Underwater robot capable of self-adapting to curved surface and remote control intervention method

Abstract

The invention relates to the field of data transmission, in particular to an underwater robot with a self-adaptive curved surface and a remote control intervention method, and the method comprises the steps: analyzing the delay loss condition of underwater environment data in water transmission under the same underwater machine dimension, and obtaining the water transmission data loss degree; obtaining an underwater topographic signal interference degree according to the topographic degree data and the curved surface degree data; integrating the underwater environment data, the water body transmission data loss degree, the water body transmission data loss degree and the underwater topographic signal interference degree under different underwater machine dimensions to obtain a wireless communication interference degree; according to the wireless communication interference degree and the content of the machine remote control data, the control difficulty of the remote control signal on the underwater robot is analyzed, and the complete transmission difficulty is obtained; and then the machine remote control data is subjected to self-adaptive subpackage transmission. According to the invention, underwater interference suffered by remote control is reduced, the loss degree of remote control data is reduced, and the ability of the underwater robot to adapt to an underwater curved surface is improved.

Description

Technical Field

[0001] The invention relates to the field of data transmission, and in particular to an underwater robot capable of adapting to a curved surface and a remote control intervention method. Background Art

[0002] An underwater robot is a tool that integrates diving, autonomous scanning cruise, cleaning and other functions. It can achieve efficient cleaning of underwater fixed objects such as ships and underwater inclined pipes without stopping the water. It has extremely wide applications in marine engineering, underwater equipment maintenance, port and terminal maintenance and other fields. An underwater robot that can adapt to the surface is equipped with an adjustable mechanical arm, brush or changeable shell. During the cleaning process, the robot can receive and process data from sensors such as tactile sensors and distance sensors in real time, and adjust its behavior such as equipment extension and rotation through the built-in control system to adapt to complex underwater environments and surface changes. In the process of underwater cleaning, the automatic mode also has many limitations. For example, when there are changes in task content, equipment damage, poor cleaning effect, environmental changes, etc., timely manual intervention is required to ensure equipment safety and the smooth progress of the task.

[0003] However, when the operator transmits data and information to the underwater robot, the existing information transmission methods are limited by factors such as the underwater environment and the transmission distance, causing the transmitted data to be divided into multiple data packets for transmission, making it impossible to transmit the data information accurately and in a timely manner, and making it difficult for the operator's instructions to be transmitted to the underwater robot in a timely manner. Summary of the invention

[0004] The present invention provides an underwater robot capable of adapting to a curved surface and a remote control intervention method to solve the existing problem that the existing information transmission means are limited by factors such as the underwater environment and the transmission distance, so that the transmitted data is divided into multiple data packets for transmission, so that the data information cannot be transmitted accurately and timely, resulting in the operator's instructions being difficult to be transmitted to the underwater robot in a timely manner.

[0005] The present invention provides an underwater robot capable of self-adapting to curved surfaces and a remote control intervention method using the following technical solutions: The following steps are involved: Obtain different machine remote control data of underwater robots, different terrain degree data, different surface degree data, and several underwater environment data under different underwater machine dimensions; Analyze the delay and loss of underwater environmental data in water body transmission under the same underwater machine dimension, and obtain the water body transmission data loss degree of each underwater machine dimension; analyze the complexity of the terrain distribution of the water body according to the terrain degree data and the surface degree data, and obtain the underwater terrain signal interference degree of the underwater robot; combine the underwater environmental data, water body transmission data loss degree, water body transmission data loss degree and underwater terrain signal interference degree under different underwater machine dimensions, and obtain the wireless communication interference degree of the underwater robot underwater; According to the wireless communication interference and the content of the remote control data of the machine, the control difficulty of the remote control signal on the underwater robot is analyzed, and the complete transmission difficulty of the remote control data of each machine is obtained; According to the difficulty of complete transmission, the machine remote control data is adaptively packetized and transmitted.

[0006] Preferably, the method for obtaining the water body transmission data loss degree is: For any underwater machine dimension, in the underwater machine dimension, the difference in the amount of time data when the underwater robot receives the same underwater environment data is analyzed to obtain the underwater transmission delay loss degree of the underwater environment data; the underwater transmission delay loss degrees of all underwater environment data in the underwater machine dimension are integrated to obtain the water body transmission data loss degree of the underwater machine dimension.

