An underwater robot adaptable to curved surfaces and a remote control intervention method

Abstract

The present invention relates to the field of data transmission, and specifically relates to an underwater robot adaptable to curved surfaces and a remote control intervention method, including: analyzing the delay and loss situation of underwater environment data during water body transmission in the same dimension of the underwater robot to obtain the water body transmission data loss degree; obtaining the underwater terrain signal interference degree according to the terrain degree data and the curved surface degree data; comprehensively obtaining the wireless communication interference degree based on the underwater environment data, the water body transmission data loss degree, the water body transmission data loss degree, and the underwater terrain signal interference degree in different dimensions of the underwater robot; analyzing the control difficulty of the remote control signal for 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 performing adaptive sub-packet transmission on the machine remote control data. The present invention reduces the underwater interference received by the remote control, reduces the loss degree of the remote control data, and improves the ability of the underwater robot to adapt to the underwater curved surface.

Description

Technical Field

[0001] The present invention relates to the field of data transmission, and particularly to an underwater robot adaptable to curved surfaces and a remote control intervention method therefor. Background Art

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

[0003] However, when an operator transmits data and information to and from a robot in water, the existing information transmission means are restricted by factors such as the underwater environment and transmission distance, causing the transmitted data to be divided into multiple data packets for transmission, so that the data information cannot be accurately and timely transmitted, resulting in the difficulty of timely transmitting the operator's instructions to the underwater robot. Summary of the Invention

[0004] The present invention provides an underwater robot adaptable to curved surfaces and a remote control intervention method therefor to solve the existing problems: the existing information transmission means are restricted by factors such as the underwater environment and transmission distance, causing the transmitted data to be divided into multiple data packets for transmission, so that the data information cannot be accurately and timely transmitted, resulting in the difficulty of timely transmitting the operator's instructions to the underwater robot.

[0005] The remote control intervention method for an underwater robot adaptable to curved surfaces of the present invention adopts the following technical solutions:

[0006] It includes the following steps:

[0007] Obtain different machine remote control data, different terrain degree data, different curved surface degree data, and a number of underwater environment data under different underwater machine dimensions of the underwater robot;

[0008] Analyze the delay and loss situation of underwater environment data during water body transmission in the same underwater machine dimension, and obtain the water body transmission data loss degree of each underwater machine dimension; according to the terrain degree data and the surface degree data, analyze the complexity of the terrain distribution of the water body, and obtain the underwater terrain signal interference degree of the underwater robot; comprehensively consider the underwater environment data, the water body transmission data loss degree, the water body transmission data loss degree, and the underwater terrain signal interference degree under different underwater machine dimensions, and obtain the wireless communication interference degree of the underwater robot underwater;

[0009] According to the wireless communication interference degree and the content of the machine remote control data, analyze the control difficulty of the remote control signal for the underwater robot, and obtain the complete transmission difficulty of each machine remote control data;

[0010] According to the complete transmission difficulty, perform adaptive sub-packet transmission on the machine remote control data.

[0011] Preferably, the method for obtaining the water body transmission data loss degree is as follows:

[0012] For any underwater machine dimension, in the underwater machine dimension, analyze the difference in the time data volume of the underwater robot receiving the same underwater environment data, and obtain the underwater transmission delay and loss degree of the underwater environment data; integrate the underwater transmission delay and loss degrees of all underwater environment data in the underwater machine dimension, and obtain the water body transmission data loss degree of the underwater machine dimension.

[0013] Preferably, the method for obtaining the underwater transmission delay and loss degree is as follows:

[0014] Compare the start and end times of the same underwater environment data between sending and system reception, and obtain the delay time amount of the underwater environment data; compare the data content of the same underwater environment data between sending and system reception, and obtain the delay data loss degree of the underwater environment data; according to the delay time amount and the delay data loss degree, obtain the underwater transmission delay and loss degree of the underwater environment data.

[0015] Preferably, after calculating the water body transmission data loss degree, it further includes:

[0016] Perform normalization processing on the water body transmission data loss degree.

[0017] Preferably, the method for obtaining the underwater terrain signal interference degree is as follows:

[0018] Compare the extreme difference situation between the terrain degree data and the surface degree data, and obtain the underwater terrain complexity of the underwater robot; analyze the distribution consistency of the surface degree data, and obtain the surface influence degree of the underwater robot; according to the underwater terrain complexity and the surface influence degree, obtain the underwater terrain signal interference degree of the underwater robot.

