedly arranged on the inner side of one of the Mecanum wheels at the front part of the front support frame; a horizontal ranging sensor and a vertical ranging sensor are fixedly arranged on the inner side of one of the Mecanum wheels at the front part of the rear support frame, and a horizontal ranging sensor and a vertical ranging sensor are fixedly arranged on the inner side of one of the Mecanum wheels at the rear part of the rear support frame; the probes of the horizontal distance measuring sensor and the vertical distance measuring sensor are positioned on the same horizontal plane and are close to the bottom of the Mecanum wheel; a horizontal ranging sensor is fixedly arranged right in front of the lower platform;

the horizontal position adjusting device comprises a supporting wheel frame, universal wheels and a horizontal adjusting component; the horizontal adjusting component is arranged at the upper part of the supporting wheel frame and drives the supporting wheel frame to horizontally move along the lateral cross rod of the front supporting frame; the lower end of the supporting wheel frame is connected with a universal wheel;

the central processing unit is installed on the supporting platform and is respectively connected with a driver of the platform lifting structure, a driver of the height adjusting assembly, a driver of the horizontal adjusting assembly, a motor I, a horizontal ranging sensor and a vertical ranging sensor.

The platform lifting structure comprises two lifting motors, two belt pulleys, a transmission belt and a belt fixing buckle; the two lifting motors are respectively and correspondingly fixedly arranged on the bottom surface of the upper platform and the top surface of the lower platform, and the rotating shafts of the lifting motors are connected with the belt pulleys; the transmission belt is connected with the two belt pulleys and fixedly connected with the belt fixing buckle;

among the four belt fixing buckles, two belt fixing buckles are symmetrically and fixedly installed at the middle parts of the inner sides of the transverse rods on the left side and the right side of the front support frame, and the other two belt fixing buckles are symmetrically and fixedly installed at the middle parts of the outer sides of the transverse rods on the left side and the right side of the rear support frame.

The height adjusting assembly comprises a screw motor I, a ball screw I, a screw nut I, a coupler I, a sliding block I and a front fork; the screw rod motor I is fixedly arranged on the front support frame or the rear support frame; one end of the ball screw I is connected with the screw motor I through the coupler I, and the other end of the ball screw I is connected with the screw nut I and penetrates through an upper cross rod of the front fork; the outside of the screw rod nut I is sleeved with a sliding block I; the side part of the sliding block I is in sliding connection with the sliding rail I correspondingly arranged on the supporting leg, and the lower part of the sliding block I is fixedly connected with the upper part of the front fork; the lower part of the front fork is connected with a Mecanum wheel.

The front fork is a damping front fork.

The horizontal adjusting component comprises a sliding rail II, a screw motor II, a ball screw II, a screw nut II, a coupler II and a sliding block II; the sliding rail II is fixedly arranged at the upper parts of the cross bars at the left side and the right side of the front supporting frame; the screw rod motor II is fixed at the position, close to the front end, of the upper part of the cross rod at the left side and the right side of the front support frame, and is connected with one end of the ball screw rod II through the coupler II; the outside of the screw rod nut II is sleeved with a sliding block II; the other end of the ball screw II is connected with the screw nut II and penetrates through the sliding block II; the lower part of the sliding block II is in sliding connection with the sliding rail II.

The stair climbing method of the electric field inspection robot capable of climbing stairs utilizes the electric field inspection robot capable of climbing stairs to keep an initial state to advance and judge the robot to climb stairs or descend stairs at the same time, the robot can ascend stairs when judged to ascend stairs, the robot can rotate 180 degrees in situ when judged to descend stairs, and the robot can descend stairs in a backward mode;

the universal wheel is controlled to move in the horizontal direction through the horizontal adjusting component in the ascending stair process and the descending stair process, so that the universal wheel is suitable for steps with different widths and is positioned at the edge of the corresponding step;

In the ascending and descending processes, the front support frame and the rear support frame are lifted or lowered through the platform lifting structure; lifting of the Mecanum wheel is completed through driving of the corresponding height adjusting assembly and/or through lifting or descending of a front support frame or a rear support frame connected with the Mecanum wheel; the Mecanum wheel is lifted through the lifting of the front support frame or the rear support frame and the driving of the height adjusting assembly, so that the height compensation of the robot when climbing steps with different heights is completed.

The initial state is that the height adjusting components are located at half of the maximum stroke of the robot, the horizontal adjusting components are located at the maximum stroke of the robot, the supporting platform is located at the lowest position of the robot, the front support frame is lifted by a set distance to ensure that the front Mecanum wheels and the universal wheels leave gaps with the ground, and the robot is moved forward by the four Mecanum wheels of the rear support frame;

the horizontal ranging sensor and the vertical ranging sensor located inside the front Mecanum wheel 501 of the front support frame 201 are respectively denoted as a horizontal ranging sensor I and a vertical ranging sensor I, the horizontal ranging sensor and the vertical ranging sensor located inside the front Mecanum wheel 501 of the rear support frame 301 are respectively denoted as a horizontal ranging sensor II and a vertical ranging sensor II, the horizontal ranging sensor and the vertical ranging sensor located inside the rear Mecanum wheel 501 of the rear support frame 301 are respectively denoted as a horizontal ranging sensor III and a vertical ranging sensor III, and the horizontal ranging sensor located in front of the lower platform 102 is denoted as a horizontal ranging sensor IV.

The specific method for adapting the universal wheel to the steps with different widths in the ascending stair process is as follows:

the distance between the maximum travel position of the horizontal adjusting component and the front end of the front support frame is stored in the central processing unit, the current travel of the universal wheel is obtained through the central processing unit, so that the distance L between the universal wheel and the front end of the front support frame can be obtained through calculation, the width of a step on which the universal wheel is to be lifted is detected and obtained by the horizontal distance measuring sensor I, and the width of the step of the first stage is subtracted by L to obtain the difference value;

the difference is greater than 0, and the universal wheel moves forward by the distance of the difference;

the difference is equal to 0, and the universal wheel does not move;

the difference value is less than 0, and the universal wheel moves backwards by the distance of the difference value;

the specific method for adapting the universal wheel to the steps with different widths in the stair descending process is as follows:

after the Mecanum wheel at the rear part of the rear support frame ascends to the lower stage and descends to the lower stage, the horizontal adjusting component drives the support wheel frame and the universal wheel to move forwards on the stage along with the backward travel of the robot, the relative speed of the universal wheel and the Mecanum wheel at the front part of the front support frame is consistent with the backward travel speed of the robot, the universal wheel is ensured to be always positioned at the outer edge of the stage until the height data detected by the vertical ranging sensor II is positioned in a set threshold range.

