Underwater shutdown detection method and device for underwater robot

Abstract

The invention discloses an out-of-water shutdown detection method and device for an underwater robot. The method comprises the steps that posture changes of the underwater robot are monitored; if the posture change meets the preset posture sudden change condition, a walking mechanism of the underwater robot is controlled to stop moving, a water pump motor of the underwater robot is controlled to be increased to the detection rotating speed higher than the working rotating speed from the working rotating speed, and the current value of the water pump motor is obtained; the current value is compared with a preset current threshold value, and whether the underwater robot leaves water or not is judged according to the comparison result. By fusing posture sudden change triggering and current detection in a high-speed state of the water pump, the load difference between water and air is amplified while sensor misjudgment caused by water drop attachment is avoided, so that whether the underwater robot leaves water or not can be quickly, accurately and reliably identified, a walking mechanism can be locked in the judgment process, and the safety of the underwater robot is improved. And the potential safety hazard that the machine accidentally moves on the land after leaving the water is eliminated.

Description

Technical Field

[0001] This invention relates to the field of underwater robot technology, and in particular to a method and apparatus for detecting the shutdown of an underwater robot upon surfacing. Background Technology

[0002] Underwater cleaning robots, especially autonomous pool cleaning robots, are intelligent devices capable of automatically performing cleaning tasks on the bottom or walls of pools in underwater environments. They typically move via a locomotive (such as wheels or tracks) and rely on an internal water pump to generate water flow to absorb impurities. In practical use, the robot often needs to be lifted out of the water by the user for inspection, cleaning, or retrieval. To ensure equipment safety and prevent energy waste, the robot needs a detection mechanism that can accurately and promptly identify whether it has left the water surface, so that the motor operation can be stopped immediately after it leaves the water.

[0003] Currently, a common technical approach in the industry is to use changes in the operating current of a water pump (or propulsion motor) to determine whether the robot is out of water. The basic principle is that when the motor drives the impeller underwater, the load is heavier and the operating current is higher due to the much greater density and resistance of water compared to air. However, when the robot is out of water, the motor is under no-load or light-load conditions, and the operating current drops significantly. Therefore, the system infers whether the robot is in water by monitoring the motor current in real time and comparing it to a preset threshold.

[0004] However, the aforementioned existing technical solutions have significant defects and limitations. First, the current characteristics are extremely inconspicuous at low speeds: to balance cleaning efficiency and energy consumption, the water pump typically operates at a low speed range (e.g., 800-1000 RPM) when the robot is working normally underwater. At this low speed, the current difference between "loaded in water" and "unloaded in air" is very small, making it difficult for the system to make a stable and reliable distinction. Second, the risk of misjudgment is high: the judgment method relying on minute current fluctuations is easily affected by battery voltage fluctuations, individual motor differences, water temperature changes, and even circuit noise, which may lead to two types of misjudgments: one is that the robot stops mistakenly underwater due to slight current fluctuations, interrupting cleaning; the other is that it fails to recognize the current after leaving the water, and the motor continues to run at high speed. Finally, there are safety hazards and user experience issues: if the robot is lifted out of the water and placed on the ground, and the water removal judgment is delayed or fails, its walking mechanism may still be rotating, causing the robot to "walk autonomously" on land, posing a potential risk of collision, fall, or even injury to the user; at the same time, continuous idling may also cause the motor to overheat and be damaged. Therefore, how to quickly, accurately, and reliably detect the water separation state under various operating conditions, while ensuring absolute safety and user experience, has become a pressing technical challenge in this field. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a method and apparatus for detecting the shutdown of an underwater robot upon exiting the water. By integrating attitude change triggering with current detection during high-speed water pump operation, it avoids sensor misjudgment caused by water droplets while amplifying the load difference between water and air. This enables rapid, accurate, and reliable identification of whether the underwater robot has exited the water and locks the walking mechanism during the determination process, eliminating the safety hazard of the robot accidentally moving on land after exiting the water.

[0006] In a first aspect, embodiments of the present invention provide a method for detecting the shutdown of an underwater robot upon exiting the water. The method includes: monitoring the attitude change of the underwater robot; if the attitude change meets a preset attitude change condition, controlling the walking mechanism of the underwater robot to stop moving, controlling the water pump motor of the underwater robot to increase from the working speed to a detection speed higher than the working speed, and acquiring the current value of the water pump motor; comparing the current value with a preset current threshold, and determining whether the underwater robot has exited the water based on the comparison result.

