Sinking control method and related device

Abstract

The invention discloses a sinking control method and a related device, and the method is applied to an underwater robot, and comprises the steps: obtaining the body posture information of the underwater robot, and determining the relative position relation between a water inlet of the underwater robot and the water surface; motor control parameters matched with the relative position relation and the fuselage attitude information are determined, and a motor is controlled to operate according to the determined motor control parameters, so that water flow is driven by the motor to enter the underwater robot shell; and if it is detected that the underwater robot meets a preset sinking completion condition, determining that the underwater robot completes sinking. The control parameters of motor operation are adaptively adjusted based on the posture information of the machine body and the position relation of the water inlet relative to the water surface, so that water flow can effectively enter the shell of the robot in different posture states, the water filling process in the shell is accelerated, and the overall weight of the robot is increased; rapid and stable sinking of the underwater robot is achieved, and the underwater entering efficiency and the use stability of the underwater robot are improved.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to sinking control methods and related devices. Background Technology

[0002] When underwater robots are deployed in water, they typically need to sink to the bottom to perform cleaning tasks properly. Underwater robots are usually equipped with components such as motors, pumps, and sensors. Due to the presence of cavities inside the robot, such as the waste compartment, motor compartment, and control compartment, the internal air will cause the robot to float on the surface of the water initially, making it difficult for it to sink on its own.

[0003] In existing technologies, underwater robots typically employ a method of continuously running a water pump to introduce external water into the machine by draining water, increasing its overall weight to achieve descent. The pump continuously expels air from the machine while simultaneously drawing in water until the robot's weight exceeds its buoyancy and it sinks to the bottom.

[0004] However, in the aforementioned existing technology, when the water pump is running for a long time and the robot is not fully submerged, the recoil force generated by the exhaust and drainage will cause the robot to drift horizontally on the water like a boat, making it impossible for the robot to sink into the predetermined position quickly and accurately, thus affecting the efficiency of the robot's normal operation. Summary of the Invention

[0005] In view of the above problems, this application provides a sinking control method and related device to adjust the underwater robot's water entry process according to the robot's attitude control motor control parameters during the underwater robot's descent, thereby improving the underwater robot's sinking stability and reducing surface drift. The specific solution is as follows:

[0006] The first aspect of this application provides a sinking control method for an underwater robot, the method comprising:

[0007] Obtain the body attitude information of the underwater robot and determine the relative positional relationship between the underwater robot's water inlet and the water surface;

[0008] Determine motor control parameters that match the relative positional relationship and the body attitude information, and control the motor to operate according to the determined motor control parameters so as to drive water flow into the underwater robot shell through the motor;

[0009] If the underwater robot is detected to meet the preset sinking completion conditions, then the underwater robot is confirmed to have completed sinking.

[0010] A second aspect of this application provides a sinking control device, comprising:

[0011] The first determining module is used to acquire the body posture information of the underwater robot and determine the relative positional relationship between the water inlet of the underwater robot and the water surface;

[0012] The second determining module is used to determine motor control parameters that match the relative position relationship and the body posture information, and control the motor to run according to the determined motor control parameters so as to drive water flow into the underwater robot shell through the motor;

[0013] The detection module is used to confirm that the underwater robot has completed its descent if it detects that the underwater robot meets the preset descent completion conditions.

[0014] A third aspect of this application provides an underwater robot, including at least one processor and a memory connected to the processor, wherein:

[0015] The memory is used to store computer programs;

[0016] The processor is used to execute the computer program so that the underwater robot can implement the sinking control method of the first aspect or any implementation thereof.

[0017] A fourth aspect of this application provides a computer storage medium carrying one or more computer programs that, when executed by an underwater robot, enable the underwater robot to perform the sinking control method described in the first aspect or any implementation thereof.

[0018] The fifth aspect of this application provides a computer program product including computer-readable instructions that, when executed on an underwater robot, cause the underwater robot to implement the sinking control method described in the first aspect or any implementation thereof.

[0019] By employing the aforementioned technical solution, this application acquires the underwater robot's body attitude information and determines the relative positional relationship between the water inlet and the water surface. Then, based on the relative positional relationship and body attitude information, it matches corresponding motor control parameters to control the motor to drive water flow into the underwater robot's shell. This allows the water intake process to be dynamically adjusted according to the robot's current attitude. Compared to the existing method of continuously running a water pump for air and water drainage, this application reduces the impact of the backlash force generated by continuous pump operation on the robot's surface drift, making the underwater robot's descent more stable during the water entry phase. This improves the controllability of the robot's descent process, facilitating the robot's rapid descent into the predetermined area to perform subsequent operations. Attached Figure Description

[0020] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0021] Figure 1 This is a schematic flowchart of a sinking control method provided in an embodiment of this application;

[0022] Figure 2 This is a schematic diagram of a sinking control device provided in an embodiment of this application;

[0023] Figure 3 This is a structural schematic diagram of an underwater robot provided in an embodiment of this application. Detailed Implementation

[0024] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0025] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0026] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0027] The following describes existing methods for controlling the launching of pool robots. In existing technologies, pool robots typically sink naturally under their own weight during launching, or by continuously running a motor to drive a water pump, drawing water into the robot to increase its weight and thus sink. It is evident that existing pool robots usually require continuous motor operation for water intake during launching. This not only results in low sinking efficiency but also makes it prone to drifting forward like a boat on the surface when the robot is not fully submerged, due to the reaction force generated by the continuous water flow. This causes the robot to bob around on the surface, making it difficult to quickly and stably sink to the bottom to perform its tasks.

[0028] To address these issues in the prior art, this application embodiment acquires the underwater robot's body posture information and determines the relative positional relationship between the water inlet and the water surface. Based on the relative positional relationship and body posture information, it determines the corresponding motor control parameters and controls the motor operation, allowing water to enter the robot's shell under different posture states. This accelerates the water filling process inside the robot's shell while reducing the horizontal thrust generated by continuous jets, thereby preventing the robot from drifting on the water surface and achieving rapid and stable sinking of the underwater robot, thus improving the launching efficiency and operational stability of the pool robot.

[0029] The method of this application will be further described in detail below, and some specific possible implementation examples will be provided. In practical applications, the implementation content of these examples can be combined or implemented separately as needed according to the corresponding functional principles and application logic. If combined, the execution order between the combined examples can be determined according to their respective processing logic, which can be determined according to the actual scenario.

[0030] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a sinking control method provided in an embodiment of this application, as shown below. Figure 1 As shown in the embodiment of this application, a sinking control method may include steps S110 to S130, which are described in detail below.

[0031] S110. Obtain the body attitude information of the underwater robot and determine the relative positional relationship between the underwater robot's water inlet and the water surface.

