Underwater robot propeller torque control method and system

Abstract

The invention relates to the technical field of robot control, and discloses an underwater robot propeller torque control method and system, and the method comprises the steps: collecting the target data of an underwater robot, and receiving an instruction signal from an operator; obtaining state parameters of the underwater robot according to the target data, and performing motion state analysis on the underwater robot in combination with the instruction signal; establishing a kinetic model between the torque of the propellers and the motion of the underwater robot, and calculating the magnitude and direction of the torque required by each propeller based on the kinetic model and motion state analysis; the torque output of the propeller is adjusted according to the magnitude and direction of the torque needed by the propeller, and adjustment is conducted according to the environmental conditions and task requirements. According to the method, the problems of inaccurate or interfered sensor data, remote control signal delay, instability and inaccurate dynamical model in underwater robot propeller torque control are solved; the maneuvering performance, the posture stability and the self-adaptability of the underwater robot are improved, and the requirements of different working scenes are met.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a method and system for controlling the thrust torque of an underwater robot. Background Art

[0002] The underwater robot (ROV) system is a new type of underwater detection tool. It is equipped with a dual-frequency identification sonar system, an optical black and white, and a color camera system to take underwater photos of specific underwater targets. It is mainly used to search and detect underwater targets (above the seabed), and the ROV system is equipped with a mechanical arm to complete the capture of underwater targets. In the prior art, underwater robots have inaccurate or interfered sensor data. The data collected by the sensor is interfered by water flow, vibration and noise, resulting in reduced data accuracy and affecting the accuracy and stability of the torque control algorithm. The remote control signal transmission is affected by signal attenuation and propagation delay, resulting in signal delay and instability, resulting in a longer response time for the torque control command, affecting the maneuverability of the ROV; inaccurate dynamics models lead to difficulties in the design and optimization of the torque control algorithm; in actual applications, due to the mechanical characteristics of the thruster and environmental factors, there are certain errors and uncertainties in the torque output, affecting the accurate control of the attitude. Summary of the invention

[0003] In view of the above-mentioned problems, the present invention is proposed.

[0004] Therefore, the technical problems solved by the present invention are: problems such as inaccurate or disturbed sensor data, delayed and unstable remote control signals, and inaccurate dynamic models in the torque control of underwater robot thrusters.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: a method for controlling the thruster torque of an underwater robot, comprising: collecting target data of the underwater robot and receiving a command signal from an operator; acquiring state parameters of the underwater robot according to the target data, and performing motion state analysis on the underwater robot in combination with the command signal; establishing a dynamic model between the thruster torque and the motion of the underwater robot, and calculating the torque size and direction required for each thruster based on the dynamic model and motion state analysis; adjusting the torque output of the thruster according to the torque size and direction required by the thruster, and adjusting according to environmental conditions and task requirements.

[0006] As a preferred solution of the underwater robot thruster torque control method described in the present invention, the target data includes data on the motion state and environmental conditions of the underwater robot.

[0007] As a preferred solution of the underwater robot thruster torque control method described in the present invention, the motion state analysis includes calculating the attitude, position and speed information of the ROV according to the sensor data and the remote control signal; the attitude angle is calculated by summing the angular velocity data measured by the gyroscope to obtain the angular velocity, and then multiplying it by the proportional factor k1 to obtain the attitude angle; the position is calculated by multiplying the acceleration data measured by the accelerometer by the proportional factor k2 to obtain the position coordinates; the speed is calculated by summing the acceleration data measured by the accelerometer to obtain the acceleration, and then multiplying it by the proportional factor k3 to obtain the speed.

[0008] As a preferred solution of the underwater robot thruster torque control method of the present invention, the dynamic model includes establishing a dynamic model between the thruster torque and the underwater robot motion according to the physical characteristics of the underwater robot and the thruster layout, and the dynamic relationship between the torque generated by the thruster and the underwater robot motion is expressed as:

[0009] τ=k*θ

[0010] Among them, τ represents the torque generated by the propeller; k represents the conversion factor; and θ represents the rotation angle of the propeller.