[0007] In some possible embodiments, determining whether the underwater robot has left the water based on the comparison result includes:

[0008] If the current value is greater than or equal to the preset current threshold, it is determined that the water has not been removed.

[0009] If the current value is less than the preset current threshold, it is determined that the water has been removed.

[0010] In some possible embodiments, the attitude change condition includes at least one of the following conditions: the change in the tilt angle of the underwater robot exceeds a first preset angle threshold; the angular velocity of the underwater robot about the vertical axis exceeds a first preset angular velocity threshold.

[0011] In some possible embodiments, the detection speed is 2.5 to 3 times the operating speed.

[0012] In some possible embodiments, the preset current threshold is a threshold determined based on the no-load operating power or no-load current duty cycle of the pump motor at the detected speed.

[0013] In some possible embodiments, after controlling the underwater robot's walking mechanism to stop moving, and before controlling the underwater robot's water pump motor to increase from its operating speed to a detection speed higher than the operating speed, the method further includes:

[0014] The water pump motor of the underwater robot is stopped within a preset time period.

[0015] In some possible embodiments, after comparing the current value with a preset current threshold and determining whether the underwater robot has left the water based on the comparison result, the method further includes: if it is determined that the robot has not left the water, controlling the water pump motor to return to its operating speed and restoring the movement of the walking mechanism.

[0016] If it is determined that the underwater robot has left the water, then the underwater robot will be controlled to enter a shutdown protection state.

[0017] Secondly, embodiments of the present invention provide an underwater robot surfacing shutdown detection device, the device comprising: a monitoring module, a control module, and a judgment module, wherein:

[0018] The monitoring module is used to monitor the attitude changes of the underwater robot;

[0019] The control module is used to control the underwater robot's walking mechanism to stop moving if the attitude change meets the preset attitude change conditions, control the underwater robot's water pump motor to increase from the working speed to a detection speed higher than the working speed, and obtain the current value of the water pump motor.

[0020] The judgment module is used to compare the current value with a preset current threshold and determine whether the underwater robot has left the water based on the comparison result.

[0021] Thirdly, embodiments of the present invention provide a computer storage medium storing multiple instructions adapted for loading by a processor and executing the steps of the above-described method.

[0022] Fourthly, embodiments of the present invention provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being adapted to be loaded by the processor and to execute the steps of the above-described method.

[0023] The beneficial effects of the technical solutions provided by some embodiments of the present invention include at least the following: by using abrupt attitude change to intelligent triggering, first locking the walking mechanism to ensure safety, then actively increasing to a high-speed state to amplify load differences, and finally making a reliable judgment based on the high-speed current, the inherent defects (fuzzy features and susceptibility to interference) of directly judging the current in a low-speed working state are avoided. This transforms the water-removal detection from a continuous and fuzzy monitoring process into a precise and rapid active testing process that is only activated when necessary. This not only improves the accuracy and reliability of water-removal state determination and effectively solves the high false judgment rate problem in the background technology, but also eliminates the safety hazard of the robot potentially "walking" on the ground after leaving the water by locking the walking mechanism in advance, achieving a balance between safety and detection performance. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 An exemplary system architecture diagram of an underwater robot's water-emergence shutdown detection system provided in an embodiment of the present invention;

[0026] Figure 2 A flowchart illustrating the underwater robot's shutdown detection method upon surfacing, as provided in an embodiment of the present invention;

[0027] Figure 3 A logic block diagram of the underwater robot's water-emergence shutdown detection method provided in an embodiment of the present invention;

[0028] Figure 4 This is a structural block diagram of the underwater robot's water exit shutdown detection device provided in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0030] To make the features and advantages of the present invention more apparent and understandable, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0032] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0033] As mentioned above, the existing technologies exhibit a series of serious defects and limitations in practical applications. First, the load characteristics are ambiguous under low-speed conditions, leading to detection failures: To balance cleaning efficiency and battery life, the water pump typically operates at a low speed range (e.g., 800-1000 RPM) when the robot is operating normally underwater. At this low speed, the current difference between "loaded in water" and "unloaded in air" is negligible, making it difficult for the system to form a stable and reliable criterion. Second, the false judgment rate remains high, resulting in poor reliability: The single judgment mode, relying on minute current fluctuations, is highly susceptible to interference from battery voltage fluctuations, motor performance variations, water temperature changes, and even circuit noise, frequently causing false judgments: one is that instantaneous current fluctuations underwater may trigger a false shutdown, unnecessarily interrupting the cleaning task; the other is that after actually leaving the water, the current may not reach the threshold, causing the motor to continue idling. Finally, there are significant safety hazards and a poor user experience: if the robot is lifted out of the water and placed on the ground, and the water-removal detection fails to take effect in time, its walking mechanism will continue to drive the wheels to rotate, causing the robot to "walk" uncontrollably on the land, which may result in collisions, falls off steps, or even injury to the user; at the same time, the motor is also prone to overheating due to prolonged dry running without load, which will shorten its service life.