[0032] In this embodiment, acquiring the underwater robot's body attitude information is primarily used to determine the underwater robot's current spatial attitude state in the water. Specifically, the body attitude information can be acquired through attitude sensors installed inside the underwater robot, including inertial measurement units (IMUs), accelerometers, gyroscopes, or attitude calculation modules. The attitude sensors can detect the underwater robot's body attitude information in three-dimensional space in real time and output attitude parameters including pitch, roll, yaw, and corresponding angular velocity information. The pitch angle characterizes the degree of forward and backward tilt of the robot relative to the horizontal plane, the roll angle characterizes the degree of left and right tilt of the robot relative to the horizontal plane, and the yaw angle characterizes the orientation of the robot within the horizontal plane. It should be noted that the horizontal plane here can geometrically refer to any plane perpendicular to the direction of gravity. By analyzing the body attitude information, it is possible to determine whether the robot is currently in a normal, flipped, or sideways position. In one feasible implementation, the longitudinal axis of the robot body corresponding to the robot's propulsion direction can be defined as the forward axis, and the direction pointed to by the forward axis can be defined as the robot head direction; when the robot head direction is raised relative to the horizontal plane, the corresponding pitch angle is defined as a positive value; when the robot head direction is tilted relative to the horizontal plane, the corresponding pitch angle is defined as a negative value.

[0033] After obtaining the robot's attitude information, the relative positional relationship between the underwater robot's inlet and the water surface can be further determined based on this information. Here, the water surface refers to the interface formed by the contact between water and air, such as the surface of water in a swimming pool, lake, or tank, which can be considered a relatively stable reference plane over a short timescale. Specifically, the inlet is a water inlet channel located on the underwater robot's shell. The location of the inlet is determined during the robot's structural design phase and has a fixed spatial position relative to the robot's shell coordinate system; for example, it can be located on the upper surface or side wall of the shell. This embodiment considers that the spatial height or orientation of the inlet relative to the water surface changes when the underwater robot is in different attitude states, thus affecting the efficiency of water flow into the shell. Therefore, by combining the robot's attitude information with pre-determined inlet structural position parameters, parameters such as the relative height difference, relative orientation angle, or relative immersion degree of the inlet relative to the water surface can be calculated, and the relative positional relationship between the inlet and the water surface can be determined accordingly. For example, when a positive pitch angle is detected and the water inlet is located on the upper surface of the robot shell near the head, it can be inferred that the robot head is tilted upwards, and thus the water inlet is close to the water surface or even partially exposed above the water surface; when a negative pitch angle is detected and the robot head is tilted downwards relative to the horizontal, it can be inferred that the robot head is facing underwater, and thus the water inlet is completely submerged in the water.

[0034] The above method allows for the inference of the spatial relationship between the inlet and the water surface based solely on the fuselage attitude information without relying on additional water level detection devices or independent water surface detection sensors. This reduces system hardware complexity and the number of sensors, thereby lowering the overall manufacturing cost.

[0035] S120. Determine the motor control parameters that match the relative position relationship and body attitude information, and control the motor to run according to the determined motor control parameters so as to drive the water flow into the underwater robot shell through the motor.

[0036] In this embodiment, the motor can be a drive motor located inside the underwater robot's shell or connected to the water inlet channel. It drives a water pump or impeller to generate negative pressure suction or directional water flow, causing external water to enter the shell through the inlet. Motor control parameters can include, but are not limited to, motor rotation direction, output power, motor running time, motor downtime, and motor operating mode. In practical applications, a mapping table between the robot's attitude information, the relative position of the inlet and the water surface, and the motor control parameters can be pre-established. Alternatively, a preset control algorithm can be used to calculate the corresponding motor control parameters in real time based on the attitude parameters in the current robot attitude information. This allows for adjustment of the motor operating parameters based on real-time robot attitude information, thereby stably driving water flow into the underwater robot's shell. This gradually fills the robot shell with water, generating a downward gravitational force, thus achieving controlled descent of the underwater robot.

[0037] S130. If the underwater robot is detected to meet the preset sinking completion conditions, then confirm that the underwater robot has completed sinking.

[0038] While the motor operates according to its control parameters and drives water to continuously enter the hull, the underwater robot's descent status needs to be monitored to determine whether the expected descent process has been completed. Specifically, the underwater robot's motion status can be detected using various sensors, including pressure sensors to detect changes in external water pressure, depth sensors to detect the current water depth, attitude sensors to detect the robot's stability, and accelerometers to detect changes in vertical motion. When the underwater robot meets preset descent completion conditions, the descent process can be confirmed as complete. These preset descent completion conditions can be pre-set according to specific application scenarios. Specifically, they may include: the depth sensor detecting that the current water depth has reached the target diving depth; the pressure sensor detecting that the external water pressure has reached a preset pressure threshold corresponding to the target diving depth; the descent speed calculated by the depth or pressure sensors being lower than a preset descent speed threshold; the level sensor detecting that the water volume entering the hull has reached a preset capacity ratio; or the attitude sensor detecting that the robot's attitude is stabilizing, thus determining that the underwater robot is no longer in a continuous descent state. The target diving depth can be determined by comparing the depth value measured by the depth sensor with a preset depth threshold; when a pressure sensor is used for detection, it can be determined according to the hydrostatic pressure formula. The detected external water pressure value is converted into the corresponding water depth and compared with a preset pressure threshold to determine whether the robot has reached the target diving depth. The descent speed of the robot can be calculated by the rate of change of depth or pressure over a continuous time period. For example, the descent speed can be obtained by calculating the ratio of the depth difference in adjacent sampling periods to the time interval. The amount of water entering the shell can be determined by detecting the liquid level height through a liquid level sensor installed inside the shell, or estimated by the motor running time and the amount of water entering per unit time. The stability of the robot's attitude can be determined by whether the changes in pitch and roll angles obtained by attitude sensors over several consecutive sampling periods are less than a preset attitude change threshold, or by detecting the changes in the vertical acceleration of the underwater robot through an accelerometer. When the vertical acceleration value detected over several consecutive sampling periods approaches zero and the amount of acceleration change is less than a preset acceleration threshold, it can be determined that the underwater robot has basically stopped its descent, thus indicating that the underwater robot has approached the bottom of the water.

[0039] In one feasible implementation, it can be set that when the underwater robot reaches a preset target depth and the rate of change of depth is less than a preset speed threshold within a certain number of consecutive sampling periods, the robot is deemed to have met the preset sinking conditions and has completed its sinking. This method avoids the problem of excessive water ingress or energy waste caused by continuous motor operation, and allows for timely confirmation of sinking completion when the robot reaches the target diving state, thus enabling timely execution of underwater operations or navigation control.