[0019] Preferably, the method for obtaining the underwater terrain complexity is as follows:

[0020] Among all the terrain degree data, the maximum terrain degree data is taken as the maximum value of the terrain degree data, and the minimum terrain degree data is taken as the minimum value of the terrain degree data; among all the surface degree data, the maximum surface degree data is taken as the maximum value of the surface degree data, and the minimum surface degree data is taken as the minimum value of the surface degree data;

[0021] 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.

[0022] Preferably, the method for obtaining the wireless communication interference degree is as follows:

[0023] Based on the underwater terrain signal interference degree and the fluctuation of the content content contained in the underwater environment data, the data feedback stability of the underwater robot is obtained; based on the data feedback stability and the water body transmission data loss degree, the wireless communication interference degree of the underwater robot underwater is obtained.

[0024] Preferably, the method for obtaining the data feedback stability is as follows:

[0025] Obtain the dimensional standard deviation of all underwater environment data under each underwater machine dimension; take the mean value of all dimensional standard deviations as the comprehensive dimensional stability; take the inverse proportional normalization value of the underwater terrain signal interference degree and the comprehensive dimensional stability as the data feedback stability of the underwater robot.

[0026] Preferably, the method for obtaining the complete transmission difficulty is as follows:

[0027] Analyze the content distribution of each machine remote control data to obtain the remote control content repetition degree of each machine remote control data; based on the remote control content repetition degree and the wireless communication interference degree, obtain the complete transmission difficulty of each machine remote control data.

[0028] Preferably, the method for obtaining the remote control content repetition degree is as follows:

[0029] For any machine remote control data, obtain the length and the number of types of the machine remote control data; take the product of the length and the number of types of the machine remote control data as the remote control content repetition degree of the machine remote control data.

[0030] The beneficial effects of the technical solution of the present invention are as follows: Analyze the delay and loss of underwater environment data during water body transmission in the same underwater robot dimension to obtain the data loss degree of water body transmission; Analyze the complexity of the terrain distribution of the water body based on the terrain degree data and the surface degree data to obtain the underwater terrain signal interference degree; Synthesize the underwater environment data, the data loss degree of water body transmission, the data loss degree of water body transmission, and the underwater terrain signal interference degree under different underwater robot dimensions to obtain the wireless communication interference degree; Analyze the control difficulty of the remote control signal for the underwater robot based on the wireless communication interference degree and the content of the machine remote control data to obtain the complete transmission difficulty; Furthermore, perform adaptive sub-packet transmission on the machine remote control data. The present invention reduces the underwater interference received by the remote control, reduces the loss degree of remote control data, and improves the ability of the underwater robot to adapt to the underwater surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0032] Figure 1 It is a flowchart of the steps of a remote control intervention method for an underwater robot capable of adapting to a curved surface according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] In order to further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following will, in combination with the drawings and preferred embodiments, detail the specific implementation manners, structures, features, and effects of an underwater robot capable of adapting to a curved surface and a remote control intervention method according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs.

[0035] The following will specifically describe the specific solutions of an underwater robot capable of adapting to a curved surface and a remote control intervention method provided by the present invention with reference to the drawings.

[0036] Please refer to Figure 1 , which shows a flowchart of the steps of a remote control intervention method for an underwater robot capable of adapting to a curved surface provided by an embodiment of the present invention. The method includes the following steps:

[0037] Step S001: Obtain different machine remote control data of the underwater robot, different terrain degree data, different curved surface degree data, and several underwater environment data under different underwater machine dimensions.

[0038] It should be noted that when the operator transmits data and information with the robot in the water, the existing information transmission means will be restricted by factors such as the underwater environment and transmission distance, causing the transmitted data to be divided into multiple data packets for transmission, so that the data information cannot be accurately and timely transmitted, resulting in the operator's instructions being difficult to be transmitted to the underwater robot in a timely manner.

[0039] In a specific implementation manner of the embodiment of the present invention, the method for obtaining the machine remote control data, terrain degree data, curved surface degree data, and underwater environment data is as follows: Install five sensors, namely a sonar sensor, a pressure sensor, a temperature sensor, a flow velocity sensor, and an optical sensor, in the underwater robot. Each sensor sends data to the remote control platform at a frequency of 1 time per second, and the remote control platform records the underwater environment data transmitted from the underwater robot sensors at a frequency of 1 time per second. Record 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, and send for 1 hour in total; after the remote control platform receives the data transmitted by the sonar sensor, obtain several terrain degree data and several curved surface degree data by constructing a three-dimensional model; regard the pressure sensor, the temperature sensor, the flow velocity sensor, and the optical sensor as one underwater machine dimension, and regard the data transmitted by these four sensors to the remote control platform 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.