[0034] In view of this, the present invention provides a method and apparatus for detecting the shutdown of an underwater robot upon surfacing. It aims to introduce an attitude sensor as a "smart trigger" and combine it with a dynamic, highly sensitive load testing process. When a typical abrupt change in robot posture upon lifting is detected, the system first locks the walking mechanism to ensure safety, and then instructs the water pump motor to jump to a "detection speed" much higher than the normal operating speed. At this high speed, the load difference between water and air is drastically amplified, resulting in a clear contrast in current signals and a well-defined criterion. By performing current comparison under these optimized conditions, the system can achieve millisecond-level, highly reliable identification of the water-out-of-water state, thereby eliminating misjudgments, ensuring safety, and improving the user experience.

[0035] Please see Figure 1 , Figure 1 This is an exemplary system architecture diagram of the underwater robot's shutdown detection method provided in an embodiment of the present invention.

[0036] like Figure 1 As shown, the system architecture may include a terminal 101, a network 102, and a server 103. The network 102 serves as the medium for providing a communication link between the terminal 101 and the server 103. The network 102 may include various types of wired or wireless communication links, such as wired communication links including fiber optic cables, twisted-pair cables, or coaxial cables, and wireless communication links including Bluetooth communication links, Wireless-Fidelity (Wi-Fi) communication links, or microwave communication links, etc.

[0037] Terminal 101 can interact with server 103 via network 102 to receive messages from or send messages to server 103. Alternatively, terminal 101 can interact with server 103 via network 102 to receive messages or data sent to server 103 by other users. Terminal 101 can be hardware or software. When terminal 101 is hardware, it can be various electronic devices, including but not limited to smartwatches, smartphones, tablets, laptops, and desktop computers. When terminal 101 is software, it can be installed in the aforementioned electronic devices and can be implemented as multiple software programs or software modules (e.g., to provide distributed services) or as a single software program or software module; no specific limitation is made here.

[0038] In this embodiment of the invention, terminal 101 can monitor the attitude change of the underwater robot; if the attitude change meets the preset attitude change condition, it controls the walking mechanism of the underwater robot to stop moving, controls the water pump motor of the underwater robot to increase from the working speed to a detection speed higher than the working speed, and obtains the current value of the water pump motor; compares the current value with the preset current threshold, and determines whether the underwater robot has left the water based on the comparison result.

[0039] Server 103 can be a business server providing various services. It should be noted that server 103 can be either hardware or software. When server 103 is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or as a single server. When server 103 is software, it can be implemented as multiple software programs or software modules (e.g., used to provide distributed services), or as a single software program or software module; no specific limitations are made here.

[0040] Alternatively, the system architecture may not include server 103. In other words, server 103 may be an optional device in the embodiments of this specification. That is, the method provided in the embodiments of this specification can be applied to a system structure that only includes terminal 101. The embodiments of this invention do not limit this.

[0041] It should be understood that Figure 1 The number of terminals, networks, and servers shown is only illustrative; the number can be any number of terminals, networks, and servers depending on the implementation requirements.

[0042] Please see Figure 2 , Figure 2This is a flowchart illustrating the underwater robot surfacing shutdown detection method provided in this embodiment of the invention. The execution entity of this embodiment can be an electronic device performing the underwater robot surfacing shutdown detection, a processor within the electronic device performing the underwater robot surfacing shutdown detection method, or an underwater robot surfacing shutdown detection service within the electronic device performing the underwater robot surfacing shutdown detection method. For ease of description, the following uses a processor within an electronic device as an example to illustrate the specific execution process of the underwater robot surfacing shutdown detection method.

[0043] like Figure 2 As shown, the underwater robot's surfacing shutdown detection method can include at least the following:

[0044] S201. Monitor the attitude changes of the underwater robot.

