1: The abnormal walking of the equipment during the mission in the waterline is likely to be related to the height of the water level line.When the height difference between the water level line and the bank is less than 20cm, on the one hand, the excessively high water level may flood the bank area, resulting in the sensors used by the device to recognize the boundary not being able to accurately sense the bank position, thus rendering the navigation system ineffective and resulting in the walking route being shifted and spinning in place;
2: The fluctuation of the water current and the slight cuts between the device and the hard structure of the bank (e.g., masonry edges, metal guardrail) will interfere with the normal movement of the device, causing the device to be stuck, jittery, or even unable to travel.