[0007] Preferably, the method for acquiring the underwater transmission delay loss degree is: By comparing the start and end times of the same underwater environment data between being sent and being received by the system, the delay time of the underwater environment data is obtained; by comparing the data content of the same underwater environment data between being sent and being received by the system, the delay data loss degree of the underwater environment data is obtained; and according to the delay time and the delay data loss degree, the underwater transmission delay loss degree of the underwater environment data is obtained.

[0008] Preferably, after calculating the water body transmission data loss degree, the method further includes: The water body transmission data loss is normalized.

[0009] Preferably, the method for acquiring the interference degree of the underwater terrain signal is: By comparing the extreme differences between the terrain degree data and the surface degree data, the underwater terrain complexity of the underwater robot is obtained; the distribution consistency of the surface degree data is analyzed to obtain the surface influence of the underwater robot; based on the underwater terrain complexity and the surface influence, the underwater terrain signal interference of the underwater robot is obtained.

[0010] Preferably, the method for obtaining the underwater terrain complexity is: Among all terrain degree data, the maximum value of terrain degree data is taken as the maximum terrain degree data, and the minimum value of terrain degree data is taken as the minimum terrain degree data; among all surface degree data, the maximum value of surface degree data is taken as the maximum surface degree data, and the minimum value of surface degree data is taken as the minimum surface degree data; The absolute value of the difference between the maximum terrain degree data and the maximum surface degree data is taken as the upper limit degree difference value; the absolute value of the difference between the minimum terrain degree data and the minimum surface degree data is taken as the lower limit degree difference value; the sum of the upper limit degree difference value and the lower limit degree difference value is taken as the underwater terrain complexity of the underwater robot.

[0011] Preferably, the method for acquiring the wireless communication interference degree is: According to the interference degree of underwater terrain signals and the fluctuation of the content contained in underwater environmental data, the data feedback stability of the underwater robot is obtained; according to the data feedback stability and the data loss degree of water body transmission, the wireless communication interference degree of the underwater robot underwater is obtained.

[0012] Preferably, the method for acquiring the data feedback stability is: The dimensional standard deviation of all underwater environmental data under each underwater machine dimension is obtained; the mean of all dimensional standard deviations is taken as the comprehensive dimensional stability; the inverse proportional normalized value of the underwater terrain signal interference and the comprehensive dimensional stability is taken as the data feedback stability of the underwater robot.

[0013] Preferably, the method for obtaining the complete transmission difficulty is: The content distribution of the remote control data of each machine is analyzed to obtain the remote control content repetition of the remote control data of each machine; according to the remote control content repetition and the wireless communication interference, the complete transmission difficulty of the remote control data of each machine is obtained.

[0014] Preferably, the method for obtaining the remote control content repetition degree is: For any machine remote control data, the length and number of types of the machine remote control data are obtained; and the product of the length and number of types of the machine remote control data is used as the remote control content repetition degree of the machine remote control data.

[0015] The beneficial effects of the technical solution of the present invention are: analyzing the delay loss of underwater environmental data in the same underwater machine dimension during water body transmission to obtain the water body transmission data loss degree; analyzing the complexity of the terrain distribution of the water body according to the terrain degree data and the surface degree data to obtain the underwater terrain signal interference degree; combining the underwater environmental data, water body transmission data loss degree, water body transmission data loss degree and underwater terrain signal interference degree under different underwater machine dimensions to obtain the wireless communication interference degree; analyzing the control difficulty of the remote control signal on the underwater robot according to the wireless communication interference degree and the content of the machine remote control data to obtain the complete transmission difficulty; and then adaptively packetizing and transmitting the machine remote control data. The present invention reduces the underwater interference suffered by the remote control, reduces the degree of loss of the remote control data, and improves the ability of the underwater robot to adapt to the underwater curved surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 paying creative work.

[0017] Figure 1 The present invention is a flowchart of the steps of an underwater robot capable of adapting to a curved surface and a remote control intervention method. DETAILED DESCRIPTION

[0018] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation method, structure, features and effects of an underwater robot capable of adapting to curved surfaces and a remote control intervention method proposed by the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0019] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0020] The specific scheme of an underwater robot capable of self-adapting to curved surfaces and a remote control intervention method provided by the present invention will be described in detail below with reference to the accompanying drawings.