[0045] Specifically, the system continuously receives and processes data streams from attitude sensors. These sensors typically include a three-axis accelerometer and a three-axis gyroscope, which are fixedly mounted on the robot's main structure. Raw data from the sensors is usually read at a fixed sampling frequency (e.g., 100Hz). For accelerometer data, the tilt angle (e.g., pitch and roll) of the robot relative to the horizontal plane can be calculated by calculating the component changes of the gravitational acceleration vector along each axis of the body coordinate system. For gyroscope data, the output angular velocity is directly acquired, particularly the rotational angular velocity around the vertical axis (Z-axis) perpendicular to the horizontal plane. By calculating the instantaneous values ​​of these attitude parameters in real time and comparing them with the values ​​at the previous sampling moment, the rate of change or abrupt change value is obtained. The core of this embodiment is that the system does not rely on current for water separation judgment in constant operation, but rather uses drastic, unexpected changes in attitude as a "trigger" to initiate a precise water separation detection.

[0046] S202. If the attitude change meets the preset attitude change condition, control the underwater robot's walking mechanism to stop moving, control the underwater robot's water pump motor to increase from the working speed to a detection speed higher than the working speed, and obtain the current value of the water pump motor.

[0047] Specifically, please refer to Figure 3 , Figure 3As shown in Figure 3, the logic block diagram of the underwater robot's water-emergence shutdown detection method provided in this embodiment of the invention is as follows: When a sudden change in tilt or rotation of the underwater robot is detected, i.e., the calculated change in attitude exceeds a preset threshold, for example, the change in tilt angle exceeds 60 degrees within 0.1 seconds, or the instantaneous value of the Z-axis angular velocity exceeds 100 degrees / second, the system determines that a sudden change in attitude has occurred that meets the characteristics of "suddenly being lifted off the water by an external force". At this time, the control unit immediately sends a stop command to the driver of the walking motor, stopping the rotation of the wheels or tracks regardless of their movement state. This safety locking measure is to prevent the robot from moving uncontrollably during subsequent judgment processes or when it is placed on the ground after leaving the water. Immediately afterwards, the control unit sends a new speed command to the driver of the water pump motor, increasing the motor speed from the normal cleaning operating speed (e.g., 800 RPM) to a preset detection speed (e.g., 2500 RPM) in a very short time (e.g., within 0.2 seconds). Once the motor speed reaches and stabilizes at the detection speed, the control unit uses a current sensor (such as a sampling resistor combined with an ADC) to collect the operating current value of the water pump motor at this high speed in real time. The purpose of this step is to amplify the physical difference between "underwater loaded" and "airborne unloaded" by actively creating a high-speed test state.

[0048] In one possible implementation, the attitude change condition includes at least one of the following: the change in the underwater robot's tilt angle exceeds a first preset angle threshold; the angular velocity of the underwater robot around its vertical axis exceeds a first preset angular velocity threshold. The tilt angle change is determined by calculating the rate of change of the underwater robot's tilt angle (e.g., pitch angle) relative to time in real time, or by calculating the absolute difference of the angle within adjacent sampling periods. The condition is met when this rate of change or difference exceeds the first preset angle threshold (e.g., an angle change exceeding 70 degrees within 1 second, or an angle change exceeding 15 degrees within 0.05 seconds). The rotational angular velocity change is determined by directly reading the angular velocity value around the vertical axis (Z-axis) of the robot body output by the gyroscope. The condition is met when the absolute value of this angular velocity exceeds the first preset angular velocity threshold (e.g., exceeding 120 degrees / second). Meeting any one of these conditions triggers the subsequent process.

[0049] In one possible implementation, the detection speed is not an arbitrarily high value, but rather set to a value that has a specific proportional relationship with the normal operating speed. Specifically, the detection speed is set to 2.5 to 3 times the operating speed. For example, if the normal operating speed is 900 RPM, then the detection speed should be set in the range of 2250 RPM to 2700 RPM. By limiting the detection speed to a fixed multiple (2.5-3 times) of the operating speed, this proportional range is a golden interval verified by fluid dynamics analysis and experiments. It ensures that the resistance difference between water and air is amplified to a level that the current sensor can easily and stably identify, thereby achieving the best balance between "detection effectiveness" and "motor load / noise," which is a key parameter guarantee for achieving high reliability.

