Obstacle-crossing pole climbing robot and working method thereof

Abstract

The application discloses a barrier-crossing pole-climbing robot and a barrier-crossing method thereof. The mechanism main body is composed of two support arm groups and a support main frame. Each support arm group is composed of two support arms, and the length of the support arms can be adjusted. The support arm groups are connected with elastic track supports through driven support mechanisms to drive tracks. Each group is connected with three driving tracks to form an equilateral triangle. Elastic elements are distributed on the tracks. When working, the arms are clamped to deform and adhere to the curved surface, which protects the pole body and makes it easier to climb. Each support arm group is connected with a servo motor, and the opening and closing of the support arm group is controlled through a control circuit. The two track driving mechanisms are arranged, and the arms are clamped and telescopic. The robot can climb poles of different diameters, cross obstacles on the ring-shaped pole and prominent obstacles, and retain the vertical climbing ability.

Description

Technical Field

[0001] This invention pertains to mobile robot technology, specifically relating to an obstacle-crossing and pole-climbing robot and its operating method. Background Technology

[0002] Obstacle-crossing and pole-climbing technology for robots is an important technology in the field of robotics research. Overcoming obstacles and climbing are among the tasks that robots frequently need to perform in practical work. The application of robots is becoming increasingly widespread in industries such as industry, military, and medicine. In situations where high-altitude work is difficult for human workers to perform or where their safety is significantly threatened, pole-climbing robots can replace them in completing tasks such as damage inspection of utility poles or vertically installed tall pipes. They can also facilitate the installation of auxiliary equipment for these operations, effectively reduce the occurrence of personnel safety accidents, and improve work efficiency.

[0003] There are many structural types of obstacle-climbing robots. Current research mainly uses wheeled, tracked, and arm-type mechanisms. Wheeled pole-climbing robots use motor-driven friction wheels to climb, resulting in fast and stable movement and simple control, but they are not suitable for pole-climbing conditions requiring obstacle crossing. Tracked structures are similar to wheeled structures, with even smoother operation, but they are larger in size, limited by the size of the target pole, and difficult to achieve obstacle crossing. Arm-type structures use a driven robotic arm to alternately clamp and release to climb, providing greater clamping force and thus greater load capacity, and also enabling obstacle crossing, but their control is complex and their movement speed is limited. Tracked structures are similar to wheeled structures, with even smoother operation, but traditional tracked structures are larger in size, limited by the size of the target pole, and difficult to achieve obstacle crossing. Summary of the Invention

[0004] To address the aforementioned issues and overcome the shortcomings of existing technologies, this invention provides a simplified obstacle-crossing and pole-climbing robot. Recognizing the problem of pole-climbing devices easily damaging the pole's surface, a tracked climbing method is employed. Compared to traditional tracks, this invention uses a small track with a built-in motor. Its relatively independent structure facilitates obstacle crossing. Furthermore, numerous elastic units are distributed along the track strips. When clamping the pole, these elastic units contract under pressure, resulting in a higher degree of contact between the track strip surface and the pole. Compared to traditional tracks, this provides less pressure per unit area on the pole surface, but with greater overall friction. This solves the contradictory technical problem of needing both high pressure (sufficient support force to prevent the robot from slipping) and low pressure (avoiding excessive pressure on the pole surface that could affect its lifespan) during climbing. Additionally, the extendable structure on the support arm, along with the elastic margins of the track and support frame, allows for adaptation to a wider range of pole environments.

[0005] The technical solution adopted by the present invention is as follows: The present invention consists of a track drive mechanism, a support system, a control module, and a sensing and detection module.

[0006] The track drive mechanism of the present invention consists of two sets of adaptive terrain tracks with a total of six built-in motors. Each track consists of track strips, track skeleton, drive motor, transmission shaft bevel gear system, drive gear set, and driven gear set.

[0007] The track strip of the present invention is composed of alternating basic rack 1 and rack 2, wherein basic elastic elements are installed on the two types of racks, and each elastic element is composed of a spring limiting cylinder and a spring base;

[0008] The rack 2 consists of a rack body, a rack pad, and two rack nuts;

[0009] During installation, the mounting rods on both sides of the rack body of each rack 2 are inserted into the mounting rod mounting holes of two racks 1 respectively. Each rack 1 has two mounting rod mounting holes on the left and right. Then, the rack pad is installed and the rack nut is installed. Racks 1 and rack 2 are installed alternately. Finally, the ends are installed and closed to form the main body of the track strip.