[0011] As a preferred solution of the underwater robot thruster torque control method of the present invention, the calculation of the torque magnitude and direction required for each thruster includes using a proportional control algorithm to calculate the torque magnitude and direction required for each thruster according to the forward command signal and the steering command signal, expressed as:

[0012] τ left =k4·forward-k5·turn

[0013] τ right =k4·forward+k5·turn

[0014] Among them, τ left Indicates the torque required by the left thruster; τ right It indicates the torque required by the right thruster; k4 indicates the proportional factor; k5 indicates the proportional factor; forward indicates the forward command signal; turn indicates the turn command signal.

[0015] As a preferred solution of the underwater robot thruster torque control method of the present invention, wherein: the torque output of the thruster is adjusted, including, according to the calculation result of the proportional control algorithm, controlling each thruster to generate a corresponding torque in real time through the electronic control unit, which is expressed as:

[0016] rpm left =k6·τ left

[0017] rpm right =k6·τ right

[0018] Among them, rpm left represents the rotation speed of the left propeller; τ right represents the rotation speed of the right propeller; k6 represents the conversion factor.

[0019] As a preferred solution of the underwater robot thruster torque control method of the present invention, wherein: the adjusting the thruster torque output also includes real-time monitoring of the posture change of the underwater robot, and adjusting the torque output of each thruster according to the result of the proportional control algorithm, and performing posture stability control through feedback control, which is expressed as:

[0020]

[0021] in, represents the torque output of the left thruster; represents the torque output of the right thruster; k7 represents the proportional factor; θ desired Indicates the desired attitude angle.

[0022] A thruster torque control system for an underwater robot using any of the methods described in the present invention, wherein: a data acquisition and signal receiving module, by installing sensors, obtains data on the motion state and environmental conditions of the underwater robot in real time, and receives command signals from an operator; a motion state analysis module, by analyzing sensor data, obtains the posture, position, and speed information of the underwater robot, and combines remote control signals to perform real-time analysis of the motion state of the underwater robot; a model building and torque calculation module, based on the physical characteristics of the underwater robot and the thruster layout, establishes a dynamic model between the thruster torque and the motion of the underwater robot, and based on the dynamic model and motion state analysis, calculates the torque size and direction required for each thruster; a torque output control and adjustment module, based on the calculation results of the torque control algorithm, controls the torque generated by each thruster in real time through an electronic control unit, monitors the posture changes of the underwater robot in real time using a posture sensor device, and adjusts the torque output of each thruster according to the results of the thruster torque control algorithm, and automatically adjusts the parameters of the torque control algorithm according to changes in environmental conditions and task requirements.

[0023] A computer device comprises: a memory and a processor; the memory stores a computer program, comprising: the steps of implementing any one of the methods of the present invention when the processor executes the computer program.

[0024] A computer-readable storage medium stores a computer program, comprising: when the computer program is executed by a processor, the steps of implementing any one of the methods of the present invention are implemented.

[0025] Beneficial effects of the present invention: The method of the present invention solves the problems of inaccurate or interfered sensor data, delayed and unstable remote control signals, and inaccurate dynamic models in the torque control of the underwater robot thruster by installing sensors, setting up a remote control signal receiving module, and establishing a dynamic model; based on motion state analysis and intelligent algorithm design, accurate calculation of the thruster torque control is achieved, and the torque generated by the thruster is adjusted in real time through torque output control, and the manipulation performance, posture stability and adaptability of the underwater robot are improved by using attitude stability control and system optimization to meet the needs of different working scenarios. The solution effectively solves the technical problems in the torque control system of the underwater robot thruster and improves the control accuracy and stability of the underwater robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0027] Figure 1 An overall flow chart of a method for controlling the thrust torque of an underwater robot provided by one embodiment of the present invention;

[0028] Figure 2 A system structure block diagram of an underwater robot thruster torque control method provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in the art without creative work should fall within the scope of protection of the present invention.