[0050] In one possible implementation, after controlling the underwater robot's walking mechanism to stop moving, before controlling the underwater robot's water pump motor to accelerate from its operating speed to a detection speed higher than the operating speed, a command is sent to the water pump motor driver to first control the water pump motor to completely stop running for a very short time (e.g., 50 milliseconds). Subsequently, it is commanded to accelerate directly from a stationary state to the target detection speed. This ensures that the motor accelerates to the detection speed from a uniform "stationary" state, avoiding transient current differences caused by acceleration from different initial speeds, making the subsequently collected current values ​​more stable and comparable. Secondly, during the extremely short pause, if the robot has already left the water, any water splashing can be immediately stopped, improving the user experience.

[0051] S203. Compare the current value with the preset current threshold, and determine whether the underwater robot has left the water based on the comparison result.

[0052] For details, please continue reading Figure 3 ,like Figure 3 As shown, after reading the current value, it is compared with a pre-stored current threshold in memory. This threshold, pre-calibrated experimentally, represents the critical current value that distinguishes between "water load" and "basic no-load" at the detected rotational speed. In one specific implementation, if the measured current is greater than or equal to the threshold, it is inferred that the pump impeller is still in the water and is subject to significant water resistance, thus determining that the robot has not left the water; if the measured current is less than the threshold, it is inferred that the pump impeller is idling in the air with a very light load, thus determining that the robot has left the water.

[0053] In one possible implementation, the preset current threshold is a threshold determined based on the no-load operating power or no-load current duty cycle of the water pump motor at the detection speed. Before the underwater robot leaves the factory or during its first self-learning in water, the water pump is run in air to the detection speed, and the input electrical power at this time is measured. The preset current threshold is set to a power value slightly higher than the input electrical power, and the real-time power is compared with it during actual testing. Alternatively, for a PWM-controlled motor, at the detection speed, the average current duty cycle required for stable no-load operation is measured, and the preset current threshold is a duty cycle value slightly higher than the average current duty cycle. By dynamically correlating the current threshold with the no-load reference of the motor at the detection speed, the robustness and environmental adaptability of the judgment system are improved, overcoming the problem of absolute current value drift caused by factors such as battery degradation, individual differences in motor performance, and changes in ambient temperature.

[0054] In one possible implementation, please continue reading Figure 3 ,like Figure 3 As shown, if the underwater robot is determined to be still in the water, the water pump motor is restored to its operating speed, and the walking mechanism resumes movement. If the underwater robot is determined to be out of the water, it enters a shutdown protection state. Specifically, if the underwater robot is determined to be still in the water, a command is first sent to the water pump motor driver to reduce its speed from the detected speed and restore it to the normal operating speed (e.g., from 2500 RPM to 900 RPM). Subsequently, a command is sent to the walking motor driver to unlock and restore the walking mechanism's drive, allowing the robot to continue performing the interrupted cleaning task. If the underwater robot is determined to be out of the water, it enters a shutdown protection state. This state includes: shutting off the water pump motor power to completely stop it; maintaining the walking mechanism in a stopped state; and simultaneously sending a "device out of water" notification message to the user terminal via indicator light flashing or a wireless module. For the case of the underwater robot still in the water, seamless recovery is achieved, minimizing interference with the cleaning process; for the case of the underwater robot out of the water, a complete shutdown is immediately executed, and the user is notified, maximizing the protection of equipment and personal safety.

[0055] This embodiment provides a method for detecting the shutdown of an underwater robot after it leaves the water. By integrating a dual mechanism of attitude change monitoring and active high-speed load testing, it solves the core problems of high false positive rates and poor reliability caused by the fuzzy current characteristics under low-speed operation in traditional water-leaving detection technologies. This method uses an attitude sensor as an intelligent trigger, initiating the judgment process only when a drastic attitude change matching the "lifted" characteristic is detected, effectively avoiding interference from normal underwater operations. Upon triggering, the walking mechanism is immediately locked to eliminate safety risks, and the water pump motor is instructed to jump to a detection state several times its operating speed, thereby drastically amplifying the load difference between water and air at the physical level. Finally, by comparing the clear current signal at high speed with a preset threshold, millisecond-level, high-confidence water-leaving status identification can be achieved. Therefore, this solution not only achieves fast and accurate water-leaving determination but also eliminates the risk of accidental movement of the equipment on land after water leaving the water through a safety locking design in the process, while ensuring the continuity of underwater operations and user experience, effectively improving detection reliability and operational safety.