[0010] The rack 1 and rack 2 have evenly distributed elastic element mounting holes. A spring sleeve is inserted from below each elastic element mounting hole, and then a spring base is placed in. The spring base is locked into the locking slot at the bottom of the rack 1 and rack 2 to complete the fixation. After each elastic element is installed, the track strip installation is completed.

[0011] The track strips are fitted onto the track frame, and the drive motor is built into the frame. The drive motor is transmitted to the drive gear set of the track through the bevel gear system of the transmission shaft. The racks of the drive gear set and the driven gear set are locked between two adjacent rack pads. As the drive gear set rotates, the track strips also rotate, thus completing the track drive.

[0012] When the robot is climbing normally, the elastic elements on the track strips will be compressed and contracted, making the track strips fit the surface more closely, increasing the contact area, making the climbing more stable, and protecting the surface of the rod.

[0013] The support system of the present invention consists of a first support arm assembly, a main frame, and a second support arm assembly. The first and second support arm assemblies have the same structure and are installed at both ends of the main frame.

[0014] The first support arm assembly consists of two support arms, one driven support mechanism, two elastic track supports, a drive gear, and a driven gear.

[0015] The support arm consists of a front straight bracket and a rear 60-degree angle bracket, which are connected by a telescopic rack. The length of the rack is controlled by the adjustment knob on the arm, thereby controlling the length of the support arm. The two support arms are respectively mounted on the driving gear and the driven gear, with the mounting point located on the front straight bracket. The driving gear and the driven gear are mounted on the gear frame at one end of the main frame.

[0016] The driven support mechanism of this invention consists of a connecting support 1, a connecting support 2, two rotating supports, and two track-side connecting supports. The connecting support 1 and the connecting support 2 are hinged together on their central axes. One end of the connecting support 1 is hinged to the mounting point of the front straight support of the two support arms, with the mounting points being symmetrical. The other end is hinged to the rotating support, which is then hinged to the track-side connecting supports. The track-side connecting supports are installed on both sides of one track.

[0017] By connecting bracket 1 and bracket 2, and hinged to two rotating brackets, when the support arm assembly is opened, the track moves only along the bisector of the angle of the support arm assembly, thereby driving the track away from the rod.

[0018] The elastic track bracket consists of a connecting base, a spring pressure telescopic mechanism, and a track connecting bracket. The connecting base is installed on the rear 60-degree angle bracket of the support arm, with the installation point symmetrical to the angle bisector. Each elastic track bracket is equipped with one track, and the track position is located on the angle bisector of the rear 60-degree angle bracket of the support arm.

[0019] During normal operation, the support arm assembly is an equilateral triangle with tracks distributed along the angle bisector. The two support arms are connected by a drive gear and a driven gear. The drive gear and driven gear are mounted on gear frames at both ends of the main frame. The drive gear is connected to a servo motor via a drive shaft, and the servo motor is located on the main frame. The driven gear is connected to a rotating base on the main frame via a driven shaft. The servo motor drives the drive gear to rotate and open the two arms synchronously. The driven support mechanism drives the connected tracks to lift along the angle bisector, thus enabling all three tracks to leave the support body simultaneously.

[0020] The two vision sensors described in this invention work together. When vision sensor 1 detects a ring-shaped obstacle at the front of the pole, the control circuit stops the drive motor, and simultaneously the servo motor 1 operates, the two arms open, and the three tracks on the first support arm group simultaneously leave the pole, driven by the tracks on the second support arm group. During single-group drive, vision sensor 1 and vision sensor 2 detect the motion state. When the first support arm group has completely passed the ring-shaped obstacle while the second support arm group has not reached the obstacle, the drive motor stops, the servo motor 1 operates, and the first support arm group resets and clamps. The obstacle-crossing steps for the second support arm group are the same as for the first support arm group. When vision sensor 2 detects a ring-shaped obstacle at the front of the pole, the obstacle-crossing method is the same.