The height compensation comprises ascending stair height compensation and descending stair height compensation; the ascending stair height compensation specifically comprises the following steps:

the front part of the first support frame is provided with two Mecanum wheels for pre-climbing the n+1th step, and the first support frame and the support platform 1 synchronously rise the height of the n step under the drive of a platform lifting structure;

secondly, under the condition that the height of the n+1th step is equal to or lower than that of the n th step, calculating the height difference between the n+1th step and the n th step, wherein the height difference is zero, and the n+1th step is consistent with the n th step in height, so that the robot continues to advance; the height difference is a negative value, the n+1th step is lower than the n-th step, and then the two Mecanum wheels at the front part of the front support frame are driven by the height adjusting component to descend, wherein the descending height is the height difference between the n+1th step and the n-th step;

under the condition that the height of the n+1th step is larger than that of the n step, the central processing unit commands the two height adjusting components at the front part of the front support frame to drive the Mecanum wheel to ascend until the distance data detected by the horizontal distance measuring sensor I is larger than a set threshold value I, and the vertical distance measuring sensor I returns the height data at the moment, wherein the height data is the height of the n+1th step; at the moment, the difference between the height of the n+1th step and the height of the n step is a positive value, two Mecanum wheels at the front part of the front support frame can be used for boarding the n+1th step, and two universal wheels at the rear part of the front support frame can be used for boarding the n step;

Then, at the moment, the two Mecanum wheels at the front part of the rear supporting frame do not mount the n+1th step, the two Mecanum wheels at the rear part of the rear supporting frame do not mount the n-th step, and two pieces of height information are arranged in the central processing unit;

when the height data of the nth stage is the same as the height data of the (n+1) th stage, the central processing unit directly commands the platform lifting structure to drive the rear supporting frame to lift according to the height data;

when the height data of the n+1th step is larger than that of the n step, the central processing unit commands the platform lifting structure to drive the rear support frame to lift the n step, and simultaneously commands the two height adjusting assemblies at the front part of the rear support frame to drive the Mecanum wheel to lift the height of the two steps, at the moment, the rear support front wheel can climb the n+1th step, and the rear support rear wheel can climb the n step;

when the height data of the n+1th step is smaller than the height data of the n step, the central processing unit commands the platform lifting structure to drive the rear support frame to lift the n+1th step, and simultaneously commands the two Mecanum wheels at the rear part of the rear support frame to lift the height of the two step height differences;

at this time, the two Mecanum wheels at the front part of the rear supporting frame can be on the n+1th step, and the two Mecanum wheels at the rear part of the rear supporting frame can be on the n-th step.

The height compensation comprises ascending stair height compensation and descending stair height compensation; the down stairs height compensation is specifically as follows:

a. under the condition of descending the first-stage descending step, at the moment, the Mecanum wheels at the rear part of the rear support frame are suspended, the universal wheels are adjusted to the maximum distance between the Mecanum wheels at the front part of the front support frame and play a supporting role, the vertical ranging sensor III detects that the Mecanum wheels at the rear part of the rear support frame need to be lowered in height data, the height data are positioned in a set threshold range, and the height data are the height of the first-stage descending step, and the height data are different from half of the maximum travel of the height data;

the difference value is less than or equal to 0, and the two Mecanum wheels at the rear part of the rear support frame descend to the first lower step to stop;

the difference value is larger than 0, the two Mecanum wheels at the rear part of the rear support frame descend to the maximum stroke and stop, the two height adjusting components at the front part of the rear support frame drive the Mecanum wheels to retract upwards, and the platform lifting structure controls the rear support frame to descend by the same height, and the height value is equal to the difference value;

at this time, two Mecanum wheels at the rear part of the rear support frame are positioned on the first-stage descending step, and the two Mecanum wheels at the front part of the rear support frame are always positioned on the uppermost road surface and play a supporting role in the process;

The robot continues to retreat, the front support frame and the support platform simultaneously reduce the height of the first-stage descending step under the drive of the platform lifting structure after the universal wheel is suspended, at the moment, the universal wheel is also positioned on the first-stage descending step, and the two Mecanum wheels at the front part of the front support frame are driven by the corresponding height adjusting components to retract upwards to the height of the first-stage descending step, so that the two Mecanum wheels at the front part of the front support frame are still kept on the ground;

b. under the condition of descending the middle step, taking a difference value between the height data of the m+1th descending step detected by the vertical distance measuring sensor III at the time and the height data of the m-th descending step;

the difference value is 0, the height of the m+1th descending step is the same as that of the m th descending step, and the rear supporting frame is driven by the platform lifting structure to descend the height of the m th descending step;

the difference value is larger than 0, the m+1th descending step is higher than the m descending step, the Mecanum wheel at the front part of the rear support frame firstly descends the height of the difference value under the drive of the height adjusting component, and after the completion, the rear support frame descends the m-th step height under the drive of the platform lifting structure;

the difference value is smaller than 0, the m+1th descending step is lower than the m descending step, the Mecanum wheel at the front part of the rear support frame is driven by the height adjusting component to ascend by the height of the difference value, and after the difference value is completed, the rear support frame is driven by the platform lifting structure to descend by the m-th step height;

At the moment, the Mecanum wheel at the rear part of the rear support frame is arranged on the m+1th descending step, and the Mecanum wheel at the front part of the rear support frame is arranged on the m-th descending step;

the central processing unit commands the horizontal adjusting component to drive the supporting wheel frame and the universal wheel to move backwards to the maximum stroke;

the height difference between the (m+1) th descending step and the (m) th descending step is 0, and the front support frame is driven by the platform lifting structure to descend the height of the (m) th descending step;

the difference between the height of the m+1th descending step and the height of the m-th descending step is larger than 0, the Mecanum wheel at the front part of the front support frame firstly descends by the height of the difference under the drive of the height adjusting component, and after the completion, the front support frame descends by the height of the m-th descending step under the drive of the platform lifting structure;

the difference between the height of the m+1th descending step and the height of the m-th descending step is smaller than 0, the Mecanum wheel at the front part of the front support frame is driven by the height adjusting assembly to ascend by the difference, and after the completion, the front support frame is driven by the platform lifting structure to descend the height of the m-th descending step;

at this time, the universal wheel is on the m+1th descending step, and the Mecanum wheel at the front part of the front supporting frame is on the m descending step.

Through the design scheme, the invention has the following beneficial effects:

the robot can be automatically adjusted according to the width and the height of the stairs when climbing the stairs, has wider application range, can realize stable running on complex pavements, can ensure the stability of supporting the body of the robot in the stair climbing process, and has better balance and stair climbing flexibility;

the front forks used by the robot are all damping front forks, so that the stable running of the robot can be better realized on uneven pavement;

the robot has a support platform with a reserved object carrying space for carrying electric field inspection equipment;

the robot can realize multidirectional flexible operation under the action of the Mecanum wheel group, and the flexibility of the robot is enhanced.

