Obstacle detection and control method for underwater robot, underwater robot, and medium

An underwater robot comprising:

• a memory, a processor, and an obstacle detection and control program stored in the memory, when and the obstacle detection and control program is executed by the processor, the underwater robot is instructed to:
• when the underwater cleaning robot is executing a cleaning task, acquiring an acceleration detected by an acceleration sensor and a distance value detected by a distance sensor;
• when a variation of the acceleration within a preset time period is greater than a preset threshold and the distance value is greater than a distance threshold, determining a first-type obstacle is at a current position of the underwater robot;
• and
• in response to that the first-type obstacle is determined at the current position, controlling a water pumping mechanism and an escape mechanism to execute a first escape action.

A computer-readable storage medium on which a control program for an underwater robot is stored, wherein the control program is executed by a processor, the underwater robot is instructed to:

• when the underwater robot is executing a cleaning task, acquiring an acceleration detected by an acceleration sensor and a distance value detected by a distance sensor;
• when a variation of the acceleration within a preset time period is greater than a preset threshold and the distance value is greater than a distance threshold, determining that a first-type obstacle is at a current position;
• and
• in response to that the first-type obstacle is determined at the current position, controlling the water pumping mechanism and the escape mechanism to execute a first escape action.