GB2611404A

GB2611404A - Multi-use mobile robot and obstacle surmounting method thereof

Info

Publication number: GB2611404A
Application number: GB2211035.7A
Authority: GB
Inventors: Xu Pengfei; Ding Yanxu; Du Yu'ang; Chang Zhe; Cao Qingbo; Cheng Hongxia
Original assignee: Hohai University HHU
Current assignee: Hohai University HHU
Priority date: 2021-09-13
Filing date: 2022-07-28
Publication date: 2023-04-05
Also published as: CN113910849A; GB202211035D0

Abstract

A multi-use mobile robot comprises a robot body 4, at least one pair of propelling systems 1 disposed on two sides of the robot body, at least one pair of buoyance regulating systems 2 disposed on the two sides of the robot body, an acoustic-optical detection system 31 and 32 disposed on the robot body, and a control system disposed in the robot body. The propelling systems are used for propelling the robot to crawl under the water and advance on the water and in the water. The buoyance regulating systems are used for regulating self-buoyance according to different tasks to allow the robot to perform a task on the water, in the water or under the water. The acoustic-optical detection system comprises an underwater laser detection device 31 and a sonar detection device 32, and sends detected images back to the control system, and the control system instructs the propelling systems and the buoyance regulating systems to act after performing recognition and determination. The propelling systems may use the Archimedean spiral propelling principle, thus having good mobility on the shore, on the water, in the water and under the water.

Description

MULTI-USE MOBILE ROBOT AND OBSTACLE SURMOUNTING METHOD THEREOF

BACKGROUND OF THE INVENTION

[0001] I Technical Field

[0002] The invention relates to the technical field of robots, in particular to a multi-use mobile robot and an obstacle surmounting method thereof

[0003] 2. Description of Related Art

[0004] Robots capable of moving across different media in the ocean are always a research focus in the field of robots. However, most existing robots can only move in water and on land and do not have the capacity to move across a shoal, on the water, in the water and under the water. For example, Chinese Invention Patent Publication No. CN103358839B discloses an amphibious spherical exploration robot, which can move on the water and across a shoal through rotational motions of a spherical shell; however, the amphibious spherical exploration robot cannot move under the water or in the water, and the spherical structure is poor in stability and obstacle surmounting capacity, which makes the robot unpractical. In addition, existing robots capable of moving across different media are generally provided with multiple propelling devices to adapt to different medium environments. For example, Chinese Invention Application Publication No. CN112744036A discloses an amphibious robot, which adopts three types of propelling devices, namely tyres, tracks and propellers, to move in water and on land. For another example, Chinese Invention Application Publication No. CN110434865A discloses an amphibious inspection robot, which is propelled by tracks on land and is jet-propelled in the water, however, these robots adopt two or more propelling devices, which makes the structure complicated, greatly increases the weight of the robots, and reduces the capacity to move on complex terrains and, the control difficult is increased, and the propelling devices are switched between different media, thus being prone to damage.

[0005] Further, the Archimedean spiral was invented by Mathematician Archimedes in the Ancient Greek period and has been applied to spiral water pumps. In 1868, American inventor Jacob Morath put forward the design concept of a spirally propelled vehicle, which can run on rough terrains such as snowy terrains and muddy terrains based on the rolling friction principle. During the Second World War, the Soviet Union developed multiple practical spirally propelled vehicles adaptable to the severe environments of Siberian snowfield and marsh, such as SHIN-1 and Zil spirally propelled vehicles. At present, spiral propelling devices have been widely applied to complicated terrains such as swamp, grassland and pipes. For example, Chinese Invention Application Publication No CN108848697A discloses a spirally propelled mower, which can move on grassland by means of two spiral propelling devices. For another example, Chinese Invention Application Publication No. CN109737266A discloses a spiral propelling device for pipe inspection robots, which can move in mud in pipes. However, because the spiral propelling devices are propelled by threads settled in media, when the threads are suspended in case of a steep slope, a step or a deep pit, the spiral propelling devices will fail to be propelled, and the obstacle surmounting capacity of the spiral propelling devices is greatly reduced, compared with tracked or wheeled devices [0006] Therefore, a multi-use mobile robot which can move across a shoal, on the water, in the water and under the water and has a good passing capacity in different environments is needed to overcome the technical bottleneck in the prior art.