[0056] Please see Figure 4 , Figure 4 This is a structural block diagram of an underwater robot's water-surface shutdown detection device provided in an embodiment of the present invention. Figure 4 As shown: The underwater robot's water-surface shutdown detection device 400 includes: a monitoring module 410, a control module 420, and a judgment module 430, wherein:

[0057] Monitoring module 410 is used to monitor the attitude changes of the underwater robot;

[0058] The control module 420 is used to control the underwater robot's walking mechanism to stop moving if the attitude change meets the preset attitude change conditions, control the underwater robot's water pump motor to increase from the working speed to a detection speed higher than the working speed, and obtain the current value of the water pump motor.

[0059] The judgment module 430 is used to compare the current value with a preset current threshold and determine whether the underwater robot has left the water based on the comparison result.

[0060] In some possible embodiments, the determination module 430 includes:

[0061] The first judgment unit is used to determine that the water has not left the water if the current value is greater than or equal to a preset current threshold.

[0062] The second judgment unit is used to determine that the water has been removed if the current value is less than the preset current threshold.

[0063] In some possible embodiments, the attitude change condition includes at least one of the following conditions: the change in the tilt angle of the underwater robot exceeds a first preset angle threshold; the angular velocity of the underwater robot about the vertical axis exceeds a first preset angular velocity threshold.

[0064] In some possible embodiments, the detection speed is 2.5 to 3 times the operating speed.

[0065] In some possible embodiments, the preset current threshold is a threshold determined based on the no-load operating power or no-load current duty cycle of the pump motor at the detected speed.

[0066] In some possible embodiments, the control module 420 includes:

[0067] The first control unit is used to stop the water pump motor of the underwater robot from running within a preset time period.

[0068] In some possible embodiments, the underwater robot's surface surfacing shutdown detection device 400 further includes:

[0069] The second control unit is used to control the water pump motor to return to its operating speed and to restore the movement of the walking mechanism if it is determined that the water has not left the water.

[0070] The third control unit is used to control the underwater robot to enter a shutdown protection state if it is determined that the robot has left the water.

[0071] It should be noted that the underwater robot surfacing shutdown detection device provided in the above embodiments is only illustrated by the division of the above functional modules when executing the underwater robot surfacing shutdown detection method. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the underwater robot surfacing shutdown detection device and the underwater robot surfacing shutdown detection method embodiments provided in the above embodiments belong to the same concept, and the implementation process is detailed in the method embodiments, which will not be repeated here.

[0072] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0073] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 5 As shown, the electronic device 500 may include: at least one processor 501, at least one network interface 504, user interface 503, memory 505, and at least one communication bus 502.

[0074] The communication bus 502 is used to enable communication between these components.

[0075] The user interface 503 may include a display screen, and the optional user interface 503 may include a standard wired interface or a wireless interface.

[0076] The network interface 504 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0077] The processor 501 may include one or more processing cores. The processor 501 connects to various parts within the electronic device 500 using various interfaces and lines, and performs various functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 505, and by calling data stored in the memory 505. Optionally, the processor 501 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 501 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 501 and may be implemented as a separate chip.

[0078] The memory 505 may include random access memory (RAM) or read-only memory. Optionally, the memory 505 may include a non-transitory computer-readable storage medium. The memory 505 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 505 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 505 may also be at least one storage device located remotely from the aforementioned processor 501. Figure 5 As shown, the memory 505, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for detecting the underwater robot's surfacing and shutdown.

[0079] exist Figure 5 In the electronic device 500 shown, the user interface 503 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 501 can be used to call the underwater robot's water exit shutdown detection application stored in the memory 505, and specifically perform the following operations: monitor the underwater robot's attitude change; if the attitude change meets the preset attitude change condition, control the underwater robot's walking mechanism to stop moving, control the underwater robot's water pump motor to increase from the working speed to a detection speed higher than the working speed, and obtain the water pump motor's current value; compare the current value with a preset current threshold, and determine whether the underwater robot has exited the water based on the comparison result.

[0080] In some possible embodiments, processor 501 performs the action of determining whether the underwater robot has left the water based on the comparison result, specifically by executing:

[0081] If the current value is greater than or equal to the preset current threshold, it is determined that the water has not been removed.

[0082] If the current value is less than the preset current threshold, it is determined that the water has been removed.

[0083] In some possible embodiments, the attitude change condition includes at least one of the following conditions: the change in the tilt angle of the underwater robot exceeds a first preset angle threshold; the angular velocity of the underwater robot about the vertical axis exceeds a first preset angular velocity threshold.