[0021] Throughout the obstacle crossing process, the Bluetooth module simultaneously transmits sensor information to the ground computer in real time, enabling remote real-time monitoring and control of the working status.

[0022] When the telescopic arm is facing a cylindrical target pole, the gear position needs to be adjusted consistently. When climbing irregular objects, different gear positions can be adjusted to the left and right as needed.

[0023] The power source described in this invention provides energy to the control circuit, vision sensor, servo motor, and track-integrated drive motor.

[0024] The present invention has the following advantages: By setting up two sets of track drive mechanisms, as well as having arm clamping and arm extension functions, the present invention can realize the robot's climbing operation on rods of different diameters, as well as obstacle climbing operation on rods with ring obstacles and more prominent obstacles, while retaining the ability to climb vertically. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 for Figure 1 Structural diagram of the track;

[0027] Figure 3 A structural diagram of the basic components of a track strip;

[0028] Figure 4 A partial structural cross-sectional view of the installation of the elastic element of the track strip;

[0029] Figure 5 A schematic diagram showing the installation of the main body of the track strip;

[0030] Figure 6 This is a structural diagram of the track support system;

[0031] Figure 7 This is a schematic diagram of the structure of the first support arm assembly of the present invention;

[0032] Figure 8 This is a schematic diagram of the elastic track support and driven support mechanism of the present invention;

[0033] Figure 9 This is a schematic diagram of the support arm of the present invention;

[0034] Figure 10 This is a schematic diagram of the main frame of the present invention and the sensing and control module mounted on it;

[0035] Figure 11 This is a flowchart illustrating the robot's obstacle-crossing process according to the present invention.

[0036] The markings in the image are as follows:

[0037] 1- Track drive mechanism; 2- Support system; 3- Sensor detection module; 4- Control module;

[0038] 101-Track strip; 102-Track frame; 103-Drive shaft bevel gear system; 405-Drive motor; 104-Driven gear set; 105-Drive gear set;

[0039] 10101-Rack 1, 10102-Rack 2; 10103-Spring base; 10104-Spring base;

[0040] 10102a - Rack body; 10102b - Rack pad; 10102c - Rack nut; 101a - Elastic element mounting port; 101b - Mounting rod 1; 101c - Mounting rod 2;

[0041] 20a - First support arm assembly; 20b - Main frame; 20c - Second support arm assembly;

[0042] 201-Driven support mechanism; 202-Elastic track support; 203-Support arm; 204-Driving gear; 205-Driven gear;

[0043] 20101-Connecting bracket 1; 20102-Connecting bracket 2; 20103-Rotating bracket; 20104-Track lateral connecting bracket; 20201-Connecting base; 20202-Spring pressure telescopic mechanism; 20203-Track connecting bracket; 20301-Front end straight bracket; 20302-Rear end 60-degree angle bracket; 20303-Telescopic rack; 20304-Adjustment knob;

[0044] 301 - Vision Sensor 1; 302 - Vision Sensor 2; 401 - Control Circuit; 402 - Power Supply; 403 - Servo Motor 1; 404 - Servo Motor 2; 406 - Bluetooth Module Detailed Implementation

[0045] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0046] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0047] In this invention, terms such as "upper," "lower," "bottom," and "top" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are merely relational terms determined for the convenience of describing the structural relationship of the various components or elements of this invention, and do not specifically refer to any particular component or element in this invention, and should not be construed as limiting this invention.

[0048] In this invention, terms such as "connected" and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of these terms in this invention based on the specific circumstances, and they should not be construed as limitations on the invention.

[0049] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0050] like Figure 1 As shown, an obstacle-crossing and pole-climbing robot includes four parts: a support frame, a track drive mechanism, a control module, and a sensing and detection module. The track drive mechanism consists of a first drive track group and a second drive track group. Each track group consists of three adaptive terrain tracks with built-in motors. The tracks are mounted on the support arm group through a driven support mechanism and an elastic track mechanism.

[0051] like Figure 2 The diagram shows the structure of a track, which consists of track strips, track frame, drive motor, transmission shaft bevel gear system, drive gear set, and driven gear set. The drive motor is driven by the transmission shaft bevel gear system, with the motor connected to the forward shaft and the drive gear set connected to the lateral shaft. The racks of the drive gear set and the driven gear set are engaged between adjacent rack pads of the track strips, and the drive gear set drives the track strips to rotate, thus completing the track drive.