[0040] By employing the aforementioned technical solution, this application acquires the underwater robot's body attitude information and determines the relative positional relationship between the water inlet and the water surface. Then, based on the relative positional relationship and body attitude information, it matches corresponding motor control parameters to control the motor to drive water flow into the underwater robot's shell. This allows the water intake process to be dynamically adjusted according to the robot's current attitude. Compared to the existing method of continuously running a water pump for air and water drainage, this application reduces the impact of the backlash force generated by continuous pump operation on the robot's surface drift, making the underwater robot's descent more stable during the water entry phase. This improves the controllability of the robot's descent process, facilitating the robot's rapid descent into the predetermined area to perform subsequent operations.

[0041] In one feasible implementation, for a scenario where the underwater robot is in an upright position and the inlet is completely submerged in water, step S120 above determines motor control parameters that match the relative position relationship and body posture information, and controls the motor operation according to the determined motor control parameters, including (motor control logic when the underwater robot is in an upright position): if the relative position relationship indicates that the inlet is below the water surface and the tilt angle in the body posture information is less than a first preset angle, then the motor is controlled to run for a first preset duration and in a second rotation direction to drive water flow from the inlet into the underwater robot shell; wherein, the second rotation direction is the rotation direction that creates negative pressure at the inlet; if the motor running time meets the first preset duration, then the motor is controlled to stop for a second preset duration; if the preset sinking completion condition is not met after the motor stops for the second preset duration, then the steps of controlling the motor to run for the first preset duration and in the second rotation direction, and controlling the motor to stop for the second preset duration are repeatedly executed until the underwater robot is detected to meet the preset sinking completion condition.

[0042] In this embodiment, when the relative positional relationship indicates that the inlet is below the water surface, and the tilt angle in the body attitude information is less than a first preset angle, the controller determines that the underwater robot is in a relatively stable water-inlet attitude. The tilt angle can be at least one or a combination of the pitch angle and roll angle measured by the attitude sensor; the first preset angle is a pre-set attitude stability threshold, for example, an angle value between 15° and 30°. When the tilt angle of the underwater robot is detected to be less than this first preset angle, it can be considered that the body attitude is basically stable and the inlet can maintain a good water-inlet direction. When the above conditions are met, the controller can execute a rapid water-inlet mode, specifically controlling the motor to run for a first preset duration and in a second rotation direction to drive external water into the underwater robot's shell through the inlet. The first preset duration is the motor running time during a single water intake phase, used to limit the duration of continuous motor operation. This first preset duration can be preset based on the robot's shell volume and motor power, for example, it can be set to 0.2 to 2 seconds. The second rotation direction is the direction that creates negative pressure suction at the water inlet. That is, the motor drives the internal impeller or pump to rotate, thereby creating a localized low-pressure area near the water inlet, drawing external water into the shell. This increases the underwater robot's weight through brief water intake without causing it to drift due to excessive horizontal thrust from continuous motor operation. In practical applications, when the pool robot is placed upright and the water inlet is completely submerged, the controller can first start the motor for approximately 0.2 to 2 seconds, allowing some water to quickly enter the shell, thus increasing the robot's overall weight and initiating the sinking process.

[0043] After the motor completes one water inlet drive cycle according to the first preset duration, when the motor running time reaches the first preset duration, the controller further controls the motor to stop for a second preset duration to provide the underwater robot with a buffer time for attitude adjustment and fluid stabilization. The second preset duration is the duration of the motor stop. When water enters the underwater robot's hull, the distribution of the robot's center of gravity and center of buoyancy changes, potentially causing slight swaying or attitude fluctuations. By stopping for the second preset duration, the underwater robot can naturally stabilize during this time. In this embodiment, the second preset duration can be preset according to the robot's structural dimensions and water flow characteristics, for example, it can be set to 1 to 2 seconds. Furthermore, during the motor stop phase, the attitude sensor continuously monitors the underwater robot's attitude changes to determine whether the robot remains stable or has entered a continuous sinking state. For example, after the motor stops running, the controller can use gyroscope data to determine whether the robot exhibits significant attitude swaying or whether the underwater robot is floating, and further determine the subsequent sinking control of the underwater robot.

[0044] After the motor stops for a second preset time, it is further determined whether the underwater robot has met the preset sinking completion conditions. If the detection result shows that the sinking completion conditions have not yet been met, the controller continues to cycle through the aforementioned motor operation and motor shutdown steps, that is, it controls the motor to run again according to the first preset time and the second rotation direction, so that new water continues to enter the shell through the inlet; after the operation phase ends, it controls the motor to stop again for a second preset time so that the robot can adjust its posture. Through the above-mentioned periodic cyclic control method of first controlling the motor to run in the first preset time and the second rotation direction, and then controlling the motor to stop for a second preset time, the water volume inside the shell gradually increases, thereby gradually increasing the overall weight of the robot and improving the sinking stability of the underwater robot after entering the water. In this embodiment, the preset sinking completion conditions can be set according to the specific application scenario. For details, please refer to the description of detecting the motion state of the underwater robot through various sensor information to determine whether the expected sinking process has been completed in the aforementioned step S203, which will not be repeated here.

[0045] In one feasible implementation, for a scenario where the underwater robot is in a flipped state and the inlet is above the water surface, the above step S120 determines motor control parameters that match the relative position relationship and body posture information, and controls the motor operation according to the determined motor control parameters, including (motor control logic when the underwater robot is in a flipped state): if the relative position relationship indicates that the inlet is above the water surface, then the motor is controlled to run in a first rotation direction to drive water flow from the outlet into the underwater robot shell; wherein, the first rotation direction is the rotation direction that creates negative pressure at the outlet; in response to controlling the motor operation through the determined first rotation direction to switch the inlet to below the water surface, the motor operation in the first rotation direction is stopped, and the motor control parameters are re-determined according to the switched relative position relationship and body posture information to control the motor operation.

[0046] First, when the relative positional relationship calculated using the robot's attitude information and the inlet structure position parameters indicates that the inlet is above the water surface, it signifies that the underwater robot is currently in a flipped or abnormal posture state. In this case, the inlet is not covered by water, and water cannot naturally enter the shell through it. Here, "inlet above the water surface" means that the inlet's spatial height is higher than the current water surface height. Considering this situation, if the motors operate in the conventional mode of water intake through the inlet, or in other words, if the motors are started in the conventional second rotation direction (even if the inlet creates negative pressure), the robot cannot effectively draw in water. Instead, it will expel air from inside the robot's shell, causing the robot to drift on the surface like a hovercraft and unable to sink quickly and stably. Therefore, it is necessary to change the motor's operating direction to create a reverse water intake channel inside the shell.