Drawings

The invention is further described with reference to the drawings and detailed description which follow:

FIG. 1 is a schematic diagram of a robot for inspecting an electric field capable of climbing stairs and a stair climbing method thereof according to the present invention;

FIG. 2 is a schematic diagram showing a side view of an electric field inspection robot capable of climbing stairs and a stair climbing method according to the invention;

FIG. 3 is a schematic view showing a bottom view of a robot in an electric field inspection robot capable of climbing stairs and a stair climbing method according to the invention;

FIG. 4 is a schematic diagram showing a side view of a robot in an electric field inspection robot capable of climbing stairs and a stair climbing method according to the invention;

FIG. 5 is a schematic structural view of a wheel set height adjusting device in a stair climbing method of an electric field inspection robot according to the present invention;

FIG. 6 is a schematic structural view of a platform lifting structure of the stair climbing electric field inspection robot and the stair climbing method according to the present invention;

FIG. 7 is a schematic view of a horizontal position adjusting device of an electric field inspection robot capable of climbing stairs according to the invention;

FIG. 8 is a schematic structural view of a front support structure of a stair climbing electric field inspection robot and a stair climbing method according to the present invention;

FIG. 9 is a schematic structural view of a rear support structure of a stair climbing electric field inspection robot and a stair climbing method according to the present invention;

FIGS. 10 to 21 are all diagrams showing a stair climbing state of an embodiment of a stair climbing electric field inspection robot and a stair climbing method according to the present invention;

FIGS. 22 to 35 are all views showing a stair descending state of an embodiment of a stair climbing electric field inspection robot and a stair climbing method according to the present invention;

in the figure, a 1-supporting platform, a 2-front supporting structure, a 3-rear supporting structure, a 4-platform lifting structure, a 5-wheel group height adjusting device, a 101-upper platform, a 102-lower platform, a 103-supporting rod, a 201-front supporting frame, a 202-horizontal position adjusting device, a 203-supporting wheel frame, a 204-universal wheel, a 205-sliding rail II, a 206-screw motor II, a 207-ball screw II, a 208-screw nut II, a 209-coupling II, a 210-sliding block II, a 301-rear supporting frame, a 401-lifting motor, a 402-belt pulley, a 403-driving belt, a 404-belt fixing buckle, a 501-Mecanum wheel, a 502-motor I, a 503-screw motor I, a 504-ball screw I, a 505-screw nut I, a 506-coupling I, a 507-sliding block I and a 508-front fork.

Detailed Description

As shown in the figure, the electric field inspection robot capable of climbing stairs comprises a supporting platform 1, a front supporting structure 2, a rear supporting structure 3, a platform lifting structure 4 and a central processing unit, wherein the supporting platform 1 comprises an upper platform 101, a lower platform 102 and a supporting rod 103 fixedly connected with the upper platform 101 and the lower platform 102, a carrying space is reserved between the upper platform 101 and the lower platform 102, and electric field inspection equipment can be carried on the upper part of the upper platform 101; the front supporting structure 2 comprises a front supporting frame 201, two wheel group height adjusting devices 5 arranged on the outer sides of two supporting legs at the front part of the front supporting frame 201, and two horizontal position adjusting devices 202 arranged on two sides of the rear part of the front supporting frame 201; the rear supporting structure 3 comprises a rear supporting frame 301 and four wheel group height adjusting devices 5 which are respectively arranged at the outer sides of four supporting legs at the lower part of the rear supporting frame 301; the front part of the rear supporting frame 301 is sleeved outside the rear part of the front supporting frame 201, the rear supporting frame 301 and the front supporting frame 201 are positioned below the upper platform 101, and after the rear supporting frame 301 is assembled with the front supporting frame 201, the front-to-rear tire sequence is two Mecanum wheels 501 at the front part of the front supporting frame 201, two Mecanum wheels 501 at the front part of the rear supporting frame 301, universal wheels 204 and two Mecanum wheels 501 at the rear part of the rear supporting frame 301;

The four sets of platform lifting structures 4 are provided, wherein two sets of platform lifting structures 4 are symmetrically arranged between the support platform 1 and the front support structure 2, and the other two sets of platform lifting structures are symmetrically arranged between the support platform 1 and the rear support structure 3, and the platform lifting structures 4 control the upper platform 101 to be relatively close to/far from the front support frame 201 or the rear support frame 301;

wheels in the wheel set height adjusting device 5 adopt Mecanum wheels 501, and the wheel set height adjusting device 5 also comprises a height adjusting component and a motor I502; the height adjusting component is arranged on the upper part of the Mecanum wheel 501 and drives the Mecanum wheel 501 to lift; the motor I502 is fixedly arranged on one side of the Mecanum wheel 501 through a motor fixing block and drives the Mecanum wheel 501 to advance or turn;

a horizontal ranging sensor and a vertical ranging sensor are fixedly installed inside one of the Mecanum wheels 501 at the front part of the front support frame 201; a horizontal ranging sensor and a vertical ranging sensor are fixedly arranged on the inner side of one of the front Mecanum wheels 501 of the rear supporting frame 301, and a horizontal ranging sensor and a vertical ranging sensor are fixedly arranged on the inner side of one of the rear Mecanum wheels 501 of the rear supporting frame 301; the probes of the horizontal ranging sensor and the vertical ranging sensor are positioned on the same horizontal plane and are parallel to the bottom of the Mecanum wheel 501; a horizontal ranging sensor is fixedly installed right in front of the lower platform 102;

The horizontal position adjusting device 202 comprises a supporting wheel frame 203, universal wheels 204 and a horizontal adjusting component; the horizontal adjusting component is arranged at the upper part of the supporting wheel frame 203, and drives the supporting wheel frame 203 to horizontally move along the lateral cross rod of the front supporting frame 201; the lower end of the supporting wheel frame 203 is connected with a universal wheel 204;

the central processing unit is arranged on the supporting platform 1 and is respectively connected with a driver of the platform lifting structure 4, a driver of the height adjusting assembly, a driver of the horizontal adjusting assembly, a motor I502, a horizontal ranging sensor and a vertical ranging sensor.

The platform lifting structure 4 comprises two lifting motors 401, two belt pulleys 402, a transmission belt 403 and a belt fixing buckle 404; the two lifting motors 401 are respectively and correspondingly fixedly arranged on the bottom surface of the upper platform 101 and the top surface of the lower platform 102, and the rotating shafts of the lifting motors 401 are connected with the belt pulleys 402; the transmission belt 403 is connected with the two belt pulleys 402, and the transmission belt 403 is fixedly connected with the belt fixing buckle 404;

among the four belt fixing buckles 404, two belt fixing buckles 404 are symmetrically and fixedly installed at the inner middle parts of the transverse rods at the left side and the right side of the front supporting frame 201, and the other two belt fixing buckles 404 are symmetrically and fixedly installed at the outer middle parts of the transverse rods at the left side and the right side of the rear supporting frame 301.

The height adjusting assembly comprises a screw motor I503, a ball screw I504, a screw nut I505, a coupler I506, a sliding block I507 and a front fork 508; the screw motor I503 is fixedly arranged on the front support frame 201 or the rear support frame 301; one end of the ball screw I504 is connected with the screw motor I503 through a coupler I506, and the other end of the ball screw I504 is connected with a screw nut I505 and penetrates through an upper cross bar of the front fork 508; a sliding block I507 is sleeved outside the screw nut I505; the side part of the sliding block I507 is in sliding connection with a sliding rail I correspondingly arranged on the supporting leg, and the lower part of the sliding block I507 is fixedly connected with the upper part of the front fork 508; the lower part of the front fork 508 is connected with the Mecanum wheel 501.