[0052] like Figure 3 As shown, the track strip consists of two basic racks, a spring base, and a spring sleeve;

[0053] like Figure 3 and Figure 4 As shown, the racks 1 and 2 have evenly distributed elastic element mounting openings that penetrate the main body of the racks 1 and 2. At the top, there is a limiting baffle with a side length slightly smaller than the mounting opening, through which the outer body of the spring sleeve can pass. Each spring sleeve also has a limiting baffle at the bottom, the side length of which is exactly the inner side length of the mounting opening. The spring sleeve is inserted from the bottom of the elastic element mounting opening, and then the spring from the spring base is placed into the spring sleeve. The bottom plate is then engaged with the pre-reserved bottom plate grooves on the racks 1 and 2, closing and fixing the assembly. This completes the installation of one elastic element.

[0054] like Figure 1 , Figure 4 and 5 As shown, rack 1 and rack 2 are installed alternately. Rack 2 consists of a rack body, a rack pad, and two rack nuts. Each rack 1 has a mounting rod mounting hole on both sides. During installation, the mounting rod 1 on the left side of the rack body is inserted into the mounting rod mounting hole on the right side of one rack 1, and then the mounting rod 2 on the right side is inserted into the mounting rod mounting hole on the left side of another rack 1. After that, the rack pad is installed, and the rack nuts are installed. Rack 1 and rack 2 are installed alternately, and finally they are closed end to end to form the main body of the track strip. Then, all the elastic elements are installed on rack 1 and rack 2, thus completing the installation of the track strip.

[0055] like Figure 6 As shown, the support system consists of a first support arm assembly, a main frame, and a second support arm assembly, wherein the first support arm assembly and the second support arm assembly have the same structure and are installed at both ends of the main frame;

[0056] like Figure 1 and Figure 7 As shown, the support arm assembly consists of a left support arm and a right support arm. In normal operation, the angle is 60 degrees. The angle parameter can be modified by computer when the arm is raised. Each support arm has an elastic track bracket installed at the rear 60-degree angle bracket, with the installation point symmetrical about the angle bisector. The front straight brackets of the left and right support arms are connected to a driven support mechanism. Each driven support mechanism and the elastic track bracket are connected to a track. During normal climbing, the tracks are distributed in an equilateral triangle along the direction of the pole.

[0057] like Figure 8 As shown, the driven support mechanism consists of a connecting support 1, a connecting support 2, two rotating supports, and two track side connecting supports; the connecting support 1 and the connecting support 2 are hinged to the central axis, one end is hinged to the mounting point of the front straight support of the two support arms, and the other end is hinged to the rotating support, which is hinged to the track side connecting support; the elastic track support consists of a connecting base, a spring pressure telescopic mechanism, and a track connecting support.

[0058] like Figure 7 and Figure 9 As shown, the support arm consists of a front straight bracket and a rear 60-degree angle bracket, which are connected by a telescopic rack. The exposed length of the telescopic rack is adjusted by adjusting the knob, thereby controlling the length of the support arm. The two support arms are respectively mounted on the driving gear and the driven gear, with the mounting point located on the front straight bracket.

[0059] like Figure 10As shown, the driving gear and the driven gear are installed at both ends of the main frame. The driving gear is connected to the servo motor through a shaft, and the driven gear is connected to the rotating base on the main frame. Both the servo motor and the rotating base are located on the main frame.

[0060] The vision sensor is located on the main frame.

[0061] The power supply is located on the main frame and provides energy to the motors, control circuits, and vision sensors.

[0062] The control module is located on the main frame and controls the robot's operation by transmitting information through the sensor detection module. At the same time, the Bluetooth module on the main frame can remotely transmit information to enable control by a ground computer.

[0063] An obstacle-crossing and pole-climbing robot, the specific implementation of which is as follows:

[0064] The obstacle-crossing and pole-climbing robot proposed in this application can adapt to most poles with ring-shaped obstacles, as well as poles with more prominent obstacles, such as road signs.

