Antennal type detecting device and method for detecting heights and depths of stairs

The invention provides an antennal type detecting device and method for detecting heights and depths of stairs. The antennal type detecting device for detecting heights and depths of stairs is characterized by comprising an ultrasonic wave sensor and an antennal type detecting device; the ultrasonic wave sensor is arranged at the bottom of the outer wall of a mechanical leg of a stair-climbing robot and capable of lifting along with the lift of the mechanical leg; the antennal type detecting device comprises a supporting frame; the supporting frame is fixed on the outer wall of the mechanical leg of the stair-climbing robot; the supporting frame is provided with a motor and an L-shaped antennal driving shaft; the L-shaped antennal driving shaft is provided with an L-shaped antenna; the motor can drive the L-shaped antenna to rotate through the L-shaped antennal driving shaft; the L-shaped antennal driving shaft is provided with an angle sensor; a crash sensor is arranged at the front end of the L-shaped antenna. The antennal type detecting device is low in cost, simple in technology, high in resolution and accurate in information, and is suitable for being popularized in other automatic detecting devices.