The front fork 508 is a damping front fork, and air pressure damping is adopted for damping.

The horizontal adjusting assembly comprises a sliding rail II 205, a screw motor II 206, a ball screw II 207, a screw nut II 208, a coupler II 209 and a sliding block II 210; the sliding rail II 205 is fixedly arranged at the upper parts of the transverse rods at the left side and the right side of the front supporting frame 201; the screw rod motor II 206 is fixed at the position, close to the front end, of the upper parts of the transverse rods on the left side and the right side of the front supporting frame 201, and the screw rod motor II 206 is connected with one end of the ball screw rod II 207 through a coupler II 209; the outside of the screw nut II 208 is sleeved with a sliding block II 210; the other end of the ball screw II 207 is connected with a screw nut II 208 and penetrates through a sliding block II 210; the lower part of the sliding block II 210 is in sliding connection with the sliding rail II 205.

Examples:

the stair climbing method of the electric field inspection robot capable of climbing stairs, which is utilized, takes the steps of the stairs climbed by the robot as no more than the maximum travel of the Mecanum wheel 501 at the front part of the front support frame 201 of the robot in the height direction, the total width of two adjacent steps of the stairs is greater than the axial center distance between the front part of the rear support frame 301 and the rear Mecanum wheel 501 as an example, and comprises the following steps in sequence:

step one, judging whether going upstairs or going downstairs

The horizontal ranging sensor and the vertical ranging sensor positioned at the inner side of the front Mecanum wheel 501 of the front support frame 201 are respectively marked as a horizontal ranging sensor I and a vertical ranging sensor I, the horizontal ranging sensor and the vertical ranging sensor positioned at the inner side of the front Mecanum wheel 501 of the rear support frame 301 are respectively marked as a horizontal ranging sensor II and a vertical ranging sensor II, the horizontal ranging sensor and the vertical ranging sensor positioned at the inner side of the rear Mecanum wheel 501 of the rear support frame 301 are respectively marked as a horizontal ranging sensor III and a vertical ranging sensor III, and the horizontal ranging sensor positioned at the front of the lower platform 102 is marked as a horizontal ranging sensor IV;

The robot keeps an initial state and advances, wherein the initial state is that a height adjusting component is positioned at half of the maximum stroke of the robot, a horizontal adjusting component is positioned at the maximum stroke of the robot, a supporting platform 1 is positioned at the lowest position of the robot, a front supporting frame 201 is lifted by a set distance to ensure that a front Mecanum wheel 501 and a universal wheel 204 leave a gap with a road surface, the advancing of the robot is completed by four Mecanum wheels 501 of a rear supporting frame 301, in the advancing process, whether a stair exists in front is judged by a horizontal ranging sensor I and a vertical ranging sensor I, when the horizontal ranging sensor I detects that the distance data of the stair in front is smaller than or equal to the set distance data I, a high-level signal is sent to a central processor, the central processor judges that the stair ascends and carries out a step two, when the vertical ranging sensor I detects that the distance data is larger than or equal to the distance data II, a low-level signal is sent to the central processor, and the central processor judges that the stair descends and carries out a step three; the central processing unit controls the drivers of the platform lifting structure 4, the drivers of the height adjusting assembly, the drivers of the horizontal adjusting assembly, the opening of the motor I502, the opening direction selection and closing, thereby controlling the lifting and lowering of the supporting platform 1, the front supporting frame 201 and the rear supporting frame 301, the lifting and lowering of the Mecanum wheel 501, the advancing and retreating of the horizontal adjusting assembly and the rotation and turning of the Mecanum wheel 501, and the central processing unit sequentially stores and correspondingly calculates the detection data of the horizontal ranging sensor and the vertical ranging sensor;

Step two, the stair climbing process

(1) The central processing unit sends rising signals to the two height adjusting components at the front part of the front support frame 201, the two Mecanum wheels 501 at the front part of the front support frame 201 start to rise, meanwhile, the vertical distance measuring sensor I records height information between the two Mecanum wheels 501 and the road surface, when the horizontal distance measuring sensor I detects that the distance data is larger than a set threshold value I, the two Mecanum wheels 501 at the front part of the front support frame 201 stop rising, the vertical distance measuring sensor I returns the height data at the moment, the height data is the height of a first-stage step, the distance data detected by the horizontal distance measuring sensor I is the width of the first-stage step, the central processing unit controls the Mecanum wheels 501 to advance forwards, and the two Mecanum wheels 501 at the front part of the front support frame 201 ascend the first-stage step as shown in fig. 10;

(2) the horizontal distance measuring sensor II detects that the distance data reach the set distance data I, the central processing unit sends ascending signals and first-stage step height data to the platform lifting structure 4 and the two height adjusting components at the front part of the rear supporting frame 301, and the two Mecanum wheels 501 at the front part of the rear supporting frame 301 are lifted to the first-stage step height according to the height data, as shown in FIG. 11;

At this time, the elevation of the platform lifting structure 4 is determined by the detection result of the horizontal ranging sensor iv, the distance data detected by the horizontal ranging sensor iv is smaller than or equal to the set threshold value iii, it is determined that an obstacle exists in the horizontal direction, and the platform lifting structure 4 is lifted until the distance data detected by the horizontal ranging sensor iv is larger than the set threshold value iii, and then is lifted for a set distance again to stop; the distance data detected by the horizontal distance measuring sensor IV is larger than a set threshold value III, and the situation that no obstacle exists in the horizontal direction is judged, and the platform lifting structure 4 is kept in an original state;

the robot continues to travel forward, and both the two mecanum wheels 501 at the front of the front support frame 201 and the two mecanum wheels 501 at the front of the rear support frame 301 climb the first step as shown in fig. 12;

(3) the robot continues to advance forward, when the distance data detected by the horizontal distance measuring sensor I reaches the set distance data I again, the forward movement is stopped and before the robot is judged to reach the second-stage step, the front support frame 201 and the support platform 1 synchronously rise by the height of the first-stage step under the drive of the platform lifting structure 4, as shown in fig. 13;

in the ascending process, when the distance data detected by the horizontal distance measuring sensor I are larger than a set threshold I, the situation that the height of the second-stage step is equal to or lower than that of the first-stage step is judged, the vertical distance measuring sensor I returns the height data at the moment, the height data are the height of the second-stage step, the distance data detected by the horizontal distance measuring sensor I are the width of the second-stage step, the height difference between the height of the second-stage step and that of the first-stage step is calculated, the height difference is zero, and if the height of the second-stage step is consistent with that of the first-stage step, the robot continues to advance; the height difference is a negative value, the second-stage step is lower than the first-stage step, and then the two Mecanum wheels 501 at the front part of the front support frame 201 are driven by the height adjusting component to descend, wherein the descending height is the height difference between the second-stage step and the first-stage step;