[0021] See also Figure 1 , which shows a flow chart of a method for remote control intervention of an underwater robot capable of self-adapting to curved surfaces provided by an embodiment of the present invention, the method comprising the following steps: Step S001: Acquire different machine remote control data of the underwater robot, different terrain degree data, different surface degree data, and several underwater environment data under different underwater machine dimensions.

[0022] It should be noted that when the operator and the underwater robot transmit data and information to each other, the existing information transmission methods are limited by factors such as the underwater environment and the transmission distance, so that the transmitted data is divided into multiple data packets for transmission, making it impossible to transmit the data information accurately and in a timely manner, resulting in the operator's instructions being difficult to transmit to the underwater robot in a timely manner.

[0023] In a specific implementation of an embodiment of the present invention, the method for acquiring machine remote control data, terrain degree data, surface degree data and underwater environment data is as follows: five sensors, namely, a sonar sensor, a pressure sensor, a temperature sensor, a flow rate sensor and an optical sensor, are installed in an underwater robot, and each sensor sends data to a remote control platform at a frequency of 1 second / time, and the remote control platform records the underwater environment data transmitted from the underwater robot sensor at a frequency of 1 second / time. The sending time when each underwater environment data is sent from the underwater robot and the receiving time when the remote control platform receives it are recorded, and the sending time is 1 hour in total; after the remote control platform receives the data transmitted by the sonar sensor, it constructs a three-dimensional model to obtain a number of terrain degree data and a number of surface degree data; the four sensors, namely, the pressure sensor, the temperature sensor, the flow rate sensor and the optical sensor, are all regarded as an underwater machine dimension, and the data transmitted by these four sensors to the remote control platform are all regarded as underwater environment data. Each underwater environment data corresponds to a sending time and a receiving time, and the values ​​of the same underwater environment data at the sending time and a receiving time are not necessarily the same.

[0024] It is particularly noted that, in the process of the remote control platform recording the underwater environment data transmitted from the underwater robot sensor, if no underwater environment data transmitted from the underwater robot sensor is detected, the underwater environment data recorded by the remote control platform at the corresponding time is recorded as 0 by default; in this embodiment, the remote control platform stores by default the machine remote control data for remotely controlling the four machine items of the underwater robot, namely, the working speed, cleaning accuracy, diving depth, and cleaning target area range. The frequency of data transmission and the frequency of data recording, and the machine items that can control the underwater robot in the remote control platform can be determined according to actual conditions.

[0025] It should be noted that the surface degree data refers to the surface degree of the underwater robot and the surface of the object to be in contact; the process of converting the data of the sonar sensor into terrain and object surface degree data through a three-dimensional model is a well-known technology and will not be repeated in this embodiment.

[0026] So far, different machine remote control data of the underwater robot, different terrain degree data, different surface degree data and several underwater environment data under different underwater machine dimensions are obtained through the above method.

[0027] Step S002: Analyze the delay and loss of underwater environmental data in the same underwater machine dimension during water body transmission to obtain the water body transmission data loss degree of each underwater machine dimension; analyze the complexity of the terrain distribution of the water body according to the terrain degree data and the surface degree data to obtain the underwater terrain signal interference degree of the underwater robot; combine the underwater environmental data, water body transmission data loss degree, water body transmission data loss degree and underwater terrain signal interference degree in different underwater machine dimensions to obtain the wireless communication interference degree of the underwater robot underwater.

[0028] It should be noted that when the underwater robot feeds back the underwater environmental data of its environment to the control console, it may be affected by the noise interference in the water and the underwater environmental data received by the control console may be lost. The environmental interference intensity when the control console and the underwater robot are communicating can be obtained by combining the loss of underwater environmental data. At the same time, the specific situation of its current location can be roughly obtained by combining the underwater environmental data, and the wireless communication interference degree of the underwater robot underwater can be obtained.