[0084] In some possible embodiments, the detection speed is 2.5 to 3 times the operating speed.

[0085] In some possible embodiments, the preset current threshold is a threshold determined based on the no-load operating power or no-load current duty cycle of the pump motor at the detected speed.

[0086] In some possible embodiments, after processor 501 controls the underwater robot's walking mechanism to stop moving, and before controlling the underwater robot's water pump motor to increase from its operating speed to a detection speed higher than the operating speed, it is also used to perform:

[0087] The water pump motor of the underwater robot is stopped within a preset time period.

[0088] In some possible embodiments, after processor 501 executes, it is also used to execute:

[0089] If it is determined that the pump is still in the water, the pump motor is restored to its operating speed, and the walking mechanism is restored to its movement.

[0090] If it is determined that the underwater robot has left the water, then the underwater robot will be controlled to enter a shutdown protection state.

[0091] This invention also provides a computer-readable storage medium storing instructions that, when executed on a computer or processor, cause the computer or processor to perform the above-described instructions. Figure 2 One or more steps in the illustrated embodiment. If the constituent modules of the underwater robot's surfacing shutdown detection device described above are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0092] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. 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 the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, 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 can be any available medium accessible to a computer or a data storage device such as a server 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., digital versatile discs (DVDs)), or semiconductor media (e.g., solid state disks (SSDs)).

[0093] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. Unless otherwise specified, the technical features of this embodiment and its implementation schemes can be combined arbitrarily.

[0094] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for detecting the shutdown of an underwater robot upon surfacing, characterized in that, The method includes: Monitor the attitude changes of the underwater robot; If the attitude change meets the preset attitude change condition, the underwater robot's walking mechanism is controlled to stop moving, the underwater robot's water pump motor is controlled to increase from the working speed to a detection speed higher than the working speed, and the current value of the water pump motor is obtained. The current value is compared with a preset current threshold, and the underwater robot is judged to be out of the water based on the comparison result.

2. The underwater robot's surfacing shutdown detection method according to claim 1, characterized in that, The step of determining whether the underwater robot has left the water based on the comparison result includes: If the current value is greater than or equal to the preset current threshold, it is determined that the water has not been removed. If the current value is less than the preset current threshold, it is determined that the water has been removed.

3. The underwater robot's surfacing shutdown detection method according to claim 1 or 2, characterized in that, The attitude change condition includes at least one of the following conditions: the change in the tilt angle of the underwater robot exceeds a first preset angle threshold; the angular velocity of the underwater robot around the vertical axis exceeds a first preset angular velocity threshold.

4. The underwater robot's surfacing shutdown detection method according to claim 1, characterized in that, The detection speed is 2.5 to 3 times the operating speed.

5. The underwater robot's surfacing shutdown detection method according to claim 1 or 2, characterized in that, The preset current threshold is a threshold determined based on the no-load operating power or no-load current duty cycle of the water pump motor at the detected speed.

6. The underwater robot's shutdown detection method upon surfacing according to claim 1, characterized in that, After the walking mechanism controlling the underwater robot stops moving, and before the water pump motor controlling the underwater robot increases its speed from the operating speed to a detection speed higher than the operating speed, the method further includes: The water pump motor of the underwater robot is controlled to stop running within a preset time period.

7. The underwater robot's surfacing shutdown detection method according to claim 2, characterized in that, After comparing the current value with a preset current threshold and determining whether the underwater robot has left the water based on the comparison result, the method further includes: If it is determined that the pump is still in the water, the pump motor is controlled to return to the operating speed, and the movement of the walking mechanism is restored. If it is determined that the underwater robot has left the water, then the underwater robot is controlled to enter a shutdown protection state.

8. A device for detecting the shutdown of an underwater robot upon surfacing, characterized in that, The device includes: A monitoring module is used to monitor the attitude changes of the underwater robot; The control module is used to control the walking mechanism of the underwater robot to stop moving if the attitude change meets the preset attitude change condition, control the water pump motor of the underwater robot to increase from the working speed to a detection speed higher than the working speed, and obtain the current value of the water pump motor. The judgment module is used to compare the current value with a preset current threshold and determine whether the underwater robot has left the water based on the comparison result.

9. A computer storage medium, characterized in that, The computer storage medium stores a plurality of instructions adapted for loading by a processor and executing the steps of the method as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method as described in any one of claims 1 to 7.

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