[0047] Therefore, in this embodiment, the rotation direction of the motor is defined as the first rotation direction, which is the rotation direction that creates negative pressure at the outlet, i.e., a reverse direction opposite to the conventional drainage direction (refer to the second rotation direction). By controlling the motor to run in the first rotation direction, the outlet can be temporarily converted into an inlet. The water pump or impeller structure connected to the motor generates negative pressure suction on the outlet side, causing external water to be drawn into the shell through the outlet, thus allowing water to flow into the underwater robot shell. At the same time, the inlet, which was originally located at the top, becomes an exhaust port to expel air from inside the shell. Through the above-mentioned reverse water injection method, the robot's weight can be quickly increased and its posture adjusted even when the underwater robot's inlet cannot normally take in water and it is flipped over.

[0048] Subsequently, during the operation of the control motor in the first rotation direction, the underwater robot's body attitude information is monitored in real time by attitude sensors such as gyroscopes. When it is detected that the water inlet has shifted to below the water surface due to increased weight and attitude adjustment, it indicates that the underwater robot has recovered from a flipped state to a right-side-up state. At this time, in response to this attitude change event, the motor operation in the first rotation direction is stopped to avoid continuing to draw water through the water outlet, which could lead to abnormal water flow path or excessive water volume inside the shell. Subsequently, based on the relative position relationship re-acquired after the change (i.e., the water inlet is below the water surface) and the body attitude information, the process of determining the motor control parameters in step S120 is re-executed, that is, switching to a sinking control mode that matches the right-side-up state. Specifically, after detecting that the robot has recovered to the right-side-up state (i.e., the water inlet is below the water surface and the tilt angle in the body attitude information is less than the first preset angle), a cyclical approach can be adopted, first executing the control motor to run in the first preset duration and the second rotation direction, and then executing the control motor to stop for the second preset duration, so that the underwater robot gradually takes in water and achieves a smooth sinking. Through the above methods, the embodiments of this application can achieve adaptive adjustment of the underwater robot in the flipping state when it first enters the water, ensuring that the underwater robot can complete the attitude correction and sink normally by adjusting the corresponding motor control parameters, regardless of the posture in which it enters the water.

[0049] In one feasible implementation, for a scenario where the underwater robot is in a side-mounted position and the water inlet spans both sides of the water surface, the above step S120 determines motor control parameters that match the relative positional relationship and body posture information, and controls the motor operation according to the determined motor control parameters, including (the overall motor control logic when the underwater robot is in a side-mounted position): if the relative positional relationship indicates that the angle between the water inlet and the water surface is greater than or equal to a first preset angle, then the submersion degree of the water inlet is monitored in real time according to the tilt angle in the body posture information and / or the current motor control parameters; the matching motor running time is determined according to the submersion degree of the water inlet, so as to control the motor to run according to the determined motor running time.

[0050] If, based on the acquired body posture information, the angle between the inlet and the water surface is greater than or equal to a first preset angle, the underwater robot is confirmed to be in a side-mounted state. Here, the angle between the inlet and the water surface refers to the angle between the normal direction of the inlet's opening plane and the water surface plane, or equivalently, the tilt angle of the inlet opening relative to the horizontal water surface. This tilt angle can be calculated based on the body posture information and the inlet's installation position parameters within the body structure. The first preset angle is a pre-set angle threshold, for example, a value between 15° and 30°. When the angle is greater than or equal to this first preset angle, it indicates that the inlet may be partially submerged in water and partially exposed to air. In this case, directly driving the motor according to the motor control logic for the robot in its upright position may lead to reduced water intake efficiency, air entering the casing, or the motor running idle. Therefore, in this embodiment, it is necessary to monitor the submersion degree of the inlet in real time based on the tilt angle in the body posture information and / or the current motor control parameters. Specifically, the tilt angle reflects the current tilt degree of the underwater robot, while real-time load information such as motor current or speed in the current motor control parameters indirectly reflects the submersion status of the inlet. It can be understood that when the inlet is partially submerged, the motor has a lighter load due to air intake, resulting in lower current or higher speed; when the inlet is completely submerged, the motor has a heavier load due to pumping water, resulting in higher current or lower speed. Therefore, by comprehensively acquiring the tilt angle and / or current motor control parameters in real time, it is possible to monitor the submersion degree of the inlet at any given moment—whether it is partially or completely submerged—and thus determine the corresponding motor control parameters, such as motor operating time.

[0051] Specifically, when the water inlet is detected to be completely submerged in the water, a relatively long motor running time can be set to allow the water flow to fully enter the shell, thereby improving the water intake efficiency. When the water inlet is detected to be only partially submerged, the motor running time can be appropriately shortened to avoid the continuous operation of the motor causing air intake or water instability, which may lead to shaking during the robot's descent and affect the stable descent. This ensures water intake efficiency while avoiding the problem of decreased water intake efficiency or increased energy consumption of the underwater robot's overall control system due to attitude instability, thus improving the stability and reliability of the underwater robot's descent control process.

[0052] To achieve real-time monitoring of the inlet's immersion level, in one feasible implementation, the inlet's immersion level is monitored in real time based on the tilt angle in the fuselage attitude information and / or the current motor control parameters. This includes: comparing the tilt angle in the fuselage attitude information with a second preset angle, and / or obtaining the real-time load information of the motor based on the current motor control parameters and comparing the real-time load information with a preset load threshold; wherein the second preset angle is less than or equal to a first preset angle; if the tilt angle is greater than the second preset angle, and / or the real-time load information is less than the preset load threshold, then it is determined that the inlet is partially submerged in water; if the tilt angle is less than or equal to the second preset angle, and / or the real-time load information is greater than or equal to the preset load threshold, then it is determined that the inlet is completely submerged in water.

[0053] When the underwater robot is in a side-mounted position, the tilt angle in the robot's attitude information can be compared with a second preset angle, and / or, the real-time load information of the motor can be obtained based on the current motor control parameters and compared with a preset load threshold to monitor the degree of immersion of the inlet. The tilt angle refers to the current degree of tilt of the underwater robot relative to the horizontal plane. The tilt angle can be at least one or a combination of the pitch angle and roll angle measured by the attitude sensor. The second preset angle is a pre-set angle threshold for further subdividing the degree of immersion in the side-mounted state. This second preset angle is less than or equal to the aforementioned first preset angle used to define the side-mounted state. For example, if the first preset angle is 20 degrees, the second preset angle can be set to 10 degrees or 15 degrees. Meanwhile, during motor operation, real-time load information of the motor can be obtained based on the current motor control parameters. Real-time load information is a state parameter that reflects the current working load of the motor. Specifically, it can include operating parameters that reflect the motor's water suction resistance, such as the motor's current value, torque value, speed value, or power value. The real-time load information is then compared with a preset load threshold, which is a critical value that is pre-set based on the motor's rated power and the water pump's structural characteristics to distinguish between light and heavy loads.