BRIEF SUMMARY OF THE INVENTION

[0007] In view of the lack of a multi-use mobile robot that can move across a shoal, on the water,in the water and under the water and has a good passing capacity in different environments in the prior art, the objective of the invention is to provide a multi-use mobile robot and an obstacle surmounting method thereof The multi-use mobile robot adopts propelling systems based on the Archimedean spiral propelling principle, thus having good mobility on the shoal, on the water, in the water and under the water.

[0008] To fulfill the above objective, the invention provides the following technical solution: [0009] A multi-use mobile robot comprises a robot body, at least one pair of propelling systems disposed on two sides of the robot body, at least one pair of buoyance regulating systems disposed on the two sides of the robot body, an acoustic-optical detection system disposed on the robot body, and a control system disposed in the robot body, wherein the propelling systems are used for propelling the robot to crawl under the water and advance on the water and in the water; the buoyance regulating systems are used for regulating self-buoyance according to different tasks to allow the robot to perform a task on the water, in the water or under the water; the acoustic-optical detection system comprises an underwater laser detection device and a sonar detection device, the underwater laser detection device is used for performing high-definition detection and recognition on targets and terrains in a close range, and the sonar detection device is used for detecting targets and terrains at a distance and in a muddy water environment; and the acoustic-optical detection system sends detected images back to the control system, and the control system instructs the propelling systems and the buoyance regulating systems to act after performing recognition and determination.

[0010] Further, the acoustic-optical detection system, the control system, and the connection with the robot body and the control system belong to the prior art.

[0011] Further, the buoyance regulating systems are disposed on the two sides of the robot body, and each comprise a ballast tank, a buoyance regulating pump disposed at one end of the ballast tank, and a one-way valve group disposed between the ballast tank and the buoyance regulating pump, the buoyance regulating pump is located in a sealed compartment at one end of the ballast tank, a water pipe stretches out of each of two sides of the buoyance regulating pump, one of the two water pipes stretches into water from the sealed compartment, and the other water pipe enters the ballast tank from the sealed compartment; and the one-way valve group comprises an inlet one-way valve and an outlet one-way valve, which are both mounted on a wall between the ballast tank and the sealed compartment of the buoyance regulating pump.

[0012] When the buoyance regulating systems require positive buoyance, the buoyance regulating pumps are opened to pump water out of the ballast tanks, and air in sealed compartments enters the ballast tanks through the inlet one-way valves to maintain a pressure balance; or, when the buoyance regulating systems require negative buoyance, the buoyance regulating pumps are opened to inject water into the ballast tanks to increase seawater ballast, and air in the ballast tanks enters the sealed compartments through the outlet one-way valves to maintain a pressure balance, and the robot performs a task under the water.

[0013] Further, the buoyance regulating pumps are existing miniature water pumps capable of pumping water forward and reversely, such as peristaltic pumps or vacuum pumps [0014] Further, the propelling systems are spiral propellers, and comprises a spiral propelling wheel and a center shaft, a threaded shell is disposed outside the spiral propelling wheel, and the center shaft is a wheel shaft penetrating through the spiral propelling wheel; four support seats are disposed on the two sides of the robot body, and two ends of each of the center shafts are assembled on two of the four support seats respectively; and motor compartments are disposed on the center shafts, and propelling motors are disposed in the motor compartments and are used for driving the spiral propelling wheels to rotate around the center shafts.

[0015] Further, motor gears are disposed on motor shafts of the propelling motors, inner wall gears engaged with the motor gears are disposed on inner walls of the shells of the spiral propelling wheels, and when the propelling motors, the motor gears and the inner wall gears rotate, the spiral propelling wheels are driven to rotate around the center shafts, so that the robot is propelled to run.

[0016] Further, the robot body is connected to the spiral propellers through connecting frames, and two ends of each connecting frame are provided with two support seats respectively.

[0017] Further, end caps matched with the ends of the corresponding spiral propeller are further disposed at the two ends of each connecting frame, and the end caps are conical.

[0018] Further, battery compartments are mounted on the center shafts and are connected to the propelling motors, and the spiral propelling wheels are in the shape of an oval cylinder.

[0019] Further, the number of the battery compartments is an even number that is not zero, and the battery compartments are symmetrically disposed on the center shafts with the motor compartments as centers.

[0020] Further, the motor compartments are sealed pressure-resistant motor compartments, the battery compartments are sealed compartments, and the ballast tanks are pressure tanks for storing water.