[0029] Preferably, in some implementations of the embodiments of the present invention, the method for obtaining the water body transmission data loss degree is as follows: for any underwater machine dimension, in the underwater machine dimension, the time data volume difference of the underwater robot receiving the same underwater environment data is analyzed to obtain the underwater transmission delay loss degree of the underwater environment data; the underwater transmission delay loss degrees of all underwater environment data in the underwater machine dimension are integrated to obtain the water body transmission data loss degree of the underwater machine dimension. The specific process is as follows: Preferably, in some implementations of the embodiments of the present invention, the method for obtaining the underwater transmission delay loss degree is: comparing the start and end times between the sending and the system receiving the same underwater environment data to obtain the delay time of the underwater environment data; comparing the data content between the sending and the system receiving the same underwater environment data to obtain the delay data loss degree of the underwater environment data; according to the delay time and the delay data loss degree, the underwater transmission delay loss degree of the underwater environment data is obtained. The specific process is as follows: Taking any underwater environment data in any underwater machine dimension as an example, the absolute value of the difference between the sending time and the receiving time of the underwater environment data is used as the delay time of the underwater environment data; the absolute value of the difference between the values ​​of the underwater environment data between the sending time and the receiving time is used as the delay data loss degree of the underwater environment data; the product of the delay time and the delay data loss degree is used as the underwater transmission delay loss degree of the underwater environment data.

[0030] Furthermore, the normalized value of the mean value of the underwater transmission delay loss degree of all underwater environment data in the underwater machine dimension is used as the water body transmission data loss degree of the underwater machine dimension. The normalization process is performed by taking the function as an example, wherein the normalization function may be determined according to the specific implementation.

[0031] Preferably, in some implementations of the embodiments of the present invention, the method for obtaining the underwater terrain signal interference degree is: comparing the extreme differences between the terrain degree data and the surface degree data to obtain the underwater terrain complexity of the underwater robot; analyzing the distribution consistency of the surface degree data to obtain the surface influence of the underwater robot; according to the underwater terrain complexity and the surface influence, the underwater terrain signal interference degree of the underwater robot is obtained. The specific process is as follows: Preferably, in some implementations of the embodiments of the present invention, the method for obtaining the underwater terrain complexity is: among all terrain degree data, the maximum value of the terrain degree data is used as the maximum terrain degree data, and the minimum value of the terrain degree data is used as the minimum terrain degree data; among all surface degree data, the maximum value of the surface degree data is used as the maximum surface degree data, and the minimum value of the surface degree data is used as the minimum surface degree data; the absolute value of the difference between the maximum terrain degree data and the maximum surface degree data is used as the upper limit degree difference value; the absolute value of the difference between the minimum terrain degree data and the minimum surface degree data is used as the lower limit degree difference value; the sum of the upper limit degree difference value and the lower limit degree difference value is used as the underwater terrain complexity of the underwater robot.

[0032] Furthermore, the standard deviation of all surface degree data is used as the surface influence of the underwater robot, and the mean of the underwater terrain complexity and the surface influence is used as the underwater terrain signal interference of the underwater robot.

[0033] It should be noted that the greater the interference of the underwater terrain signal, the weaker the underwater robot's ability to adapt to the underwater environment surface and the higher the complexity of the underwater environment, which reflects the worse stability of the underwater environment.

[0034] Preferably, in some implementations of the embodiments of the present invention, the method for obtaining the wireless communication interference degree is: according to the underwater terrain signal interference degree and the fluctuation of the content contained in the underwater environmental data, the data feedback stability of the underwater robot is obtained; according to the data feedback stability and the water body transmission data loss degree, the wireless communication interference degree of the underwater robot is obtained underwater. The specific process is as follows: Preferably, in some implementations of the embodiments of the present invention, the method for obtaining the data feedback stability is: obtaining the dimensional standard deviation of all underwater environment data in each underwater machine dimension; taking the mean of all dimensional standard deviations as the comprehensive dimensional stability; and taking the inverse proportional normalized value of the underwater terrain signal interference and the comprehensive dimensional stability as the data feedback stability of the underwater robot. Model to present inverse proportional relationship and normalization, As the input of the model, the implementer can choose the inverse proportional function and the normalization function according to the actual situation.

[0035] Furthermore, the product of the data feedback stability and the water body transmission data loss degree is used as the wireless communication interference degree of the underwater robot underwater.