[0030] Example 1, reference Figure 1 , as an embodiment of the present invention, provides a method for controlling the thrust torque of an underwater robot, comprising:

[0031] S1: Collect target data of the underwater robot and receive command signals from the operator.

[0032] Furthermore, by installing sensors such as gyroscopes, accelerometers, and depth sensors, the motion state and environmental condition data of the underwater robot (ROV) are acquired in real time, and the motion state data includes the angular velocity, acceleration, and depth data of the ROV.

[0033] Remote control signal reception The remote control signal reception module is set to receive command signals from the operator, including forward, backward, and turn.

[0034] Specifically, in order to verify the beneficial effects of the present invention, the sensor data collection is preset, and the angular velocity data measured by the gyroscope is:

[0035] ω x =0.1rad / s,

[0036] ω y =-0.2rad / s,

[0037] ω z =0.3rad / s;

[0038] Acceleration data measured by the accelerometer:

[0039] a x =0.5m / s 2 ,

[0040] a y =-0.3m / s 2 ,

[0041] a z =9.8m / s 2 ;

[0042] Depth data measured by the depth sensor: d = 10m

[0043] Remote control signal reception:

[0044] Forward command signal: forward=0.8;

[0045] Backward command signal: backward = -0.5;

[0046] Steering command signal: turn=0.2.

[0047] S2: Obtain the state parameters of the underwater robot according to the target data, and analyze the motion state of the underwater robot in combination with the command signal.

[0048] Furthermore, by analyzing the sensor data, the attitude, position, and speed information of the ROV are obtained, and combined with the remote control signal, the motion state of the ROV is analyzed in real time.

[0049] The attitude angle is calculated by summing the angular velocity data measured by the gyroscope to obtain the angular velocity, and then multiplying it by the proportional factor k1 to obtain the attitude angle:

[0050] θ=k1·(ω x +ω y +ω z )

[0051] Where θ represents the attitude angle.

[0052] The position is calculated by multiplying the acceleration data measured by the accelerometer by the scale factor k2 to obtain the position coordinates:

[0053] x=k2·a x

[0054] y=k2·a y

[0055] z=k2·a z

[0056] Among them, x, y, and z represent the positions of the underwater robot on the x-axis, y-axis, and z-axis respectively.

[0057] The velocity is calculated by summing the acceleration data measured by the accelerometer to get the acceleration, and then multiplying it by the proportional factor k3 to get the velocity:

[0058] v=k3·(a x +a y +a z )

[0059] Where v represents the speed of the underwater robot.

[0060] Specifically, assuming k1=0.2, k2=0.1, k3=0.05, according to the above formula and sensor data, we can calculate:

[0061] Attitude angle: θ = 0.2*(0.1-0.2+0.3) = 0.06rad;

[0062] Position: x = 0.1 * 0.5 = 0.05m

[0063] y=0.1*(-0.3)=-0.03m

[0064] z=0.1*9.8=0.98m;

[0065] Speed: v = 0.05*(0.5-0.3+9.8) = 0.47 m / s.

[0066] S3: Establish a dynamic model between the thruster torque and the underwater robot motion. Based on the dynamic model and motion state analysis, calculate the torque size and direction required for each thruster.

[0067] Furthermore, according to the physical characteristics and thruster layout of the ROV, a dynamic model between the thruster torque and the ROV motion is established, which describes the influence of the torque generated by the thruster on the ROV motion.

[0068] The dynamic relationship between the torque generated by the thruster and the motion of the underwater robot is expressed as:

[0069] τ=k*θ

[0070] Among them, τ represents the torque generated by the propeller; k represents the conversion factor; θ represents the rotation angle of the propeller; k = 0.1 Nm / deg.