[0040] Specifically, during the process of the remote control platform recording the underwater environment data transmitted from the underwater robot sensors, if no underwater environment data transmitted from the underwater robot sensors is detected, then the underwater environment data recorded by the remote control platform at the corresponding time is default recorded as 0; in this embodiment, the remote control platform default stores the machine remote control data for remotely controlling four machine items of the underwater robot, namely the working rate, cleaning accuracy, diving depth, and cleaning target area range. The frequency of data sending, the frequency of data recording, and the machine items that can control the underwater robot in the remote control platform can all be determined according to the actual situation.

[0041] It should be noted that the surface degree data is the surface degree on the surface of the object to be contacted by the underwater robot; 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 elaborated in this embodiment.

[0042] So far, different machine remote control data, different terrain degree data, different surface degree data of the underwater robot, and several underwater environment data under different underwater machine dimensions have been obtained through the above method.

[0043] Step S002: Analyze the delay and loss situation of underwater environment data during water body transmission under the same underwater machine dimension to obtain the water body transmission data loss degree of each underwater machine dimension; according to the terrain degree data and the surface degree data, analyze the complexity of the terrain distribution of the water body to obtain the underwater terrain signal interference degree of the underwater robot; comprehensively consider the underwater environment 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 of the underwater robot underwater.

[0044] It should be noted that when the underwater robot feeds back the underwater environment data of its surrounding environment to the console, due to the influence of underwater noise interference, the underwater environment data received by the console may be lost. By combining the loss situation of the underwater environment data, the environmental interference intensity during communication between the console and the underwater robot can be obtained. At the same time, by combining the underwater environment data, the specific situation of its current location can be roughly obtained, and the wireless communication interference degree of the underwater robot underwater can be obtained.

[0045] Preferably, in some implementation manners of the embodiment 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, analyze the difference in the time data volume of the underwater robot receiving the same underwater environment data to obtain the underwater transmission delay loss degree of the underwater environment data; integrate the underwater transmission delay loss degrees of all underwater environment data in the underwater machine dimension to obtain the water body transmission data loss degree of the underwater machine dimension. The specific process is as follows:

[0046] Preferably, in some implementation manners of the embodiment of the present invention, the method for obtaining the underwater transmission delay loss degree is as follows: compare the start and end times of the same underwater environment data between sending and system reception to obtain the delay time amount of the underwater environment data; compare the data content of the same underwater environment data between sending and system reception to obtain the delay data loss degree of the underwater environment data; according to the delay time amount and the delay data loss degree, obtain the underwater transmission delay loss degree of the underwater environment data. The specific process is as follows:

[0047] 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 amount 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 amount and the delay data loss degree is used as the underwater transmission delay loss degree of the underwater environment data.

[0048] Further, the normalized value of the average value of the underwater transmission delay loss degrees 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. Among them, in this embodiment, a function is taken as an example for normalization processing, and the normalization function can be determined according to specific implementations.

[0049] Preferably, in some implementation manners of the embodiments of the present invention, the method for obtaining the underwater terrain signal interference degree is: comparing the extreme difference 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 degree of the underwater robot; and obtaining the underwater terrain signal interference degree of the underwater robot according to the underwater terrain complexity and the surface influence degree. The specific process is as follows:

[0050] Preferably, in some implementation manners of the embodiments of the present invention, the method for obtaining the underwater terrain complexity is: among all the 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 the 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.

[0051] Further, the standard deviation of all the surface degree data is used as the surface influence degree of the underwater robot. The average value of the underwater terrain complexity and the surface influence degree is used as the underwater terrain signal interference degree of the underwater robot.

[0052] It should be noted that the greater the underwater terrain signal interference degree, the weaker the adaptability of the underwater robot to the underwater environment surface and the higher the complexity of the underwater environment, reflecting the worse stability of the underwater environment.