[0054] Using the above method, when the detected tilt angle is greater than the second preset angle and / or the real-time load information is less than the preset load threshold (including current value less than the preset current threshold or rotation speed value greater than the preset rotation speed threshold), it can be determined that only a portion of the inlet is in contact with the water, i.e., the inlet is in a partially submerged state. Conversely, when the detected tilt angle is less than or equal to the second preset angle and / or the real-time load information is greater than or equal to the preset load threshold (including current value greater than or equal to the preset current threshold or rotation speed value less than or equal to the preset rotation speed threshold), it indicates that the inlet is basically completely covered by the water, and it can be determined that the inlet is in a fully submerged state. For example, when the pool robot is in a side-mounted state, the gyroscope detects a large roll angle or pitch angle and a low motor load, indicating that only a small portion of the inlet is in contact with the water surface. As the robot gradually sucks in water and sinks, it naturally adjusts its posture, and the inlet gradually becomes completely submerged in the water. At this time, the motor's water suction resistance increases, and the real-time load information rises accordingly. Thus, the tilt angle and / or real-time load information can be used to monitor whether the inlet is in a fully submerged state.

[0055] Based on the above-mentioned real-time monitoring to determine the inlet immersion degree, in one feasible implementation, a matching motor running time is determined according to the inlet immersion degree to control the motor to run according to the motor running time, including: if the immersion degree indicates that the inlet is partially submerged in water, then the motor is controlled to run in a third preset time and a second rotation direction; wherein, the second rotation direction is the rotation direction that creates negative pressure at the inlet; if the immersion degree indicates that the inlet is completely submerged in water, then the motor is controlled to run in a fourth preset time and a second rotation direction; wherein, the fourth preset time is less than or equal to the third preset time.

[0056] When the submersion level is detected, indicating that the inlet is only partially submerged in the water, to ensure sufficient water intake for robot posture adjustment and rapid descent, the motor can be controlled to operate in a third preset duration and a second rotation direction. The second rotation direction is one that creates negative pressure suction at the inlet, drawing external water into the robot's shell. The third preset duration is a longer operating time set for the partially submerged state, for example, 3 to 5 seconds, to ensure that even if only a portion of the inlet is in contact with the water, a certain amount of water can quickly enter the shell through a longer suction process. As the robot's posture gradually adjusts and the inlet is detected to be completely submerged, the motor can be controlled to operate in a fourth preset duration and a second rotation direction. The fourth preset duration is less than or equal to the third preset duration, for example, 1 to 3 seconds. Since the water intake efficiency is significantly improved when the inlet is completely submerged, effective water intake can be achieved without maintaining a long motor operating time. This reduces motor energy consumption and minimizes the impact of excessive water intake on the underwater robot's posture stability while ensuring water intake efficiency.

[0057] To further optimize the smoothness of the sinking process, in one feasible implementation, after the inlet portion, representing the degree of immersion, is submerged in water, and the motor is controlled to run in the fourth preset duration and the second rotation direction, the method of this application embodiment further includes: determining whether the rate of change of the underwater robot's body attitude is less than a preset change threshold based on the current body attitude information of the underwater robot; if the rate of change of the underwater robot's body attitude is less than the real-time preset change threshold, then repeatedly executing the steps of controlling the motor to run in the fifth preset duration and the second rotation direction, and controlling the motor to stop for the sixth preset duration, until the underwater robot is detected to meet the preset sinking completion conditions; wherein, the fifth preset duration is less than or equal to the sixth preset duration.

[0058] After the inlet portion, representing the degree of immersion, is submerged in water and the motor is controlled to run for a preset duration, the robot's attitude change rate can be determined based on its current body attitude information to further ascertain whether the rate of change is less than a preset threshold. This helps determine if the robot has approached a stable attitude. Here, the rate of change in body attitude refers to the change in attitude angle per unit time, which can be calculated as the ratio of the change in pitch or roll angle to the time interval within a continuous sampling period. The preset threshold is a pre-set critical value used to determine whether the attitude has reached a stable state. For example, it can be set to a certain number of degrees per second, specifically determined through multiple descent experiments with underwater robots of the same specifications in the same water environment. When the rate of change in body attitude is detected to be less than the preset threshold, it indicates that the robot is still in a relatively stable state. At this point, the steps of controlling the motor to run in the fifth preset duration and the second rotation direction, and controlling the motor to stop for the sixth preset duration, can be executed cyclically to form a periodic cyclical descent control. The fifth preset duration is the single-run time of the motor, and the sixth preset duration is the motor shutdown time. The fifth preset duration is less than or equal to the sixth preset duration to allow the robot sufficient time to adjust its posture after each water ingress. For example, in one specific embodiment, the fifth preset duration can be set to 0.2 to 2 seconds, and the sixth preset duration to 1 to 2 seconds. Through this periodic control method, the robot maintains a stable posture while gradually increasing the water volume inside its shell until the underwater robot is detected to meet the preset sinking completion conditions, thus completing the entire sinking process. The preset sinking completion conditions can be set according to specific application scenarios. For details, please refer to the description in step S203 above, which describes detecting the underwater robot's motion state using various sensor information to determine whether the expected sinking process has been completed; this will not be repeated here.

[0059] In one feasible implementation, considering that after the underwater robot has been cyclically executing the steps of controlling the motor to run in the fifth preset duration and the second rotation direction, and the step of controlling the motor to stop for the sixth preset duration (hereinafter referred to as the rapid water intake mode) for a period of time, the external water body has reached a sufficient state of coverage of the water inlet, and the air replacement and water filling process inside the shell has usually approached saturation, that is, the water filling rate that the body can achieve has reached its maximum or close to its maximum. At this time, continuing to execute the rapid water intake mode will have limited effect on further increasing the water filling volume, and may instead increase the motor energy consumption and generate unnecessary water flow disturbance. Therefore, whether the underwater robot is completely submerged underwater can be used as the shutdown trigger condition of the rapid water intake mode, so that the rapid water intake mode can be exited in advance and the subsequent working mode can be switched in time if the robot is completely submerged before reaching the bottom of the pool. Therefore, after the underwater robot's body attitude change rate is less than a real-time preset change threshold, and the steps of controlling the motor to run in the fifth preset duration and the second rotation direction, and controlling the motor to stop for the sixth preset duration are executed repeatedly, the method of this application embodiment further includes: if the relative position relationship indicates that the water inlet is below the water surface and the tilt angle in the body attitude information is less than a first preset angle, then by detecting whether the continuous contact with water reaches a seventh preset duration through a water immersion sensor installed inside the underwater robot, or by detecting the water flow speed at the water outlet, or by detecting the load current of the motor during operation, it is determined whether the water outlet is completely submerged in water; if it is determined that the water outlet is completely submerged in water, then the steps of controlling the motor to run in the fifth preset duration and the second rotation direction, and controlling the motor to stop for the sixth preset duration are stopped.