[0065] When the rods are of different thicknesses, the gear can be adjusted in advance before installation, taking into account the elasticity of the track's elastic elements and the elastic margin of the telescopic track bracket, to find the appropriate gear.

[0066] The process of climbing and overcoming obstacles on the pole is as follows: Figure 11 As shown in the flowchart, the specific process is as follows:

[0067] First, open the front and rear support arms (the support arms can be mechanically adjusted), place the robot on the rod, then reset it and adjust the appropriate setting to clamp the rod.

[0068] Power on, initialize relevant data, including the working power of the drive motor, and the rotation angle of servo motor 1 and servo motor 2 when working; start the robot, the robot climbs along the pole by the drive of the track, the two vision sensors work, and the ground receives signals and images for control via Bluetooth module.

[0069] When the visual sensor detects an obstacle at the front of the pole, such as a circular obstacle, it will first stop moving.

[0070] First, the control module controls the front support arm assembly to open in the direction of travel, which is achieved through a combination of servo motors and gears.

[0071] Among them, the opening angle is preset. If the preset angle is not suitable, the parameters can be modified in real time through ground control until the angle is suitable.

[0072] Once the robot opens, it is driven forward by the tracks at the rear of the direction of travel.

[0073] The robot stops once the two sensors detect that the front track has completely crossed the circular obstacle.

[0074] Afterwards, the control module will control the front support arm module in the direction of travel to reset and clamp, and then control the rear support arm assembly to lift.

[0075] The control module controls the track assembly at the front of the robot to work in the direction of travel, and the robot continues to move forward.

[0076] The robot stops when the rear-end sensors detect that the rear track has completely crossed the circular obstacle.

[0077] The control module will control the rear support arm assembly to reset and clamp in the direction of travel, and then continue climbing.

[0078] This completes the process of the two traveling arms bypassing obstacles such as road signs.

[0079] The entire obstacle-crossing process is monitored in real time from the ground. In case of emergencies, the robot's automatic operation can be interrupted for manual remote control.

[0080] For any parts not mentioned in this invention, existing technologies can be used or referenced.

[0081] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, they are not intended to limit the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. An obstacle-crossing and pole-climbing robot, characterized in that: Track drive mechanism (1), support system (2), sensing and detection module (3), control module (4); The track drive mechanism (1) consists of 2 sets of 6 tracks. The track consists of track strips (101), track frame (102), drive motor (405), transmission shaft bevel gear system (103), drive gear set (105) and driven gear set (104). The track strip (101) is fitted onto the track frame (102), and the drive motor (405) is built into the frame and connected to the transmission shaft bevel gear system (103) to drive the drive gear set (105). The drive gear set (105) drives the track strip (101) to complete the track drive. The track strip (101) is composed of rack 1 (10101), rack 2 (10102), spring base (10103), and spring sleeve (10104); rack 2 (10102) is composed of rack body (10102a), rack pad (10102b), and two rack nuts (10102c); each rack 1 (10101) has mounting holes on both sides, and during installation, the rack body (10101)... 2a) Insert mounting rod 1 (101b) into the mounting rod mounting port on one side of rack 1 (10101), and insert mounting rod 2 (101c) into the mounting rod mounting port on one side of rack 1 (10101). Then install rack pad (10102b) and rack nut (10102c). Rack 1 (10101) and rack 2 (10102) are installed alternately and finally closed end to end to form the main body of track strip (101). The rack 1 (10101) and rack 2 (10102) have elastic element mounting holes (101a) evenly distributed. Spring sleeves (10104) and spring bases (10103) are inserted sequentially from the bottom of each elastic element mounting hole (101a) to complete the installation of the track strip (101). The support system (2) consists of a first support arm assembly (20a), a main frame (20b), and a second support arm assembly (20c), wherein the first support arm assembly (20a) and the second support arm assembly (20c) are installed at both ends of the main frame (20b); the first support arm assembly (20a) consists of two support arms (203), one driven support mechanism (201), two elastic track supports (202), a drive gear (204), and a driven gear (205); the second support arm assembly (20c) has the same structure as the first support arm assembly (20a); The support arm (203) consists of a front straight bracket (20301) and a rear 60-degree angle bracket (20302). The front straight bracket (20301) and the rear 60-degree angle bracket (20302) are connected by a telescopic rack (20303). The exposed length of the telescopic rack (20303) is adjusted by adjusting the knob (20304), thereby controlling the length of the support arm (203). The two support arms (203) are respectively mounted on the driving gear (204) and the driven gear (205). The mounting point is located at the front straight bracket (20301). The driving gear (204) and the driven gear (205) are mounted on the gear frame at one end of the main frame (20b). The driven support mechanism (201) consists of a connecting support 1 (20101), a connecting support 2 (20102), two rotating supports (20103), and two track-side connecting supports (20104); the connecting support 1 (20101) and the connecting support 2 (20102) are hinged to the central axis, one end is hinged to the mounting point of the front straight support (20301) of the two support arms (203), and the other end is hinged to the rotating support (20103), and the rotating support (20103) is hinged to the track-side connecting supports (20104); The elastic track support (202) consists of a connecting base (20201), a spring pressure telescopic mechanism (20202), and a track connecting support (20203). The connecting base (20201) is installed on the rear 60-degree angle support (20302) of the support arm (203), and the installation point is symmetrical about the angle bisector.