In the ascending process, the situation that the distance data detected by the horizontal distance measuring sensor I is not larger than the set threshold I is judged, the height of the second-stage step is larger than that of the first-stage step, the distance data detected by the horizontal distance measuring sensor I is the width of the second-stage step, the central processing unit commands the two height adjusting components at the front part of the front supporting frame 201 to drive the Mecanum wheel 501 to ascend until the distance data detected by the horizontal distance measuring sensor I is larger than the set threshold I, and the vertical distance measuring sensor I transmits back the height data at the moment, wherein the height data is the height of the second-stage step; at this time, the difference between the height of the second step and the height of the first step is positive, and the two Mecanum wheels 501 at the front of the front support frame 201 can be on the second step, and the two universal wheels 204 at the rear of the front support frame 201 can be on the first step;

(4) after the robot continues to advance forwards and two Mecanum wheels 501 at the front part of the front support frame 201 climb on the second stage of steps, the universal wheels 204 at the rear part of the front support frame 201 advance or retreat under the drive of the horizontal adjusting component, so that the universal wheels 204 are positioned at the upper edge position of the first stage of steps, as shown in FIG. 14;

The distance that the universal wheel 204 advances or retreats is determined as follows:

the distance S between the maximum travel position of the horizontal adjusting component and the front end of the front supporting frame 201 is stored in the central processing unit, and the current travel of the universal wheel 204 is obtained through the central processing unit, so that the distance L between the universal wheel 204 and the front end of the front supporting frame 201 can be obtained through calculation, L= (maximum travel-current travel) +S, the width of a step on which the universal wheel 204 is to climb is obtained through detection of a horizontal ranging sensor I, and the width of the step of the first stage is subtracted by L, and the difference value is obtained;

the difference is greater than 0 and the caster 204 is moved forward by the difference;

the difference is equal to 0 and the universal wheel 204 does not move;

the difference is less than 0 and the caster 204 is moved backward by the difference;

(5) at this time, the two Mecanum wheels 501 at the front of the rear supporting frame 301 do not mount a second step, the two Mecanum wheels 501 at the rear of the rear supporting frame 301 do not mount a first step, and two pieces of height information are provided in the CPU;

when the height data of the first-stage steps is the same as the height data of the second-stage steps, the central processing unit directly commands the platform lifting structure 4 to drive the rear supporting frame 301 to lift according to the height data;

when the height data of the second-stage steps is larger than that of the first-stage steps, the central processor commands the platform lifting structure 4 to drive the rear support frame 301 to lift the first-stage steps, and simultaneously commands the two height adjusting components at the front part of the rear support frame 301 to drive the Mecanum wheels 501 to lift the heights of the two-stage steps, at the moment, the rear support front wheels can climb on the second-stage steps, and the rear support rear wheels can climb on the first-stage steps;

When the second-stage step height data is smaller than the first-stage step height data, the central processor commands the platform lifting structure 4 to drive the rear support frame 301 to lift the second-stage step height, and simultaneously commands the two Mecanum wheels 501 at the rear part of the rear support frame 301 to lift the height of the two-stage step height difference;

at this time, the two mecanum wheels 501 at the front of the rear supporting frame 301 can be stepped on the second stage, and the two mecanum wheels 501 at the rear of the rear supporting frame 301 can be stepped on the first stage, as shown in fig. 15 and 16;

(6) repeating the steps (3) to (5) to realize multi-stage step climbing, as shown in fig. 17 to 20;

(7) after the two mecanum wheels 501 at the front part of the current support frame 201 and the two mecanum wheels 501 at the front part of the rear support frame 301 climb to the uppermost layer, the two universal wheels 204 at the rear part of the front support frame 201 and the two mecanum wheels 501 at the rear part of the rear support frame 301 are both positioned at the bottom surface of the last step, as shown in fig. 21, the robot advances forwards, the support wheel frame 203 on the front support frame 201 reaches the maximum travel on the step and feeds signals back to the central processing unit, the distance data detected by the rear horizontal distance measuring sensor I still does not reach the set distance data I, the central processing unit sends signals for lifting the front support frame 201 and the support platform 1 to the platform lifting structure 4, the lifting height of the front support frame 201 and the support platform 1 is the height of the last step, at this moment, the two universal wheels 204 at the rear part of the front support frame 201 can climb to the uppermost layer, and after the distance data detected by the horizontal distance measuring sensor III at the rear part of the rear support frame 301 is smaller than or equal to the set threshold value 1, the central processing unit commands the two mecanum wheels 501 at the rear part of the rear support frame 301 to drive the height of the last step to the robot to climb to the uppermost layer, and the whole step is continuously up to the uppermost layer, and the step is in the state of the whole is finished.

Step three, stair descending process

The central processing unit simultaneously controls four motors I502 on a rear support frame 301 to synchronously rotate corresponding Mecanum wheels 501 in a steering way, so that a robot rotates in situ, the robot stops after rotating 180 degrees in situ, the central processing unit controls a platform lifting structure 4 to drive a front support frame 201 to descend, so that the Mecanum wheels 501 and universal wheels 204 of the front support frame 201 land, and then the robot moves down stairs;

the universal wheels 204 are adjusted to the maximum distance between the two Mecanum wheels 501 at the front part of the front support frame 201, the robot runs backwards, and the two Mecanum wheels 501 at the rear part of the rear support frame 301 start to hang in the air, as shown in FIG. 22;

the vertical distance measuring sensor III detects that the Mecanum wheel 501 at the rear part of the rear supporting frame 301 needs to be lowered in height data and the height data is in a set threshold range, the height data is the height of a first-stage descending step, and the height data is different from half of the maximum stroke of the first-stage descending step;

the difference value is less than or equal to 0, and the two Mecanum wheels 501 at the rear part of the rear supporting frame 301 descend to the first lower step to stop;

the difference value is larger than 0, the two Mecanum wheels 501 at the rear part of the rear support frame 301 descend to the maximum stroke and stop, the two height adjusting components at the front part of the rear support frame 301 drive the Mecanum wheels 501 to retract upwards, and the platform lifting structure 4 controls the rear support frame 301 to descend by the same height, and the height value is equal to the difference value;

At this time, the two Mecanum wheels 501 at the rear part of the rear supporting frame 301 are located on the first stage descending step, and the two Mecanum wheels 501 at the front part of the rear supporting frame 301 always touch the ground and play a supporting role in the process, as shown in FIG. 23;

the robot continues to travel backwards by the distance between the Mecanum wheel 501 at the rear part of the rear supporting frame 301 and the universal wheel 204;

when the universal wheel 204 is suspended, the front support frame 201 and the support platform 1 are driven by the platform lifting structure 4 to simultaneously reduce the height of the first-stage descending step, at this time, the universal wheel 204 is also positioned on the first-stage descending step, and the two Mecanum wheels 501 at the front part of the front support frame 201 are driven by the corresponding height adjusting components to retract upwards to the height of the first-stage descending step, so that the two Mecanum wheels 501 at the front part of the front support frame 201 still remain on the road surface, and the robot continues to travel, as shown in fig. 24;

the height data detected by the vertical ranging sensor III are located within the set threshold range again, the Mecanum wheel 501 at the rear part of the rear supporting frame 301 is suspended above the second-stage descending step again, and the height data of the second-stage descending step are detected, as shown in FIG. 25;

the robot continues to travel backwards, the central processor commands the horizontal adjusting component to drive the supporting wheel frame 203 and the universal wheel 204 to move forwards, the relative speed of the universal wheel 204 and the Mecanum wheel 501 at the front part of the front supporting frame 201 is consistent with the backward travel speed of the robot until the height data detected by the vertical distance measuring sensor II is within the set threshold range, and at the moment, the Mecanum wheel 501 at the front part of the rear supporting frame 301 is suspended above the first-stage descending step as shown in FIG. 26;