[0060] In one specific implementation, a water immersion sensor can be used to determine whether the underwater robot is completely submerged. For example, a water immersion sensor consisting of at least two electrodes can be installed on the robot's shell. When the electrodes are in an air environment, they are in a disconnected or high-resistance state. However, when the electrodes are immersed in water, due to the conductivity of water, a conductive state is formed between the two electrodes. To avoid false judgments caused by water splashing or short-term contact with water, a continuous conductive time of the electrodes can be set as a judgment condition. That is, when continuous contact between the electrodes and water is detected for a seventh preset time, it can be determined that the robot is completely submerged. The seventh preset time can be set according to actual needs, for example, it can be set to 10 seconds. When continuous conductive contact is detected for the seventh preset time, it is confirmed that the robot is completely submerged, and the rapid water entry mode is stopped.

[0061] In another implementation, the complete submersion of the water outlet can be determined by detecting the water flow characteristics at the outlet, thus indirectly determining whether the robot is completely submerged. Specifically, when the outlet is completely exposed to air, the water flow velocity at the outlet is usually high due to the low resistance of the external air. However, when the outlet is partially or completely submerged, the external water body creates additional resistance to the water flow, causing a change in the water flow velocity at the outlet, and the load current of the motor will also change accordingly. Therefore, the complete submersion of the outlet can be determined by detecting changes in the water flow velocity or the motor load current at the outlet. When the detection result indicates that the outlet is completely submerged, it can be determined that the underwater robot is completely submerged, thus stopping the rapid water intake mode. In this way, the rapid water intake mode can be stopped in time when the robot is completely submerged before reaching the bottom of the pool, thereby reducing unnecessary motor operation and improving the overall operating efficiency of the underwater robot.

[0062] In one feasible implementation, for the case where the underwater robot is in an upright position but sways due to external disturbances, the above step S120 determines motor control parameters that match the relative position relationship and body posture information, and controls the motor to run according to the determined motor control parameters, including (motor control logic when the underwater robot is in an upright position and sways): if the relative position relationship indicates that the water inlet is below the water surface and the motion parameters of the underwater robot indicate that the underwater robot is swaying, then the motor is controlled to run for a seventh preset duration and in the second rotation direction.

[0063] When the relative positional relationship indicates that the inlet is below the water surface, it means that the underwater robot is currently in an upright position with the inlet completely submerged in the water, allowing water to flow into the shell. However, in actual use, even when the underwater robot is upright, it may still sway due to external environmental factors, such as wind, water flow disturbances, or water surface fluctuations, causing it to sway left and right or tilt slightly. Therefore, in this embodiment, the motion parameters of the underwater robot are further detected to determine whether swaying occurs. Specifically, motion parameters characterizing the robot's motion state can be acquired in real time using inertial sensors such as gyroscopes or accelerometers installed inside the underwater robot. These motion parameters include at least one of angular velocity and acceleration. Angular velocity can be measured by a gyroscope and is used to characterize the speed change of the robot's rotation around its body axis, such as roll angular velocity or pitch angular velocity; acceleration can be detected by an accelerometer and is used to characterize the linear motion change of the robot in space. When the peak value of the angular velocity continuously exceeds the preset swaying angular velocity threshold, or the change in acceleration exceeds the preset swaying acceleration threshold, it can be determined that the underwater robot is currently in a swaying state.

[0064] After detecting swaying in the underwater robot, to help it quickly reach a stable descent state, the motor can be controlled to run in a seventh preset duration and a second rotation direction. The second rotation direction creates negative pressure suction at the water inlet; the motor drives the water pump or impeller to rotate, creating a negative pressure zone near the inlet and drawing external water into the robot's hull. The seventh preset duration is the motor running time set for the swaying state. The specific value of the seventh preset duration can be preset based on the robot's structural dimensions and motor power. It is typically set longer than the first preset duration for a stable upright position (e.g., 0.2 to 2 seconds), specifically 3 seconds. This longer single-entry time allows more water to quickly enter the robot's hull, increasing its overall weight in a shorter time. Increased weight enhances the robot's inertia, enabling it to better resist external disturbances, suppress swaying caused by waves or currents, and maintain relative balance on the water surface. It should be noted that the specific value of the seventh preset duration can be calibrated according to factors such as the size and weight of the underwater robot, the water pump flow rate, and the intensity of wind and waves in the actual application scenario. For example, it can be set to 3 seconds in a windy and wavey environment and 1.5 seconds in a windy and waveless environment.

[0065] Furthermore, in this embodiment, the detection of robot swaying and the application of the seventh preset duration can be a continuous monitoring and adjustment process. Specifically, after the control motor runs for the seventh preset duration once or multiple times, the swaying of the underwater robot continues to be monitored by acquiring motion parameters in real time. If the swaying is detected to have weakened or disappeared, the motor control parameters can be re-determined based on the re-acquired body posture information, for example, switching back to the motor control logic when the robot is in a stable upright position; if the swaying is detected to still exist, the robot can continue to run for the seventh preset duration, or the specific value of the seventh preset duration can be dynamically adjusted according to the change in swaying intensity. Through the above method, this embodiment can cope with adaptive control when the robot is in an upright position and faces external disturbances, enabling the underwater robot to quickly increase its weight to maintain balance in a disturbed environment, avoiding situations where the robot's posture becomes uncontrollable or it is difficult to sink due to continuous swaying.

[0066] The above describes a sinking control method provided by an embodiment of this application. The following will describe the apparatus for implementing the above-described sinking control method. Please refer to... Figure 2 , Figure 2 This is a schematic diagram of a sinking control device provided in an embodiment of this application. Figure 2 As shown, the sinking control device 200 includes:

[0067] The first determining module 201 is used to acquire the body posture information of the underwater robot and determine the relative positional relationship between the water inlet of the underwater robot and the water surface.

[0068] The second determining module 202 is used to determine motor control parameters that match the relative position relationship and the body posture information, and control the motor to run according to the determined motor control parameters so as to drive water flow into the underwater robot shell through the motor;

[0069] The detection module 203 is used to confirm that the underwater robot has completed its descent if it is detected that the underwater robot meets the preset descent completion conditions.

[0070] In one feasible implementation, the second determining module 202 is specifically used to: if the relative positional relationship indicates that the inlet is above the water surface, control the motor to run in a first rotational direction to drive water flow from the outlet into the underwater robot shell; wherein, the first rotational direction is the rotational direction that creates negative pressure at the outlet; in response to controlling the motor to run in the determined first rotational direction to switch the inlet to below the water surface, stop the motor running in the first rotational direction, and re-determine the motor control parameters according to the converted relative positional relationship and the robot's attitude information to control the motor to run.