[0036] At this point, the above method is used to analyze the delay loss of underwater environmental data in the same underwater machine dimension during water body transmission, and the water body transmission data loss degree of each underwater machine dimension is obtained; according to the terrain degree data and the surface degree data, the complex terrain distribution of the water body is analyzed to obtain the underwater terrain signal interference degree of the underwater robot; the underwater environmental data, water body transmission data loss degree, water body transmission data loss degree and underwater terrain signal interference degree under different underwater machine dimensions are combined to obtain the wireless communication interference degree of the underwater robot underwater.

[0037] Step S003: Analyze the control difficulty of the remote control signal on the underwater robot according to the wireless communication interference degree and the content of the machine remote control data, and obtain the complete transmission difficulty of each machine remote control data.

[0038] It should be noted that machine remote control data is usually divided into basic control quality, configuration and setting, etc. There are differences in the difficulty of transmitting remote control data of different types of machines under different circumstances. When the transmission difficulty of machine remote control data is relatively small, it means that better communication can be guaranteed. When the transmission difficulty is relatively large, better communication effect cannot be guaranteed.

[0039] Preferably, in some implementations of the embodiments of the present invention, the method for obtaining the complete transmission difficulty is: analyzing the content distribution of each machine's remote control data to obtain the remote control content repetition of each machine's remote control data; and obtaining the complete transmission difficulty of each machine's remote control data according to the remote control content repetition and the wireless communication interference. The specific process is as follows: Preferably, in some implementations of the embodiments of the present invention, the method for obtaining the repetition of remote control content is: for any machine remote control data, obtain the length and the number of types of the machine remote control data; and take the product of the length of the machine remote control data and the number of types as the repetition of the remote control content of the machine remote control data.

[0040] Furthermore, the normalized value of the product of the remote control content repetition and the wireless communication interference is used as the complete transmission difficulty of the remote control data of the machine.

[0041] So far, the control difficulty of the remote control signal on the underwater robot is analyzed according to the wireless communication interference degree and the content of the machine remote control data through the above method, and the complete transmission difficulty of each machine remote control data is obtained.

[0042] Step S004: According to the complete transmission difficulty, the machine remote control data is adaptively packetized and transmitted.

[0043] It should be noted that since the packet transmission process divides one remote control data instruction into multiple remote control data instructions, the probability of data loss during the transmission process will be greater, and when the order of instructions in different segments is wrong, the remote control data may not be carried out correctly.

[0044] Preset a complete transfer difficulty threshold , making the complete transmission more difficult than The remote control data of the machine is regarded as a data packet for transmission as a whole, without sub-packet processing; the complete transmission difficulty is less than or equal to The remote control data of the machine is divided into packets and the divided data is transmitted. This example is described as an example, and this embodiment is not specifically limited. It may depend on the specific implementation situation.

[0045] It is particularly noted that the process of packetizing and transmitting data is a well-known technology and will not be described in detail in this embodiment.

[0046] Further, the underwater robot receives the data packet and reorganizes the remote control data of the machine; after the underwater robot receives the data packet and verifies that it is correct, it sends a confirmation message to the control console; a time interval is preset After receiving the confirmation message, the console ends the sending of the machine remote control data. Otherwise, the console Repeat the sending of machine remote control data until a confirmation message is received. This example is described as an example, and this embodiment is not specifically limited. It may depend on the specific implementation situation.

[0047] It is particularly noted that if the underwater robot receives machine remote control data and then receives machine remote control data with the same machine remote control data code, it will not execute it and send a confirmation message to the console.

[0048] At this point, this embodiment is completed.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater robot capable of adapting to curved surfaces and a remote control intervention method, characterized in that: The method comprises the following steps: Obtain different machine remote control data of underwater robots, different terrain degree data, different surface degree data, and several underwater environment data under different underwater machine dimensions; Analyze the delay and loss of underwater environmental data in water body transmission under the same underwater machine dimension, and obtain the water body transmission data loss degree of each underwater machine dimension; analyze the complexity of the terrain distribution of the water body according to the terrain degree data and the surface degree data, and obtain the underwater terrain signal interference degree of the underwater robot; combine the underwater environmental data, water body transmission data loss degree, water body transmission data loss degree and underwater terrain signal interference degree under different underwater machine dimensions, and obtain the wireless communication interference degree of the underwater robot underwater; According to the wireless communication interference and the content of the remote control data of the machine, the control difficulty of the remote control signal on the underwater robot is analyzed, and the complete transmission difficulty of the remote control data of each machine is obtained; According to the difficulty of complete transmission, the machine remote control data is adaptively packetized and transmitted.