And taking a difference value between the height data detected by the vertical distance measuring sensor III at the time and the height data of the first-stage descending step;

the difference value is 0, the height of the second-stage descending step is the same as that of the first-stage descending step, and then the rear supporting frame 301 descends the height of the first-stage descending step under the driving of the platform lifting structure 4;

when the difference is greater than 0 and the second stage descending step is higher than the first stage descending step, the Mecanum wheel 501 at the front part of the rear support frame 301 descends by the height of the difference under the drive of the height adjusting component, and after the completion, the rear support frame 301 descends by the first stage descending step height under the drive of the platform lifting structure 4;

the difference value is smaller than 0, the second-stage descending step is lower than the first-stage descending step, the Mecanum wheel 501 at the front part of the rear support frame 301 is driven by the height adjusting component to ascend by the difference value, and after the difference value is completed, the rear support frame 301 is driven by the platform lifting structure 4 to descend by the first-stage descending step height;

at this time, the rear part of the rear supporting frame 301 is provided with the Mecanum wheel 501 which is arranged on the second stage descending step, and the front part of the rear supporting frame 301 is provided with the Mecanum wheel 501 which is arranged on the first stage descending step, as shown in FIG. 27;

the CPU commands the horizontal adjusting component to drive the supporting wheel frame 203 and the universal wheel 204 to move backwards to the maximum stroke, as shown in fig. 28;

The difference between the height of the second-stage descending step and the height of the first-stage descending step is 0, and the front supporting frame 201 descends the height of the first-stage descending step under the driving of the platform lifting structure 4;

the difference between the height of the second-stage descending step and the height of the first-stage descending step is greater than 0, the Mecanum wheel 501 at the front part of the front support frame 201 firstly descends by the height of the difference under the drive of the height adjusting component, and after the completion, the front support frame 201 descends by the height of the first-stage step under the drive of the platform lifting structure 4;

the difference between the height of the second-stage descending step and the height of the first-stage descending step is smaller than 0, the Mecanum wheel 501 at the front part of the front support frame 201 is firstly driven by the height adjusting component to ascend by the difference, and after the completion, the front support frame 201 is driven by the platform lifting structure 4 to descend by the height of the first-stage step;

at this time, the universal wheel 204 is on the second stage descending step, and the Mecanum wheel 501 at the front part of the front support frame 201 is on the first stage descending step, as shown in FIG. 29;

the robot continues to travel backwards and the step of straightening is repeated to realize the downward climbing of the multistage steps, as shown in figures 30 to 32;

as shown in fig. 33, the two universal wheels 204 at the rear of the front support frame 201 and the two mecanum wheels 501 at the rear of the rear support frame 301 are all climbed to the lowest road surface, as shown in fig. 33, the two mecanum wheels 501 at the front of the rear support frame 301 and the two mecanum wheels 501 at the front of the front support frame 201 are all located on the last-stage steps, the robot advances forward, when the vertical ranging sensor ii detects the height data in the set threshold range and the vertical ranging sensor iii does not detect the height data in the set threshold range, the corresponding height adjusting assembly drives the two mecanum wheels 501 at the front of the rear support frame 301 and the two mecanum wheels 501 at the front of the front support frame 201 to descend to the height of the last-stage steps in sequence, as shown in fig. 34 and 35, all wheels are located on the lowest road surface, and the robot completes climbing of the whole stairs and returns to the initial state.

Claims

1. An electric field inspection robot capable of climbing stairs is characterized in that: the device comprises a supporting platform (1), a front supporting structure (2), a rear supporting structure (3), a platform lifting structure (4) and a central processing unit, wherein the supporting platform (1) comprises an upper platform (101), a lower platform (102) and a supporting rod (103) fixedly connected with the upper platform (101) and the lower platform (102); the front supporting structure (2) comprises a front supporting frame (201), two wheel group height adjusting devices (5) arranged on the outer sides of two supporting legs at the front part of the front supporting frame (201), and two horizontal position adjusting devices (202) arranged on two sides of the rear part of the front supporting frame (201); the rear supporting structure (3) comprises a rear supporting frame (301) and four wheel group height adjusting devices (5) which are respectively arranged at the outer sides of four supporting legs at the lower part of the rear supporting frame (301); the front part of the rear supporting frame (301) is sleeved outside the rear part of the front supporting frame (201), and the rear supporting frame (301) and the front supporting frame (201) are both positioned below the upper platform (101);

the four groups of platform lifting structures (4) are arranged in total, wherein two groups of platform lifting structures (4) are symmetrically arranged between the supporting platform (1) and the front supporting structure (2), and the other two groups of platform lifting structures are symmetrically arranged between the supporting platform (1) and the rear supporting structure (3), and the platform lifting structures (4) control the upper platform (101) to be relatively close to/far away from the front supporting frame (201) or the rear supporting frame (301);

Wheels in the wheel set height adjusting device (5) adopt Mecanum wheels (501), and the wheel set height adjusting device (5) further comprises a height adjusting component and a motor I (502); the height adjusting component is arranged on the upper part of the Mecanum wheel (501) and drives the Mecanum wheel (501) to lift; the motor I (502) is fixedly arranged on one side of the Mecanum wheel (501) through a motor fixing block and drives the Mecanum wheel (501) to advance or turn;

a horizontal ranging sensor and a vertical ranging sensor are fixedly arranged on the inner side of one of the Mecanum wheels (501) at the front part of the front supporting frame (201); a horizontal ranging sensor and a vertical ranging sensor are fixedly arranged on the inner side of one of the Mecanum wheels (501) at the front part of the rear supporting frame (301), and a horizontal ranging sensor and a vertical ranging sensor are fixedly arranged on the inner side of one of the Mecanum wheels (501) at the rear part of the rear supporting frame (301); the probes of the horizontal distance measuring sensor and the vertical distance measuring sensor are positioned on the same horizontal plane and are close to the bottom of the Mecanum wheel (501); a horizontal ranging sensor is fixedly arranged right in front of the lower platform (102);

the horizontal position adjusting device (202) comprises a supporting wheel frame (203), universal wheels (204) and a horizontal adjusting assembly; the horizontal adjusting component is arranged at the upper part of the supporting wheel frame (203), and drives the supporting wheel frame (203) to horizontally move along the lateral cross rod of the front supporting frame (201); the lower end of the supporting wheel frame (203) is connected with a universal wheel (204);

The central processing unit is arranged on the supporting platform (1), and is respectively connected with a driver of the platform lifting structure (4), a driver of the height adjusting assembly, a driver of the horizontal adjusting assembly, a motor I (502), a horizontal ranging sensor and a vertical ranging sensor.