[0021] Further provided is an obstacle surmounting method of a multi-use mobile robot, wherein in the traveling process of the robot, the acoustic-optical detection systems is kept on to scan and detect an obstacle and a terrain in front of the robot, and images of the obstacle and the terrain are sent back to the control system and the control system performs recognition and determination according to features of the received images, and different obstacle surmounting measures are taken according to different types of obstacles.

[0022] Further, the different types of obstacles comprise a slope, a step and a steep pit, and the different obstacle surmounting measures are taken specifically as follows: [0023] In case of a slope, whether a gradient of the slope is greater than a maximum climbing angle is determined; if the angle of the slope is less than the maximum climbing angle, the robot travels forward directly; or, if the angle of the slope is greater than the maximum climbing angle, the robot rotates by 900 on the spot with respect to an advancing direction, then climbs up to the steep slope through lateral movement, then rotates back to the original advancing direction on the spot, and finally passes across the slope; [0024] In case of a step, the robot rotates by 90° on the spot and then passes across the step by lateral movement; and [0025] In case of a steep pit, the robot improves self-buoyance through the buoyance regulating systems to leave an underwater environment, and is then propelled by the spiral propellers to advance in the water to pass across the deep pit.

[0026] Compared with the prior art, the multi-use mobile robot and the obstacle surmounting method thereof provided by the invention have the following beneficial effects: [0027] (1) The invention provides the multi-use mobile robot capable of moving across a shoal, on the water, in the water and under the water to solve the problem that a robot platform capable of moving across multiple media is not available in the prior art; the robot can adapt to all service environment through one propelling method, is simple and reliable in structure, and overcomes the defects that a robot capable of moving across multiple media in the prior art have to adopt multiple propelling devices to adapt to different environments and the propelling devices have to be changed frequently.

[0028] (2) According to the obstacle surmounting method for propelling devices, a robot can take a corresponding obstacle surmounting method under different obstacle environments, so that the obstacle surmounting capacity and passing capacity of the robot in complicated environments can be improved, and the robot has the technical advantages of good mobility, high efficiency and high speed and has a broad application prospect in the aspects of offshore environment monitoring, underwater fishing, underwater exploration, pipe inspection and military defense. In case of a slope, the robot is spirally propelled, thus having a higher road holding capacity than wheeled devices; in case of a step that cannot be surmounted by spiral propelling devices, the robot moves laterally like wheeled devices to easily pass across the step; and in case of a deep pit that cannot be surmounted by spiral propelling and wheel propelling, the robot floats upwards by means of buoyance regulating devices and then advances in the water through the spiral propelling devices to pass across the obstacle. The technical defects that cannot be overcome by spiral propelling devices or wheel propelling devices are overcome, and the passing capacity of the robot in complicated environment is greatly improved.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0029] FIG I is an overall structural view of a robot according to the invention, [0030] FIG. 2 is an internal structural view of a propelling system according to the invention (to illustrate the matching relation between end caps and spiral propelling wheels, the end caps are not omitted in the figure); [0031] FIG. 3 is a structural view of a buoyancy regulating system according to the invention; [0032] FIG 4 is a flow diagram of an obstacle surmounting method of a robot according to the invention; [0033] FIG 5 is a schematic diagram of the robot moving across a slope according to the invention; [0034] FIG 6 is a schematic diagram of the robot moving across a step according to the invention; [0035] FIG 7 is a schematic diagram of the robot moving across a deep pit according to the invention.

[0036] Reference signs in the figures: 1, propelling system; 11, center shaft; 12, motor compartment; 13, motor gear; 14, inner wall gear; 15, battery compartment; 2, buoyance regulating system; 21, ballast tank; 22, buoyance regulating pump; 23, one-way valve group; 24, water pipe 25, watertight socket 31, underwater laser detection device; 32, sonar detection device; 4, robot body.

DETAILED DESCRIPTION OF THE INVENTION

[0037] The technical solutions of the embodiments of the invention will be clearly and completely described below in conjunction with the drawings of the embodiments of the invention. Obviously, the embodiments in the following description are merely illustrative ones, and are not all possible ones of the invention. All other embodiments obtained by those ordinarily skilled in the art based on the following ones without creative labor should fall within the protection scope of the invention.