[0071] Furthermore, the torque control algorithm is based on the dynamic model and motion state analysis. The algorithm comprehensively considers the remote control signal and sensor data, as well as the mission requirements, to calculate the torque size and direction required for each thruster.

[0072] τ left =k4·forward-k5·turn

[0073] τ right =k4·forward+k5·turn

[0074] Among them, τ left Indicates the torque required by the left thruster; τ right It indicates the torque required by the right thruster; k4 indicates the proportional factor; k5 indicates the proportional factor; forward indicates the forward command signal; turn indicates the turn command signal.

[0075] Specifically, according to the above formula and the remote control signal, it is calculated:

[0076] Left thruster torque: τ left =0.1*0.8-0.05*0.2=0.07Nm;

[0077] Right thruster torque: τ right =0.1*0.8+0.05*0.2=0.09Nm.

[0078] S4: Adjust the thruster torque output based on the thruster torque magnitude and direction required, and adjust based on environmental conditions and mission requirements.

[0079] Furthermore, according to the calculation results of the torque control algorithm, the torque generated by each propeller is controlled in real time through the electronic control unit (ECU), which is achieved by adjusting the speed of the propeller and the angle of the propeller blade. The speed is adjusted to a linear relationship, which is expressed as:

[0080] rpm left =k6·τ left

[0081] rpm right =k6·τ right

[0082] Among them, rpm left represents the rotation speed of the left propeller; τ right Indicates the rotation speed of the right propeller; k6 indicates the conversion factor, k6=1000rpm / Nm.

[0083] Specifically, according to the above formula and the torque calculation results, it is calculated that:

[0084] Left propeller speed: rpm left =1000*0.07=70rpm;

[0085] Right propeller speed: rpm right =1000*0.09=90rpm.

[0086] Furthermore, the attitude stabilization control uses attitude sensor equipment to monitor the attitude changes of the ROV in real time, and adjusts the torque output of each thruster according to the results of the thruster torque control algorithm to maintain the stable attitude of the ROV, which is expressed as:

[0087]

[0088] in, represents the torque output of the left thruster; represents the torque output of the right thruster; k7 represents the proportional factor, k7 = 0.02Nm / rad; θ desired Indicates the desired attitude angle.

[0089] Specifically, the preset expected attitude angle is 0rad, then the calculation is:

[0090] Left thruster torque output:

[0091] Right thruster torque output:

[0092] System optimization and adaptation optimize and adapt the torque control algorithm and parameters, and make adjustments based on the specific working conditions.

[0093] Example 2, reference Figure 2 In an exemplary embodiment, a torque control system for an underwater robot thruster is also provided, including a sensor data acquisition module, a remote control signal receiving module, a motion state analysis module, a dynamic model building module, a torque control algorithm design module, a torque output control module, an attitude stabilization control module, and a system optimization and adaptation module.

[0094] The sensor data acquisition module is connected with the motion state analysis module, the dynamic model establishment module and the attitude stabilization control module: it is used to install gyroscopes, accelerometers and depth sensors to obtain the data of the motion state and environmental conditions of the ROV in real time, provide input for the motion state analysis and torque control algorithm of the motion state analysis module, and work in coordination with the attitude stabilization control module.

[0095] The remote control signal receiving module is connected with the motion state analysis module and the torque control algorithm design module: it is used to receive command signals from the operator, including forward, backward, and steering, which serves as a reference for motion state analysis and torque control algorithm, and affects the result of torque output control.

[0096] The motion state analysis module is connected with the sensor data acquisition module, the remote control signal receiving module, the dynamic model building module, and the attitude stabilization control module: it is used to obtain the attitude, position and speed information of the ROV by analyzing the sensor data, and to analyze the motion state of the ROV in real time in combination with the remote control signal, providing an accurate reference for the establishment of the dynamic model building module and the design of the torque control algorithm.