2. The stair climbing electric field inspection robot according to claim 1, wherein: the platform lifting structure (4) comprises two lifting motors (401), two belt pulleys (402), a transmission belt (403) and a belt fixing buckle (404); the two lifting motors (401) are respectively and correspondingly fixedly arranged on the bottom surface of the upper platform (101) and the top surface of the lower platform (102), and the rotating shafts of the lifting motors (401) are connected with the belt pulleys (402); the transmission belt (403) is connected with the two belt pulleys (402), and the transmission belt (403) is fixedly connected with the belt fixing buckle (404);

among the four belt fixing buckles (404), two belt fixing buckles (404) are symmetrically and fixedly installed at the middle parts of the inner sides of the transverse rods at the left side and the right side of the front supporting frame (201), and the other two belt fixing buckles (404) are symmetrically and fixedly installed at the middle parts of the outer sides of the transverse rods at the left side and the right side of the rear supporting frame (301).

3. The stair climbing electric field inspection robot according to claim 1, wherein: the height adjusting assembly comprises a screw motor I (503), a ball screw I (504), a screw nut I (505), a coupler I (506), a sliding block I (507) and a front fork (508); the screw rod motor I (503) is fixedly arranged on the front support frame (201) or the rear support frame (301); one end of the ball screw I (504) is connected with the screw motor I (503) through a coupler I (506), and the other end of the ball screw I (504) is connected with a screw nut I (505) and penetrates through an upper cross rod of the front fork (508); a sliding block I (507) is sleeved outside the screw rod nut I (505); the side part of the sliding block I (507) is in sliding connection with a sliding rail I correspondingly arranged on the supporting leg, and the lower part of the sliding block I (507) is fixedly connected with the upper part of the front fork (508); the lower part of the front fork (508) is connected with the Mecanum wheel (501).

4. The stair climbing electric field inspection robot according to claim 3, wherein: the front fork (508) is a shock-absorbing front fork.

5. The stair climbing electric field inspection robot according to claim 1, wherein: the horizontal adjusting assembly comprises a sliding rail II (205), a screw motor II (206), a ball screw II (207), a screw nut II (208), a coupler II (209) and a sliding block II (210); the sliding rail II (205) is fixedly arranged at the upper parts of transverse rods at the left side and the right side of the front supporting frame (201); the screw rod motor II (206) is fixed at the position, close to the front end, of the upper parts of the transverse rods on the left side and the right side of the front supporting frame (201), and the screw rod motor II (206) is connected with one end of the ball screw rod II (207) through a coupler II (209); the outside of the screw nut II (208) is sleeved with a sliding block II (210); the other end of the ball screw II (207) is connected with a screw nut II (208) and penetrates through a sliding block II (210); the lower part of the sliding block II (210) is in sliding connection with the sliding rail II (205).

6. A stair climbing method of a stair climbing electric field inspection robot, which is characterized by using the stair climbing electric field inspection robot according to claim 1: the robot keeps the initial state to advance and simultaneously carries out stair ascending or stair descending judgment, the stair ascending process is carried out when the robot judges that the robot ascends stairs, the robot rotates 180 degrees in situ when the robot judges that the robot descends stairs, and the stair descending process is carried out in a backward mode;

The universal wheel (204) is controlled to move in the horizontal direction through the horizontal adjusting component in the ascending stair process and the descending stair process, so that the universal wheel (204) is suitable for steps with different widths and is positioned at the edge of the corresponding step;

in the ascending and descending processes, the front support frame (201) and the rear support frame (301) are lifted or lowered through the platform lifting structure (4); lifting of the Mecanum wheel (501) is completed by driving of a corresponding height adjusting assembly and/or by lifting or lowering of a front support (201) or a rear support (301) connected with the Mecanum wheel; the Mecanum wheel (501) is lifted by the lifting of the front support frame (201) or the rear support frame (301) and the driving of the height adjusting component, so that the height compensation of the robot when climbing steps with different heights is completed.

7. The stair climbing method of the stair climbing electric field inspection robot according to claim 6, wherein the stair climbing method is characterized in that: the initial state is that the height adjusting components are located at half of the maximum stroke of the robot, the horizontal adjusting components are located at the maximum stroke of the robot, the supporting platform (1) is located at the lowest position of the robot, the front supporting frame (201) is lifted by a set distance to ensure that gaps are reserved between the front Mecanum wheels (501) and the universal wheels (204) and the ground, and the forward movement of the robot is completed by the four Mecanum wheels (501) of the rear supporting frame (301);

The horizontal ranging sensor and the vertical ranging sensor positioned at the inner side of the front Mecanum wheel (501) of the front supporting frame (201) are respectively marked as a horizontal ranging sensor I and a vertical ranging sensor I, the horizontal ranging sensor and the vertical ranging sensor positioned at the inner side of the front Mecanum wheel (501) of the rear supporting frame (301) are respectively marked as a horizontal ranging sensor II and a vertical ranging sensor II, the horizontal ranging sensor and the vertical ranging sensor positioned at the inner side of the rear Mecanum wheel (501) of the rear supporting frame (301) are respectively marked as a horizontal ranging sensor III and a vertical ranging sensor III, and the horizontal ranging sensor positioned at the front of the lower platform (102) is marked as a horizontal ranging sensor IV.

8. The stair climbing method of the stair climbing electric field inspection robot according to claim 7, wherein the stair climbing method is characterized in that: the specific method for adapting the universal wheel (204) to the steps with different widths in the ascending stair process is as follows:

the distance between the maximum travel position of the horizontal adjusting component and the front end of the front supporting frame (201) is stored in the central processing unit, the current travel of the universal wheel (204) is obtained through the central processing unit, so that the distance L between the universal wheel (204) and the front end of the front supporting frame (201) can be obtained through calculation, the width of a step on which the universal wheel (204) is to be lifted is obtained through detection of a horizontal distance measuring sensor I, and the width of the first step is subtracted by L to obtain the difference;

The difference is greater than 0, and the universal wheel (204) moves forward by the difference;

the difference is equal to 0, and the universal wheel (204) does not move;

the difference is less than 0, and the universal wheel (204) moves backwards by the distance of the difference;

the specific method for adapting the universal wheel (204) to steps with different widths in the stair descending process is as follows:

after the Mecanum wheel (501) at the rear part of the rear supporting frame (301) ascends to descend the step at the next stage, the horizontal adjusting component drives the supporting wheel frame (203) and the universal wheel (204) to move forwards on the step along with the backward travel of the robot, the relative speed of the universal wheel (204) and the Mecanum wheel (501) at the front part of the front supporting frame (201) is consistent with the backward travel speed of the robot, and the universal wheel (204) is ensured to be always positioned at the outer edge of the step until the height data detected by the vertical distance measuring sensor II is positioned in a set threshold range.