2. According to claim 1, an underwater robot capable of self-adapting to curved surfaces and a remote control intervention method, characterized in that: The method for obtaining the water body transmission data loss degree is: For any underwater machine dimension, in the underwater machine dimension, the difference in the amount of time data when the underwater robot receives the same underwater environment data is analyzed to obtain the underwater transmission delay loss degree of the underwater environment data; the underwater transmission delay loss degrees of all underwater environment data in the underwater machine dimension are integrated to obtain the water body transmission data loss degree of the underwater machine dimension.

3. The underwater robot capable of self-adapting to curved surfaces and the remote control intervention method according to claim 2, characterized in that: The method for obtaining the underwater transmission delay loss degree is: By comparing the start and end times of the same underwater environment data between being sent and being received by the system, the delay time of the underwater environment data is obtained; by comparing the data content of the same underwater environment data between being sent and being received by the system, the delay data loss degree of the underwater environment data is obtained; and according to the delay time and the delay data loss degree, the underwater transmission delay loss degree of the underwater environment data is obtained.

4. According to the underwater robot capable of self-adapting to curved surfaces and the remote control intervention method of claim 1, after calculating the water body transmission data loss degree, the method further comprises: The water body transmission data loss is normalized.

5. The underwater robot capable of self-adapting to curved surfaces and the remote control intervention method according to claim 1, characterized in that: The method for obtaining the interference degree of the underwater terrain signal is as follows: By comparing the extreme differences between the terrain degree data and the surface degree data, the underwater terrain complexity of the underwater robot is obtained; the distribution consistency of the surface degree data is analyzed to obtain the surface influence of the underwater robot; based on the underwater terrain complexity and the surface influence, the underwater terrain signal interference of the underwater robot is obtained.

6. The underwater robot capable of self-adapting to curved surfaces and the remote control intervention method according to claim 5, characterized in that: The method for obtaining the underwater terrain complexity is: Among all terrain degree data, the maximum value of terrain degree data is taken as the maximum terrain degree data, and the minimum value of terrain degree data is taken as the minimum terrain degree data; among all surface degree data, the maximum value of surface degree data is taken as the maximum surface degree data, and the minimum value of surface degree data is taken as the minimum surface degree data; The absolute value of the difference between the maximum terrain degree data and the maximum surface degree data is taken as the upper limit degree difference value; the absolute value of the difference between the minimum terrain degree data and the minimum surface degree data is taken as the lower limit degree difference value; the sum of the upper limit degree difference value and the lower limit degree difference value is taken as the underwater terrain complexity of the underwater robot.

7. The underwater robot capable of self-adapting to curved surfaces and the remote control intervention method according to claim 1, characterized in that: The method for obtaining the wireless communication interference degree is: According to the interference degree of underwater terrain signals and the fluctuation of the content contained in underwater environmental data, the data feedback stability of the underwater robot is obtained; according to the data feedback stability and the data loss degree of water body transmission, the wireless communication interference degree of the underwater robot underwater is obtained.

8. The underwater robot capable of self-adapting to curved surfaces and the remote control intervention method according to claim 7, characterized in that: The method for obtaining the data feedback stability is: The dimensional standard deviation of all underwater environmental data under each underwater machine dimension is obtained; the mean of all dimensional standard deviations is taken as the comprehensive dimensional stability; the inverse proportional normalized value of the underwater terrain signal interference and the comprehensive dimensional stability is taken as the data feedback stability of the underwater robot.

9. The underwater robot capable of self-adapting to curved surfaces and the remote control intervention method according to claim 1, characterized in that: The method for obtaining the complete transmission difficulty is: The content distribution of the remote control data of each machine is analyzed to obtain the remote control content repetition of the remote control data of each machine; according to the remote control content repetition and the wireless communication interference, the complete transmission difficulty of the remote control data of each machine is obtained.

10. The underwater robot capable of self-adapting to curved surfaces and the remote control intervention method according to claim 9, characterized in that: The method for obtaining the repetitiveness of the remote control content is: For any machine remote control data, the length and number of types of the machine remote control data are obtained; and the product of the length and number of types of the machine remote control data is used as the remote control content repetition degree of the machine remote control data.

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