[0097] The dynamic model building module is connected with the sensor data acquisition module, the motion state analysis module, and the torque control algorithm design module: it is used to establish a dynamic model between the thruster torque and the ROV motion according to the physical characteristics and thruster layout of the ROV, and to describe the influence of the torque generated by the thruster on the ROV motion. This model provides a basis for the torque control algorithm design and forms a feedback loop with the sensor data acquisition module and the motion state analysis module.

[0098] The torque control algorithm design module is connected with the sensor data acquisition module, the remote control signal receiving module, and the dynamic model establishment module: it is used to design an intelligent thruster torque control algorithm based on the dynamic model and motion state analysis, comprehensively consider the remote control signal, sensor data and task requirements, and calculate the torque size and direction required for each thruster.

[0099] The torque output control module is connected with the torque control algorithm design module, the attitude stability control module, and the system optimization and adaptation module: it is used to control each propeller to generate corresponding torque in real time according to the calculation result of the torque control algorithm through the electronic control unit (ECU) device, and to achieve precise control by adjusting the speed of the propeller and the angle of the propeller blade.

[0100] The attitude stabilization control module is connected with the sensor data acquisition module, the motion state analysis module and the torque output control module: it is used to monitor the attitude changes of the ROV in real time using the attitude sensor equipment, and adjust the torque output of each thruster according to the result of the thruster torque control algorithm to maintain the stable attitude of the ROV. This module cooperates with the sensor data acquisition module, the motion state analysis module and the torque output control module to form a closed-loop control system.

[0101] The system optimization and adaptation module is connected with the torque output control module and the attitude stabilization control module: it is used to continuously optimize the torque control algorithm and parameters, improve the maneuverability and maneuverability of the underwater robot, and automatically adjust the parameters of the torque control algorithm according to changes in environmental conditions and task requirements to adapt to different working scenarios.

[0102] Furthermore, the operation process in the system and method of the present invention is:

[0103] The sensor data acquisition module obtains data from the gyroscope, accelerometer and depth sensor, and provides it to the motion state analysis module and the dynamic model building module;

[0104] The remote control signal receiving module receives the operator's command signal as a reference for the motion state analysis module and the torque control algorithm design module;

[0105] The motion state analysis module calculates the ROV's attitude, position and speed information based on sensor data and remote control signals, and provides it to the torque control algorithm design module;

[0106] The dynamic model building module builds the dynamic model between the thruster torque and the ROV motion according to the physical characteristics and thruster layout of the ROV, which serves as the basis for the torque control algorithm design module;

[0107] The torque control algorithm design module comprehensively considers the remote control signal, sensor data and mission requirements, calculates the torque size and direction required for each thruster, and provides it to the torque output control module;

[0108] The torque output control module controls each thruster to generate corresponding torque in real time according to the calculation results of the torque control algorithm, and realizes precise control through speed regulation;

[0109] The attitude stabilization control module uses attitude sensor equipment to monitor the attitude changes of the ROV, and adjusts the torque output of the thruster according to the results of the torque control algorithm to maintain the stable attitude of the ROV;

[0110] The system optimization and adaptation module optimizes and adapts the torque control algorithm and parameters to improve the maneuverability of the underwater robot and adapt to different working scenarios.

[0111] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0112] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0113] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0114] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0115] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for controlling the thrust torque of an underwater robot, characterized in that: include: Collect target data of the underwater robot and receive command signals from the operator; Acquire the state parameters of the underwater robot according to the target data, and analyze the motion state of the underwater robot in combination with the command signal; Establish a dynamic model between the thruster torque and the underwater robot motion, and calculate the torque size and direction required for each thruster based on the dynamic model and motion state analysis; Adjust the thruster torque output based on the thruster torque magnitude and direction required, and adjust based on environmental conditions and mission requirements.

2. The underwater robot thruster torque control method according to claim 1, characterized in that: The target data includes data on the motion state and environmental conditions of the underwater robot.