9. The stair climbing method of the stair climbing electric field inspection robot according to claim 7, wherein the stair climbing method is characterized in that: the height compensation comprises ascending stair height compensation and descending stair height compensation; the ascending stair height compensation specifically comprises the following steps:

firstly, two Mecanum wheels (501) at the front part of a front support frame (201) pre-climb an n+1th step, and firstly, the front support frame (201) and a support platform (1) synchronously ascend the height of the n-th step under the drive of a platform lifting structure (4);

Secondly, under the condition that the height of the n+1th step is equal to or lower than that of the n th step, calculating the height difference between the n+1th step and the n th step, wherein the height difference is zero, and the n+1th step is consistent with the n th step in height, so that the robot continues to advance; the height difference is a negative value, the n+1th step is lower than the n step, and then the two Mecanum wheels (501) at the front part of the front support frame (201) are driven by the height adjusting component to descend, wherein the descending height is the difference between the n+1th step and the n step;

under the condition that the height of the n+1th step is larger than that of the n th step, the central processing unit commands the two height adjusting components at the front part of the front supporting frame (201) to drive the Mecanum wheel (501) to ascend until the distance data detected by the horizontal distance measuring sensor I is larger than a set threshold I, and the vertical distance measuring sensor I returns the height data at the moment, wherein the height data is the height of the n+1th step; at this time, the difference between the height of the n+1th step and the height of the n step is positive, and the two Mecanum wheels (501) at the front part of the front support frame (201) can mount the n+1th step, and simultaneously the two universal wheels (204) at the rear part of the front support frame (201) can mount the n step;

Then, at the moment, the two Mecanum wheels (501) at the front part of the rear supporting frame (301) do not mount the n+1th step, the two Mecanum wheels (501) at the rear part of the rear supporting frame (301) do not mount the n-th step, and two pieces of height information are arranged in the central processing unit;

when the height data of the nth stage is the same as the height data of the (n+1) th stage, the central processing unit directly commands the platform lifting structure (4) to drive the rear supporting frame (301) to lift according to the height data;

when the height data of the n+1th step is larger than that of the n step, the central processing unit commands the platform lifting structure (4) to drive the rear supporting frame (301) to lift the n step, and simultaneously commands the two height adjusting components at the front part of the rear supporting frame (301) to drive the Mecanum wheel (501) to lift the height of the two steps, at the moment, the rear supporting front wheel can be used for boarding the n+1th step, and the rear supporting rear wheel can be used for boarding the n step;

when the height data of the n+1th step is smaller than that of the n step, the central processing unit commands the platform lifting structure (4) to drive the rear supporting frame (301) to lift the n+1th step, and simultaneously commands the two Mecanum wheels (501) at the rear part of the rear supporting frame (301) to lift the height of the two step height differences;

At this time, the two Mecanum wheels (501) at the front part of the rear supporting frame (301) can be stepped on the n+1th stage, and the two Mecanum wheels (501) at the rear part of the rear supporting frame (301) can be stepped on the n-th stage.

10. The stair climbing method of the stair climbing electric field inspection robot according to claim 7, wherein the stair climbing method is characterized in that: the height compensation comprises ascending stair height compensation and descending stair height compensation; the down stairs height compensation is specifically as follows:

a. under the condition of descending the first-stage descending step, at the moment, the Mecanum wheels (501) at the rear part of the rear supporting frame (301) are suspended, the universal wheels (204) are adjusted to the maximum distance between the two Mecanum wheels (501) at the front part of the front supporting frame (201) and play a supporting role, the vertical distance measuring sensor III detects that the Mecanum wheels (501) at the rear part of the rear supporting frame (301) need to be lowered, and the height data are positioned in a set threshold range, and the height data are the height of the first-stage descending step, and take the difference value from half of the maximum stroke of the height data;

the difference value is smaller than or equal to 0, and two Mecanum wheels (501) at the rear part of the rear supporting frame (301) are lowered to the first lower-stage step to stop;

the difference value is larger than 0, two Mecanum wheels (501) at the rear part of the rear support frame (301) are lowered to the maximum stroke to stop, the two height adjusting components at the front part of the rear support frame (301) drive the Mecanum wheels (501) to retract upwards, and the platform lifting structure (4) controls the rear support frame (301) to descend by the same height, and the height value is equal to the difference value;

At the moment, two Mecanum wheels (501) at the rear part of the rear supporting frame (301) are positioned on the first-stage descending step, and the two Mecanum wheels (501) at the front part of the rear supporting frame (301) are always positioned on the uppermost road surface and play a supporting role in the process;

the robot continues to retreat, the front support frame (201) and the support platform (1) are driven by the platform lifting structure (4) to simultaneously reduce the height of a first-stage descending step after the universal wheel (204) is suspended, at the moment, the universal wheel (204) is also positioned on the first-stage descending step, and the two Mecanum wheels (501) at the front part of the front support frame (201) are driven by the corresponding height adjusting components to retract upwards to the height of the first-stage descending step, so that the two Mecanum wheels (501) at the front part of the front support frame (201) are still kept on the ground;

the difference value is 0, the height of the m+1th descending step is the same as that of the m th descending step, and the rear supporting frame (301) descends the height of the m th descending step under the driving of the platform lifting structure (4);

the difference value is larger than 0, the m+1th descending step is higher than the m descending step, the Mecanum wheel (501) at the front part of the rear supporting frame (301) firstly descends the height of the difference value under the drive of the height adjusting component, and after the completion, the rear supporting frame (301) descends the m step height under the drive of the platform lifting structure (4);

The difference value is smaller than 0, the m+1th descending step is lower than the m descending step, the Mecanum wheel (501) at the front part of the rear supporting frame (301) is driven by the height adjusting component to ascend the height of the difference value, and after the difference value is completed, the rear supporting frame (301) is driven by the platform lifting structure (4) to descend the m descending step;

at the moment, the Mecanum wheel (501) at the rear part of the rear supporting frame (301) is arranged on the m+1th descending step, and the Mecanum wheel (501) at the front part of the rear supporting frame (301) is arranged on the m-th descending step;

the central processing unit commands the horizontal adjusting component to drive the supporting wheel frame (203) and the universal wheel (204) to move backwards to the maximum stroke;

the difference between the height of the (m+1) -th descending step and the height of the (m) -th descending step is 0, and the front supporting frame (201) descends the height of the (m) -th descending step under the driving of the platform lifting structure (4);

the difference between the height of the m+1th descending step and the height of the m-th descending step is larger than 0, a Mecanum wheel (501) at the front part of the front support frame (201) firstly descends the height of the difference under the drive of a height adjusting component, and after the completion, the front support frame (201) descends the height of the m-th descending step under the drive of a platform lifting structure (4);

the difference between the height of the m+1th descending step and the height of the m-th descending step is smaller than 0, a Mecanum wheel (501) at the front part of the front support frame (201) is driven by a height adjusting assembly to ascend by the difference, and after the difference is finished, the front support frame (201) is driven by a platform lifting structure (4) to descend the height of the m-th descending step;

At this time, the universal wheel (204) is arranged on the m+1th descending step, and the Mecanum wheel (501) at the front part of the front supporting frame (201) is arranged on the m-th descending step.