[0071] In one feasible implementation, the second determining module 202 is specifically used to: if the relative positional relationship indicates that the inlet is below the water surface and the tilt angle in the body posture information is less than a first preset angle, then control the motor to run for a first preset duration and in a second rotation direction to drive water flow from the inlet into the underwater robot shell; wherein, the second rotation direction is the rotation direction that creates negative pressure at the inlet; if the motor running time meets the first preset duration, then control the motor to stop for a second preset duration; if the preset sinking completion condition is not met after the motor stops for the second preset duration, then repeatedly execute the steps of controlling the motor to run for the first preset duration and in the second rotation direction, and the steps of controlling the motor to stop for the second preset duration, until the underwater robot is detected to meet the preset sinking completion condition.

[0072] In one feasible implementation, the second determining module 202 is specifically used to: if the relative position relationship indicates that the angle between the water inlet and the water surface is greater than or equal to a first preset angle, then monitor the submersion degree of the water inlet in real time according to the tilt angle in the body posture information and / or the current motor control parameters; determine a matching motor running time according to the submersion degree of the water inlet, so as to control the motor to run according to the determined motor running time.

[0073] In one feasible implementation, the second determining module 202 is specifically used to: compare the tilt angle in the fuselage attitude information with a second preset angle, and / or obtain the real-time load information of the motor according to the current motor control parameters and compare the real-time load information with a preset load threshold; wherein, the second preset angle is less than or equal to the first preset angle; if the tilt angle is greater than the second preset angle, and / or the real-time load information is less than the preset load threshold, then it is determined that the inlet is partially submerged in water; if the tilt angle is less than or equal to the second preset angle, and / or the real-time load information is greater than or equal to the preset load threshold, then it is determined that the inlet is completely submerged in water.

[0074] In one feasible implementation, the second determining module 202 is specifically used to: if the degree of immersion indicates that the inlet is partially submerged in water, then control the motor to run in a third preset duration and a second rotation direction; wherein, the second rotation direction is the rotation direction that creates a negative pressure at the inlet; if the degree of immersion indicates that the inlet is completely submerged in water, then control the motor to run in a fourth preset duration and a second rotation direction; wherein, the fourth preset duration is less than or equal to the third preset duration.

[0075] In one feasible implementation, the second determining module 202 is specifically used to: determine whether the rate of change of the underwater robot's body attitude is less than a preset change threshold based on the current body attitude information of the underwater robot; if the rate of change of the underwater robot's body attitude is less than the real-time preset change threshold, then repeatedly execute the steps of controlling the motor to run in the fifth preset duration and the second rotation direction, and the steps of controlling the motor to stop for the sixth preset duration, until the underwater robot is detected to meet the preset sinking completion conditions; wherein, the fifth preset duration is less than or equal to the sixth preset duration.

[0076] In one feasible implementation, the second determining module 202 is specifically used to: if the relative position relationship indicates that the water inlet is below the water surface and the tilt angle in the body posture information is less than the first preset angle, then by detecting whether the continuous contact with water has reached the seventh preset time by the water immersion sensor set inside the underwater robot, or by detecting the water flow speed at the water outlet, or by detecting the load current when the motor is running, determine whether the water outlet is completely submerged in water; if it is determined that the water outlet is completely submerged in water, then stop the cyclic execution of the steps of controlling the motor to run in the fifth preset time and the second rotation direction, and the steps of controlling the motor to stop for the sixth preset time.

[0077] In one feasible implementation, the second determining module 202 is specifically used to: if the relative position relationship indicates that the water inlet is below the water surface and the motion parameters of the underwater robot indicate that the underwater robot is swaying, then control the motor to run in a seventh preset duration and a second rotation direction; wherein, the motion parameters include at least one of angular velocity and acceleration; the second rotation direction is the rotation direction that creates negative pressure at the water inlet.

[0078] This application also provides an underwater robot in its embodiments. (See reference...) Figure 3 As shown, it illustrates a structural schematic diagram of an underwater robot suitable for implementing the sinking control method in the embodiments of this application. It should be understood that... Figure 3 The structure shown is merely an example to illustrate the composition of functional modules related to the sinking control method of this application in an underwater robot, and does not constitute a limitation on this application; where there is no conflict, the modules can be combined, split, or implemented in other equivalent ways.

[0079] like Figure 3As shown, the underwater robot may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage device 308 into a random access memory (RAM) 303. When the underwater robot is powered on, the RAM 303 also stores various programs and data required for the operation of the underwater robot. The processing unit 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0080] Typically, the following devices can be connected to I / O interface 305: input devices 306 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 307 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 308 including, for example, memory cards, hard drives, etc.; and communication devices 309. Communication device 309 allows the underwater robot to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 3 An underwater robot with various devices is shown; however, it should be understood that implementation or possession of all the devices shown is not required. More or fewer devices may be implemented alternatively.

[0081] The underwater robot may also include an input / output interface 305, which is connected to the processor 301 via a bus 304 to enable data and control signal interaction between the processor 301 and various sensors, actuators, and peripherals. In one embodiment, the input device 306 that can be connected to the input / output interface 305 includes, but is not limited to, attitude sensor components (e.g., gyroscopes, accelerometers, or inertial measurement units), immersion sensors, pressure sensors and / or depth sensors, level sensors, flow rate sensors, and current sampling circuits or speed detection circuits for acquiring motor operating status. The aforementioned input device 306 provides the necessary sensor data for steps such as acquiring body attitude information, determining the relative position of the inlet and the water surface, judging the degree of immersion of the inlet, and detecting the conditions for completion of descent.

[0082] Output devices 307, which can be connected to input / output interface 305, include, but are not limited to, motor drive modules, pump drive modules, valve control modules, indicator lights / buzzers, and other prompting modules. The motor drive module drives the motor under the control parameters output by processor 301 to create negative pressure at the inlet or drive water flow into the housing. The pump drive module can be integrated with the motor drive module or set up independently to achieve power output for water inlet and outlet. Output device 307 may also include cleaning component drive modules for underwater operations (e.g., roller brush motors, wheel motors, etc.), but this application focuses on the sinking control-related parts, so no limiting description is made.

[0083] The storage device 308 is used to store control programs, various preset thresholds and calibration parameters, and historical operation logs. For example, the storage device 308 can store a first preset angle, a second preset angle, a preset load threshold, various preset durations, a definition of the motor rotation direction, inlet structure position parameters, an attitude coordinate system definition, and a combination of threshold conditions used to determine the completion of sinking, so that the processor 301 can call and execute consistent control logic.

[0084] The underwater robot may also include a communication device 309 for communicating with external devices to exchange data. External devices may include, but are not limited to, user terminals (such as control applications on mobile phones or tablets), charging docks, cloud servers, or maintenance equipment. Through the communication device 309, the underwater robot can upload operating status, fault information, and sensor data, or receive externally issued parameter configurations, firmware upgrade packages, task instructions, etc. The communication method can be wireless or wired communication, and the specific form is not limited.