3. The underwater robot thruster torque control method according to claim 2, characterized in that: The motion state analysis includes calculating the attitude, position and speed information of the ROV based on the sensor data and the remote control signal; The attitude angle is calculated by summing the angular velocity data measured by the gyroscope to obtain the angular velocity, and then multiplying it by the proportional factor k1 to obtain the attitude angle; The position is calculated by multiplying the acceleration data measured by the accelerometer by the scale factor k2 to obtain the position coordinates; The velocity is calculated by summing the acceleration data measured by the accelerometer to obtain the acceleration, and then multiplying it by the proportional factor k3 to obtain the velocity.

4. The underwater robot thruster torque control method according to claim 3, characterized in that: The dynamic model includes establishing a dynamic model between the thruster torque and the underwater robot motion according to the physical characteristics and thruster layout of the underwater robot. The dynamic relationship between the torque generated by the thruster and the underwater robot motion is expressed as: τ=k*θ Among them, τ represents the torque generated by the propeller; k represents the conversion factor; and θ represents the rotation angle of the propeller.

5. The underwater robot thruster torque control method according to claim 4, characterized in that: The calculation of the torque magnitude and direction required by each thruster includes using a proportional control algorithm to calculate the torque magnitude and direction required by each thruster according to the forward command signal and the steering command signal, which is expressed as: τ left =k4·forward-k5·turn τ right =k4·forward+k5·turn Among them, τ left Indicates the torque required by the left thruster; τ right It indicates the torque required by the right thruster; k4 indicates the proportional factor; k5 indicates the proportional factor; forward indicates the forward command signal; turn indicates the turn command signal.

6. The underwater robot thruster torque control method according to claim 5, characterized in that: The adjusting the torque output of the thruster includes, according to the calculation result of the proportional control algorithm, controlling each thruster to generate a corresponding torque in real time through the electronic control unit, which is expressed as: rpm left =k6·τ left rpm right =k6·τ right Among them, rpm left represents the rotation speed of the left propeller; τ right represents the rotation speed of the right propeller; k6 represents the conversion factor.

7. The underwater robot thruster torque control method according to claim 6, characterized in that: The adjusting the torque output of the thruster also includes monitoring the posture change of the underwater robot in real time, and adjusting the torque output of each thruster according to the result of the proportional control algorithm, and performing posture stabilization control through feedback control, which is expressed as: in, represents the torque output of the left thruster; represents the torque output of the right thruster; k7 represents the proportional factor; θ desired Indicates the desired attitude angle.

8. A thrust torque control system for an underwater robot using the method according to any one of claims 1 to 7, characterized in that: include, The data acquisition and signal receiving module, through the installation of sensors, obtains the data of the motion state and environmental conditions of the underwater robot in real time and receives the command signal from the operator; The motion state analysis module obtains the posture, position, and speed information of the underwater robot by analyzing the sensor data, and performs real-time analysis of the motion state of the underwater robot in combination with the remote control signal; The model building and torque calculation module builds a dynamic model between the thruster torque and the motion of the underwater robot according to the physical characteristics and thruster layout of the underwater robot. Based on the dynamic model and motion state analysis, the torque size and direction required by each thruster are calculated. The torque output control and adjustment module controls the torque generated by each thruster in real time through the electronic control unit according to the calculation results of the torque control algorithm, uses the attitude sensor equipment to monitor the attitude changes of the underwater robot in real time, and adjusts the torque output of each thruster according to the results of the thruster torque control algorithm. It automatically adjusts the parameters of the torque control algorithm according to changes in environmental conditions and task requirements.

9. A computer device comprising: A memory and a processor; the memory stores a computer program, characterized in that: when the processor executes the computer program, the steps of the underwater robot thruster torque control method as described in any one of claims 1-7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the underwater robot thruster torque control method as described in any one of claims 1-7 are implemented.

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