[0038] As shown in FIG. 1 to FIG. 3, the invention provides a robot, comprising a robot body 4, at least one pair of propelling systems 1 disposed on two sides of the robot body, at least one pair of buoyance regulating systems 2 disposed on the two sides of the robot body 4, an acoustic-optical detection system disposed on the robot body 4, and a control system disposed in the robot body 4; the propelling systems 1 are used for propelling the robot to crawl under the water and advance on the water and in the water; the buoyance regulating systems 2 are used for regulating and changing self-buoyance according to different tasks to allow the robot to perform a task on the water, in the water or under the water; the acoustic-optical detection system comprises an underwater laser detection device 31 and a sonar detection device 32, the underwater laser detection device 31 is used for performing high-definition detection and recognition on targets and terrains in a close range, and the sonar detection device 32 is used for detecting targets and terrains at a distance and in muddy water environments and the acoustic-optical detection system sends detected images back to the control system, and the control system instmcts the propelling systems 1 and the buoyance regulating systems 2 to act after performing recognition and determination.

[0039] As shown in FIG 3, in a specific implementation of this embodiment, the buoyance regulating systems 2 are disposed on the two sides of the robot body 4, and each comprise a ballast tank 21, a buoyance regulating pump 22 disposed at one end of the ballast tank 21, and a one-way valve group 23 disposed between the ballast tank 21 and the buoyance regulating pump 22, wherein the buoyance regulating pump 22 is located in a sealed compartment at one end of the ballast tank 21, a water pipe 24 stretches out of each of two sides of the buoyance regulating pump 22, one of the two water pipes 24 stretches into water from the sealed compartment, and the other water pipe 24 enters the ballast tank 21 from the sealed compartment; and the one-way valve group 23 comprises an inlet one-way valve and an outlet one-way valve, which are both mounted on a partition between the ballast tank 21 and the sealed compartment.

[0040] When the buoyance regulating systems require positive buoyance, the buoyance regulating pumps 22 are opened to pump seawater out of the ballast tanks 21, and air in the sealed compartments enters the ballast banks 21 through the inlet one-way valves to maintain a pressure balance or, when the buoyance regulating systems require negative buoyance, the buoyance regulating pumps 22 are opened to inject water into the ballast tanks 21 to increase seawater ballast, and air in the ballast tanks 21 enters the sealed compartments through the outlet one-way valves to maintain a pressure balance, and the robot works under the water.

[0041] In a specific implementation of this embodiment, the buoyance regulating pumps 22 are existing miniature water pumps capable of pumping water forward and reversely, such as peristaltic pumps or vacuum pumps.

[0042] In a specific implementation of this embodiment, watertight sockets 25 are disposed at the ends, where the buoyance regulating pumps 22 are located, of the ballast tanks 21, are connected to a power supply in the robot body, and are then connected to the buoyance regulating pumps 22 and the one-way valve groups 23 to supply power to the buoyance regulating pumps 22 and the one-way valve groups 23 [0043] In a specific implementation of this embodiment, the propelling systems 1 are spiral propellers, and each comprises a spiral propelling wheel and a center shaft 11, wherein a threaded shell is disposed outside the spiral propelling wheel, and the center shaft 11 is a wheel shaft penetrating through the spiral propelling wheel; four support seats are disposed on the two sides of the robot body 4, and two ends of each center shaft 11 are assembled on two of the four support seats respectively, and motor compartments 12 are disposed on the center shafts 11, and propelling motors are disposed in the motor compartments 12 and are used for driving the spiral propelling wheels to rotate around the center shafts 11.

[0044] In a specific implementation of this embodiment, motor gears 13 are disposed on the motor shafts of the propelling motors, inner wall gears 14 engaged with the motor gears 13 are disposed on inner walls of the shells of the spiral propelling wheels, and when the propelling motors, the motor gears 13 and the inner wall gears 14 rotate, the spiral propelling wheels are driven to rotate around the center shafts 11, so that the robot is propelled to run.

[0045] As shown in FIG. 1, in a specific implementation of this embodiment, the robot body 4 is connected to the spiral propellers through connecting frames, and two support seats are disposed at two ends of each connecting frame respectively.

[0046] In a specific implementation of this embodiment, end caps matched with the ends of the corresponding spiral propeller are further disposed at the two ends of each connecting frame, and the end caps are conical.

[0047] In a specific implementation of this embodiment, battery compartments 15 are mounted on the center shafts 11 and are connected to the propelling motors, and the spiral propelling wheels are in the shape of an oval cylinder.