[0053] Preferably, in some implementation manners of the embodiments of the present invention, the method for obtaining the wireless communication interference degree is as follows: obtaining the data feedback stability of the underwater robot according to the underwater terrain signal interference degree and the fluctuation of the content contained in the underwater environment data; obtaining the wireless communication interference degree of the underwater robot underwater according to the data feedback stability and the water body transmission data loss degree. The specific process is as follows:

[0054] Preferably, in some implementation manners of the embodiments of the present invention, the method for obtaining the data feedback stability is as follows: obtaining the dimension standard deviation of all underwater environment data under each underwater robot dimension; taking the mean value of all dimension standard deviations as the comprehensive dimension stability; taking the inverse proportional normalization value of the underwater terrain signal interference degree and the comprehensive dimension stability as the data feedback stability of the underwater robot. Among them, the embodiment uses a model to present the inverse proportional relationship and the normalization process, is the input of the model, and the implementer can select the inverse proportional function and the normalization function according to the actual situation.

[0055] Furthermore, taking the product of the data feedback stability and the water body transmission data loss degree as the wireless communication interference degree of the underwater robot underwater.

[0056] So far, by analyzing the delay and loss situation of the underwater environment data during water body transmission under the same underwater robot dimension through the above method, the water body transmission data loss degree of each underwater robot dimension is obtained; according to the terrain degree data and the curved surface degree data, analyzing the complexity of the terrain distribution of the water body, the underwater terrain signal interference degree of the underwater robot is obtained; comprehensively considering the underwater environment data, the water body transmission data loss degree, the water body transmission data loss degree and the underwater terrain signal interference degree under different underwater robot dimensions, the wireless communication interference degree of the underwater robot underwater is obtained.

[0057] Step S003: Analyzing the control difficulty of the remote control signal for the underwater robot according to the wireless communication interference degree and the content of the machine remote control data, and obtaining the complete transmission difficulty of each machine remote control data.

[0058] It should be noted that the machine remote control data is usually divided into basic control quality, configuration and setting formulation, etc. There are differences in the transmission difficulty of different types of machine remote control data in different situations. When the transmission difficulty of the machine remote control data is small, it means that good communication can be guaranteed. When the transmission difficulty is large, a good communication effect cannot be guaranteed.

[0059] Preferably, in some implementation manners of the embodiments of the present invention, the method for obtaining the complete transmission difficulty is as follows: analyze the content distribution of the remote control data of each machine to obtain the repetition degree of the remote control content of the remote control data of each machine; according to the repetition degree of the remote control content and the wireless communication interference degree, obtain the complete transmission difficulty of the remote control data of each machine. The specific process is as follows:

[0060] Preferably, in some implementation manners of the embodiments of the present invention, the method for obtaining the repetition degree of the remote control content is as follows: for any remote control data of a machine, obtain the length and the number of types of the remote control data of the machine; take the product of the length and the number of types of the remote control data of the machine as the repetition degree of the remote control content of the remote control data of the machine.

[0061] Further, the normalized value of the product of the repetition degree of the remote control content and the wireless communication interference degree is used as the complete transmission difficulty of the remote control data of the machine.

[0062] Thus far, according to the wireless communication interference degree and the content of the remote control data of the machine by the above method, analyze the control difficulty of the remote control signal for the underwater robot, and obtain the complete transmission difficulty of the remote control data of each machine.

[0063] Step S004: Perform adaptive sub-packet transmission on the remote control data of the machine according to the complete transmission difficulty.

[0064] It should be noted that since the sub-packet transmission process divides a remote control data instruction into multiple remote control data instructions, the probability of data loss during transmission will be greater, and when the order of different segments of the instructions is incorrect, the remote control data may not be correctly transmitted.

[0065] Preset a complete transmission difficulty threshold , and regard the remote control data of the machine with a complete transmission difficulty greater than as a whole data packet for transmission without performing sub-packet processing; perform sub-packet processing on the remote control data of the machine with a complete transmission difficulty less than or equal to , and transmit the sub-packetized data. In this embodiment, is taken as an example for description, and this embodiment is not specifically limited, where can be determined according to the specific implementation situation.

[0066] It should be particularly noted that the process of performing sub-packet processing and transmission on the data is a well-known technology, and this embodiment will not be elaborated herein.

[0067] Further, the underwater robot receives the data packet and performs recombination of the remote control data of the machine; after the underwater robot receives the data packet and verifies it without error, it sends a confirmation message to the console; preset a time interval , after the console receives the confirmation message, it ends the transmission of the remote control data of the machine. Otherwise, the console repeats the transmission of the remote control data of the machine with until it receives the confirmation message. In this embodiment, is taken as an example for description, and this embodiment does not make specific limitations, and can be determined according to the specific implementation situation. Specifically, after the underwater robot receives the remote control data of the machine and then receives the remote control data of the machine with the same code of the remote control data of the machine, it does not execute it and sends a confirmation message to the console. For example, this embodiment is described, and this embodiment is not specifically limited, and can be determined according to the specific implementation situation. It can be determined according to the specific implementation situation.

