The present disclosure relates to the technical field of swimming pool cleaning, and more specifically, to a method for searching a position for wall climbing underwater by a pool cleaning robot. The method comprises: the swimming pool cleaning robot rotates one circle underwater to obtain data of the perimeter of a swimming pool; it is determined whether the cleaning robot is now facing a wall in its current orientation based on the perimeter data; if not, a wall closest to the swimming pool cleaning robot is selected from the perimeter data and the robot is controlled to rotate to directly face the closest wall. In the end, the robot is controlled to move towards the closest wall. According to the present disclosure, in case that the robot needs to climb a wall for wall cleaning or go ashore, the robot can rapidly climb the wall.

This disclosure relates to embodiments of a radio frequency identification (RFID) system. An embodiment includes a reader/recorder (active element) in autonomous robotic underwater vehicles (AUVs) and an identifying TAG (RFID) (passive element) with memory for recording an ID (identification/code). The ID is read by the reader/recorder and immediately updates its position and identification of the equipment, system, or underwater pipeline for inspection by AUVs. TAGs are placed on equipment, pipelines, and existing underwater materials in the oil field area by the AUVs themselves, or onshore. For positioning and inspections, the codes of these RFID TAGs are linked to their location in the underwater oil field at its facility.

A moving body according to an exemplary embodiment of the present disclosure includes: a communicator that wirelessly performs communication with an external apparatus; an acquirer that acquires a communication connection relationship of a communication network including the external apparatus and another communication apparatus, by the communication with the external apparatus; and a movement controller that determines, based on the communication connection relationship, a first direction, in which the moving body moves, and causes the moving body to move in the first direction.

A system of underwater swarm of robotic fish for monitoring and telepresence. The system comprising a floating platform communicatively coupled to a controller, a submersible sinker communicatively coupled to the floating platform, and a plurality of underwater drones communicatively coupled to the submersible sinker. The controller is configured to receive instructions from an operator for remotely exploring an underwater environment using the submersible sinker and the plurality of underwater drones, transmit the instructions to the plurality of underwater drones via the floating platform and the submersible sinker, the instructions directing the plurality of underwater drones to navigate the underwater environment and collect data, receive the collected data from the plurality of underwater drones via the floating platform and the submersible sinker, and display the collected data to the operator via a virtual display.

The present disclosure provides a cleaning device. The cleaning device includes a cleaning device body, a drive mechanism, a filtering mechanism, a liquid inlet portion, a liquid outlet portion, and a mode switching member. The drive mechanism and the filtering mechanism are disposed on the cleaning device body. The liquid inlet portion includes at least a first water inlet. The first water inlet is provided on the cleaning device body. The liquid outlet portion includes at least a first water outlet. The first water outlet is provided on the cleaning device body. The first water inlet, the filtering mechanism, the drive mechanism, and the first water outlet sequentially communicate to form a first water path. The mode switching member is configured for the cleaning device to be switched between a position on a liquid surface and a position under the liquid surface.

The present disclosure discloses a bionic cuttlefish-typed underwater detection robot, including a bionic cuttlefish-typed body structure, a piezoelectric energy capture device, a circuit rectification and storage assembly and a power control assembly. The bionic cuttlefish-typed body structure includes a head and a main body; the piezoelectric energy capture device includes piezoelectric ceramic elements arranged around the main body and PVDF floating belts, and an end of each piezoelectric ceramic element is connected to a spherical spoiler component, the PVDF floating belts are evenly distributed at a tail end of the main body. The present disclosure adopts piezoelectric ceramic elements with spoiler components and PVDF floating belts to generate electricity, converts wave energy and ocean current energy into electric energy, powers the power control assembly of the detection robot. It has high power generation efficiency and stable current, and realizes the autonomous operation of the underwater detection robot.

The disclosure provides a method and system for trajectory tracking control of a vehicle-manipulator coupling system with finite time prescribed performance. Specifically, a coupling weaken trajectory planning method is designed to reduce the system's coupling effects. A finite time performance function is designed to constrain the trajectory tracking error. In a case the constraint conditions corresponding to the finite time performance function are satisfied, the trajectory tracking error is converted to obtain a transformed error. The sliding mode surface is designed based on the transformed error to control the transformed error to converge in a finite time, and the external disturbance of the vehicle-manipulator coupling system is observed based on non-linear disturbance observer. The control input of the vehicle-manipulator coupling system is designed based on the sliding mode surface and the non-linear disturbance observer output. This ensures that the vehicle-manipulator coupling system can operate precisely along the desired trajectory.

Disclosed are a pool cleaning device and a corresponding control method. The pool cleaning device includes: a fluid ejecting unit including a fluid channel through which water flows and a vector nozzle, an inlet of the vector nozzle being rotatably connected with the fluid channel; a first driving unit configured to drive water to be ejected from an outlet of the vector nozzle via the fluid channel; a housing, with at least two discharge openings arranged thereon; and a second driving unit configured to drive the vector nozzle to rotate so that the outlet of the vector nozzle is at least partially aligned with one of the at least two discharge openings.

A method for controlling a motion of a multi-jointed bionic dolphin relates to a technical field of damage detection using a bionic robot. The method comprises: constructing a three-dimensional model and a three-dimensional model in computational domain of the multi-jointed bionic dolphin, and performing pre-processing; importing the model file after the pre-processing into analysis software for computational fluid dynamics for the hydrodynamic simulation to obtain a thrust-time curve and a hydrodynamic curve under a specified underwater working condition, then finding a difference, and fitting to obtain velocity-resistance fitting curves; performing a kinetic analysis, and deducing a kinetic model; completing kinetic coupling to obtain kinetic parameters according to the kinetic model, the thrust-time curve, and the velocity-resistance fitting curves; and controlling output torques by a pulse width modulation (PWM) technique.

A mobile object control system includes a robot body, a floating device having a smaller density than a body connected to the robot body and including a drive unit that is able to change a center of buoyancy of the floating device with respect to the robot body, and a processor. The processor executes a program to perform calculating a control value for the drive unit for change in the center of buoyancy of the floating device using a deviation between a position of the center of buoyancy and a position of the center of gravity, a target value of the deviation, a center-of-gravity sensitivity matrix indicating change of the position of the center of gravity with respect to the control value, and a center-of-buoyancy sensitivity matrix indicating change of the position of the center of buoyancy with respect to the control value.