[0048] In a specific implementation of this embodiment, the number of the battery compartments 15 is an even number that is not zero and the battery compartments 15 are symmetrically disposed on the center shafts 11 with the motor compat nents 12 as centers.

[0049] In a specific implementation of this embodiment, the motor compartments 12 are sealed pressure-resistant motor compartments, the battery compartments 15 are sealed compartments, and the ballast tanks 21 are pressure tanks for storing water.

[0050] As shown in FIG 4, the invention provides an obstacle surmounting method of the robot. According to the obstacle surmounting method of the robot, in the traveling process of the robot, the acoustic-optical detection systems is kept on to scan and detect an obstacle and a terrain in front of the robot, and images of the obstacle and the terrain are sent back to the control system; and the control system performs recognition and determination according to features of the received images, and different obstacle surmounting measures are taken according to different types of obstacles.

[0051] In a specific implementation of this embodiment, the different types of obstacles comprise a slope, a step and a deep pit, and the different obstacle surmounting measures are taken specifically as follows: [0052] As shown in FIG. 5, in case of a slope, because the spiral propellers are powered by the threaded shells settled in a medium to advance, thus having a climbing friction greater than that of common wheeled devices and a higher climbing capacity; however, in case of a steep slope with an excessive gradient, the threaded shells of the robot will be suspended and not be able to propel the robot So, in case of a slope, whether the angle of the slope is greater than a maximum climbing angle is determined; if the angle of the slope is less than the maximum climbing angle, the robot travels forward directly; or, if the angle of the slope is greater than the maximum climbing angle, the robot rotates by 900 on the spot with respect to an advancing direction, then climbs up to the steep slope through lateral movement, then rotates back to the original advancing direction on the spot, and finally passes across the steep slope.

[0053] As shown in FIG 6, in case of a step, because the spiral propellers are designed into oval cylinders close to the ground, the robot will be unable to pass across a step if spirally propelled; however, when moving laterally, the robot is essentially equivalent to being propelled by round wheels, which have a good capacity to pass across a step obstacle Thus, when the detection system detect that an obstacle in front of a step, the robot rotates by 90° on the spot and then moves laterally to pass across the step [0054] As shown in FIG 7, in case of a deep pit, the robot will be unable to pass across the deep pit no matter whether the robot is propelled by spiral propellers or by wheeled propelling devices. In this case, the buoyance of the robot is improved by the buoyance regulating device to allow the robot to leave an underwater environment, and then the robot is propelled by the spiral propellers to advance in the water to pass across the deep pit.

[0055] The robot provided by the invention is spirally driven to crawl under the water advance on or in the water based on the principle similar to threaded drive. When crawling in a soft bottom environment such as a tidal flat or a seabed, the robot is embedded in the soft ground by means of self-weight and advances by means of the friction between a medium on the ground and protruding threaded surfaces. The robot can steer and move laterally by means of differential drive of two spiral cylinders, thus being particularly suitable for fluid or semi-fluid grounds such as tidal flats, swamp and seabed. When moving laterally, the robot is equivalent to being propelled by wheels, so that the capacity to pass across complicated terrains of the robot can be improved. When robot is propelled by two propellers in and on the water, and can move on the water by means of the interaction of protruding threads and water, so the robot has a capacity to travel on all terrains such as on a shoal, in the water and under the water.

[0056] It should be noted that, in this specification, the relational terms such as first and second are merely used to distinguish one entity or operation from the other entity or operation, and do not definitely require or imply any actual relationship or sequence between these entities or operations. In addition, the term "comprise", "include" or any other variation refers to non-exclusive inclusion, so a process, method, article or device comprising a series of elements not only comprises these elements listed, but also comprises other elements that are not clearly listed or inherent elements of the process, method, article or device. Unless otherwise specified, an element defined by "comprise one-shall not exclusive of other identical elements in a process, method, article or device comprising said element.

[0057] Although the embodiments of the invention have been illustrated and described, it can be understood that different variations, modifications, substitutions and transformations may be made to these embodiments by those ordinarily skilled in the art without departing from the principle and spirit of the invention. The scope of the invention should be defined by the appended claims and their equivalents.