[0068] Specifically, after the underwater robot receives the remote control data of the machine and then receives the remote control data of the machine with the same code of the remote control data of the machine, it does not execute it and sends a confirmation message to the console.

[0069] So far, this embodiment is completed.

[0070] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A remote control intervention method for an underwater robot adaptable to curved surfaces, characterized in that, The method includes the following steps: Obtain different machine remote control data, different terrain degree data, different curved surface degree data, and several underwater environment data under different underwater machine dimensions of the underwater robot. The machine remote control data is used to indicate remote control of the working rate, cleaning accuracy, diving depth, and cleaning target area range of the underwater robot; Analyze the delay and loss situation of underwater environment data during water body transmission under the same underwater machine dimension to obtain the water body transmission data loss degree of each underwater machine dimension. The water body transmission data loss degree is the normalized value of the mean of the underwater transmission delay loss degrees of all underwater environment data in the underwater machine dimension. The underwater transmission delay loss degree is the product of the delay time amount of the underwater environment data and the delay data loss degree of the underwater environment data. The delay time amount is the absolute value of the difference between the sending time and the receiving time of the underwater environment data. The delay data loss degree is the absolute value of the difference between the values of the underwater environment data between the sending time and the receiving time. According to the terrain degree data and the curved surface degree data, analyze the complexity of the terrain distribution of the water body to obtain the underwater terrain signal interference degree of the underwater robot. The underwater terrain signal interference degree is the mean of the underwater terrain complexity of the underwater robot and the curved surface influence degree. The underwater terrain complexity is the sum of the upper limit degree difference value and the lower limit degree difference value. The upper limit degree difference value is the absolute value of the difference between the maximum terrain degree data and the maximum curved surface degree data. The lower limit degree difference value is the absolute value of the difference between the minimum terrain degree data and the minimum curved surface degree data. The maximum terrain degree data is the maximum value among all terrain degree data. The maximum curved surface degree data is the maximum value among all curved surface degree data. The minimum terrain degree data is the minimum value among all terrain degree data. The minimum curved surface degree data is the minimum value among all curved surface degree data. The curved surface influence degree is the standard deviation of all curved surface degree data. Integrate the underwater environment data, water body transmission data loss degree, and underwater terrain signal interference degree under different underwater machine dimensions to obtain the wireless communication interference degree of the underwater robot underwater; According to the wireless communication interference degree and the content content of the machine remote control data, analyze the control difficulty of the remote control signal for the underwater robot to obtain the complete transmission difficulty of each machine remote control data; According to the complete transmission difficulty, perform adaptive sub-packet transmission on the machine remote control data.

2. The remote control intervention method of an underwater robot capable of adapting to a curved surface according to claim 1, characterized in that The method for obtaining the wireless communication interference degree is: According to the underwater terrain signal interference degree and the fluctuation of the content content of the underwater environment data, obtain the data feedback stability of the underwater robot; according to the data feedback stability and the water body transmission data loss degree, obtain the wireless communication interference degree of the underwater robot underwater.

3. The remote control intervention method for an underwater robot capable of adapting to curved surfaces according to claim 2, characterized in that, The method for obtaining the data feedback stability is: Obtain the dimensional standard deviation of all underwater environment data under each dimension of the underwater machine; take the mean of all dimensional standard deviations as the comprehensive dimensional stability; take the inverse normalization value of the underwater terrain signal interference degree and the comprehensive dimensional stability as the data feedback stability of the underwater robot.

4. The remote control intervention method for an underwater robot capable of adapting to a curved surface according to claim 1, characterized in that The method for obtaining the complete transmission difficulty is as follows: Analyze the content distribution of each machine's remote control data to obtain the remote control content repetition degree of each machine's remote control data; obtain the complete transmission difficulty of each machine's remote control data according to the remote control content repetition degree and the wireless communication interference degree.

5. The remote control intervention method for an underwater robot capable of adapting to a curved surface according to claim 4, characterized in that, The method for obtaining the remote control content repetition degree is as follows: For any machine's remote control data, obtain the length and the number of types of the machine's remote control data; take the product of the length and the number of types of the machine's remote control data as the remote control content repetition degree of the machine's remote control data.

Images