[0085] This application also provides a computer program product including computer-readable instructions, which, when executed on an underwater robot, cause the underwater robot to implement any of the sinking control methods provided in this application.

[0086] This application also provides a computer-readable storage medium that carries one or more computer programs. When the one or more computer programs are executed by an underwater robot, the underwater robot can implement any of the sinking control methods provided in this application.

[0087] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located within the same housing or distributed in different compartments of the underwater robot. The connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines. Those skilled in the art can select some or all of the modules to achieve the purpose of the embodiments of this application according to actual needs.

[0088] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often the preferred implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause an underwater robot to execute the methods described in the various embodiments of this application.

[0089] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0090] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A method for controlling sinking, characterized in that, Applied to underwater robots, the method includes: Obtain the body attitude information of the underwater robot and determine the relative positional relationship between the underwater robot's water inlet and the water surface; Determine motor control parameters that match the relative positional relationship and the body attitude information, and control the motor to operate according to the determined motor control parameters so as to drive water flow into the underwater robot shell through the motor; If the underwater robot is detected to meet the preset sinking completion conditions, then the underwater robot is confirmed to have completed sinking.

2. The method according to claim 1, characterized in that, The step of determining motor control parameters that match the relative positional relationship and the fuselage attitude information, and controlling the motor operation according to the determined motor control parameters, includes: If the relative positional relationship indicates that the inlet is above the water surface, then the motor is controlled to run in a first rotational direction to drive water flow from the outlet into the underwater robot shell; wherein, the first rotational direction is the rotational direction that creates a negative pressure at the outlet; In response to the control of the motor operation via the determined first rotation direction to switch the water inlet to below the water surface, the motor operation in the first rotation direction is stopped, and the motor control parameters are re-determined based on the changed relative position relationship and the body attitude information to control the motor operation.

3. The method according to claim 1, characterized in that, The step of determining motor control parameters that match the relative positional relationship and the fuselage attitude information, and controlling the motor operation according to the determined motor control parameters, includes: If the relative positional relationship indicates that the water inlet is below the water surface and the tilt angle in the body posture information is less than the first preset angle, then the motor is controlled to run for a first preset duration and in a second rotation direction to drive water flow from the water inlet into the underwater robot shell; wherein, the second rotation direction is the rotation direction that creates negative pressure at the water inlet; If the running time of the motor meets the first preset time, then the motor is controlled to stop for a second preset time; If the preset sinking completion condition is not met after the motor stops for a second preset time, the steps of controlling the motor to run in the first preset time and the second rotation direction, and the steps of controlling the motor to stop for a second preset time are executed repeatedly until the underwater robot is detected to meet the preset sinking completion condition.

4. The method according to claim 1, characterized in that, The step of determining motor control parameters that match the relative positional relationship and the fuselage attitude information, and controlling the motor operation according to the determined motor control parameters, includes: If the relative positional relationship indicates that the angle between the water inlet and the water surface is greater than or equal to a first preset angle, then the submersion degree of the water inlet is monitored in real time according to the tilt angle in the body attitude information and / or the current motor control parameters. The appropriate motor operating time is determined based on the immersion level of the water inlet, so as to control the motor to operate according to the determined motor operating time.

5. The method according to claim 4, characterized in that, The step of monitoring the submersion degree of the water inlet in real time based on the tilt angle in the fuselage attitude information and / or the current motor control parameters includes: The tilt angle in the fuselage attitude information is compared with a second preset angle, and / or the real-time load information of the motor is obtained according to the current motor control parameters and compared with a preset load threshold; wherein the second preset angle is less than or equal to the first preset angle; If the tilt angle is greater than the second preset angle, and / or the real-time load information is less than the preset load threshold, then it is determined that the inlet portion is submerged in water; If the tilt angle is less than or equal to the second preset angle, and / or the real-time load information is greater than or equal to the preset load threshold, then it is determined that the inlet is completely submerged in water.

6. The method according to claim 4, characterized in that, The step of determining a matching motor operating time based on the immersion level of the water inlet, and controlling the motor to operate according to the specified operating time, includes: If the degree of immersion indicates that the inlet portion is submerged in water, then the motor is controlled to operate for a third preset duration and in a second rotation direction; wherein, the second rotation direction is the rotation direction that creates a negative pressure at the inlet. If the degree of immersion indicates that the water inlet is completely submerged in water, then the motor is controlled to run in a fourth preset duration and a second rotation direction; wherein the fourth preset duration is less than or equal to the third preset duration.

7. The method according to claim 6, characterized in that, After controlling the motor to operate for a fourth preset duration and in a second rotation direction if the immersion degree indicates that the inlet portion is partially submerged in water, the method further includes: Based on the current body posture information of the underwater robot, determine whether the rate of change of the underwater robot's body posture is less than a preset change threshold; If the rate of change of the underwater robot's body posture is less than a real-time preset change threshold, the steps of controlling the motor to run in the fifth preset duration and the second rotation direction, and the steps of controlling the motor to stop for the sixth preset duration are executed repeatedly until the underwater robot is detected to meet the preset sinking completion conditions; wherein, the fifth preset duration is less than or equal to the sixth preset duration.

8. The method according to claim 7, characterized in that, After the steps of controlling the motor to run in the fifth preset duration and the second rotation direction repeatedly if the rate of change of the underwater robot's body attitude is less than a real-time preset change threshold, and the steps of controlling the motor to stop for a sixth preset duration, the method further includes: If the relative position relationship indicates that the water inlet is below the water surface and the tilt angle in the body attitude information is less than the first preset angle, then the water immersion sensor set inside the underwater robot detects whether the continuous contact with water has reached the seventh preset time, or detects the water flow speed at the water outlet, or detects the load current when the motor is running, to determine whether the water outlet is completely submerged in water. If it is determined that the outlet is completely submerged in water, then the steps of controlling the motor to run in the fifth preset duration and the second rotation direction, and the steps of controlling the motor to stop for the sixth preset duration, are stopped.

9. The method according to claim 1, characterized in that, The step of determining motor control parameters that match the relative positional relationship and the fuselage attitude information, and controlling the motor operation according to the determined motor control parameters, includes: If the relative positional relationship indicates that the water inlet is below the water surface and the motion parameters of the underwater robot indicate that the underwater robot is swaying, then the motor is controlled to run for a seventh preset duration and in a second rotation direction; wherein the motion parameters include at least one of angular velocity and acceleration; the second rotation direction is the rotation direction that creates negative pressure at the water inlet.

10. An underwater robot, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program to enable the underwater robot to perform the method as described in any one of claims 1 to 9.

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