2. The obstacle-crossing and pole-climbing robot according to claim 1, wherein the length of the track strip (101), i.e. the number of racks 1 (10101) and racks 2 (10102), varies according to the size of the track frame (102).

3. In the obstacle-crossing and pole-climbing robot according to claim 1, the bottom plate of the spring base (10103) is engaged in the slot at the bottom of the elastic element mounting port (101a), thereby restricting the spring sleeve (10104) within the elastic element mounting port (101a).

4. The obstacle-crossing and pole-climbing robot according to claim 1, wherein the sensing and detection module (3) is composed of a vision sensor 1 (301) and a vision sensor 2 (302).

5. The obstacle-crossing and pole-climbing robot according to claim 4, wherein the control module (4) consists of a control circuit (401), a power supply (402), a Bluetooth module (406), a servo motor 1 (403), a servo motor 2 (404), and six drive motors (405) built into the tracks.

6. The working method of the obstacle-crossing and pole-climbing robot according to claim 5, characterized in that: S1 Installation of the pole climbing robot: Open the first support arm group (20a) and the second support arm group (20c) of the robot, place them on the pole, then reset the first support arm group (20a) and the second support arm group (20c), adjust the support arm (203) position, and make the track clamp the pole; S2 Start-up Device: Power supply (402) is turned on, and relevant data is initialized, including the working power of drive motor (405) and the rotation angle of servo motor 1 (403) and servo motor 2 (404) when working; The control module (4) is located on the main frame, and collects signals through vision sensor 1 (301) and vision sensor 2 (302), transmits information to the control circuit (401), and controls the working status of servo motor 1 (403), servo motor 2 (404) and 6 drive motors (405); At the same time, the Bluetooth module (406) transmits information to the ground computer, so as to achieve remote real-time monitoring and real-time control of the working status during operation; S3 Obstacle Crossing: When vision sensor 1 (301) and vision sensor 2 (302) are in operation, when vision sensor 1 (301) detects an obstacle in front of the pole, the control circuit (401) stops the drive motor (405), and the servo motor 1 (403) operates. The first support arm assembly (20a) opens under the drive of the drive gear (204) and driven gear (205), and through the action of the driven bracket mechanism (201) and the elastic track bracket (202), the connected track is lifted. At this time, the track assembly installed on the second support arm assembly (20c) drives forward. After vision sensor 1 (301) and vision sensor 2 (302) detect that the first support arm assembly (20a) has completely crossed the obstacle, The control circuit (401) stops the drive motor (405), the servo motor 1 (403) starts working, the first support arm assembly (20a) resets and clamps, then the servo motor 2 (404) starts working, driving the second support arm assembly (20c) to lift. At this time, the track assembly installed on the first support arm assembly (20a) drives forward. After the vision sensor 1 (301) and vision sensor 2 (302) detect that the second support arm assembly (20c) has completely crossed the obstacle, the control circuit (401) stops the drive motor (405), the servo motor 2 (404) starts working, the second support arm assembly (20c) resets, and the obstacle crossing is completed. When the vision sensor 2 (302) detects that there is an obstacle in front of the pole, the obstacle crossing method is the same.

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