Claims

CLAIMSI. A multi-use mobile robot, comprising: a robot body, at least one pair of propelling systems disposed on two sides of the robot body, at least one pair of buoyance regulating systems disposed on the two sides of the robot body, an acoustic-optical detection system disposed on the robot body, and a control system disposed in the robot body, wherein the propelling systems are used for propelling the robot to crawl under the water and advance on the water and in the water; the buoyance regulating systems are used for regulating self-buoyance according to different tasks to allow the robot to perform a task on the water, in the water or under the water. the acoustic-optical detection system comprises an underwater laser detection device and a sonar detection device, the underwater laser detection device is used for performing high-definition detection and recognition on targets and terrains in a close range, and the sonar detection device is used for detecting targets arid terrains at a distance and in a muddy water environment; and the acoustic-optical detection system sends detected images back to the control system, and the control system instmcts the propelling systems and the buoyance regulating systems to act after performing recognition and determination.
2. The multi-use mobile robot according to Claim 1, wherein the buoyance regulating systems are disposed on the two sides of the robot body, and each comprise a ballast tank, a buoyance regulating pump disposed at an end of the ballast tank, and a one-way valve group disposed between the ballast tank and the buoyance regulating pump, and the one-way valve group comprises an inlet one-way valve and an outlet one-way valve; when the buoyance regulating systems require positive buoyance, the buoyance regulating pumps are opened to pump water out of the ballast tanks, and air in sealed compartments enters the ballast tanks through the inlet one-way valves to maintain a pressure balance or, when the buoyance regulating systems require negative buoyance, the buoyance regulating pumps are opened to inject water into the ballast tanks to increase seawater ballast, and air in the ballast tanks enters the sealed compartments through the outlet one-way valves to maintain a pressure balance, arid the robot performs a task under the water.
3. The multi-use mobile robot according to Claim 1, wherein the propelling systems are spiral propellers, and comprises a spiral propelling wheel and a center shaft, a threaded shell is disposed outside the spiral propelling wheel, and the center shaft is a wheel shaft penetrating through the spiral propelling wheel; four support seats are disposed on the two sides of the robot body, and two ends of each of the center shafts are assembled on two of the four support seats respectively, and motor compartments are disposed on the center shafts, and propelling motors are disposed in the motor compartments and are used for driving the spiral propelling wheels to rotate around the center shafts.
4. The multi-use mobile robot according to Claim 3, wherein motor gears are disposed on motor shafts of the propelling motors, inner wall gears engaged with the motor gears are disposed on inner walls of the shells of the spiral propelling wheels, and when the propelling motors, the motor gears and the inner wall gears rotate, the spiral propelling wheels are driven to rotate around the center shafts.
5. The multi-use mobile robot according to Claim 3, wherein the robot body is connected to the spiral propellers through connecting frames, and two ends of each said connecting frame are provided with two said support seats respectively.
6. The multi-use mobile robot according to Claim 3, wherein battery compartments are mounted on the center shafts and are connected to the propelling motors, and the spiral propelling wheels are in the shape of an oval cylinder.
7. The multi-use mobile robot according to Claim 6, wherein the number of the battery compartments is an even number that is not zero, and the battery compartments are symmetrically disposed on the center shafts with the motor compartments as centers
8. The multi-use mobile robot according to Claim 6, wherein the motor compartments are sealed pressure-resistant motor compartments, the battery compartments are sealed compartments, and the ballast tanks are pressure tanks for storing water.
9. An obstacle surmounting method of a multi-use mobile robot, wherein in the traveling process of the robot according to any one of Claims 1-8, the acoustic-optical detection systems is kept on to scan and detect an obstacle and a terrain in front of the robot, and images of the obstacle and the terrain are sent back to the control system; and the control system performs recognition and determination according to features of the received images, and different obstacle surmounting measures are taken according to different types of obstacles
10. The obstacle surmounting method of a multi-use mobile robot according to Claim 9, wherein the different types of obstacles comprise a slope, a step and a steep pit, and the different obstacle surmounting measures are taken specifically as follows: in case of a slope, whether a gradient of the slope is greater than a maximum climbing angle is determined; if the angle of the slope is less than the maximum climbing angle, the robot travels forward directly; or, if the angle of the slope is greater than the maximum climbing angle, the robot rotates by 900 on the spot with respect to an advancing direction, then climbs up to the steep slope through lateral movement, then rotates back to the original advancing direction on the spot, and finally passes across the slope; in case of a step, the robot rotates by 90° on the spot and then passes across the step by lateral movement and in case of a steep pit, the robot improves self-buoyance through the buoyance regulating systems to leave an underwater environment, and is then propelled by the spiral propellers to advance in the water to pass across the deep pit