The present disclosure provides a cleaning robot comprising one or more motors and a controller configured to control the one or more motors to generate acoustic signals indicative of content. The controller is configured to control at least one of a frequency of the acoustic signals and a pulse width of acoustic pulses generated by the one or more motors. The controller may be configured to control the one or more motors to generate an ascending sequence of frequencies and to use a frequency of a pulse generated by the one or more motors to validate a pulse width of the pulse. The one or more motors are configured to transmit frequency tones that indicate bits of a first value within the content. The one or more motors comprise at least one of a pump motor and a drive motor, wherein the controller is configured to control electric power within a motor coil using pulse width modulation to generate the acoustic signals.

The present invention provides a cable planning method based a fast marching method applied with simulated annealing (FMM/SA) algorithm. In the FMM/SA algorithm-based cable planning method, the FMM used to obtain the optimal submarine cable path with the lowest life-cycle cost, and the SA algorithm is used to continuously adjust the weight of each design consideration with the aim to achieve an optimal cable path that is as close as possible to a real-life cable path which has a history of cost-effectiveness and resilience. The set of weights contributed to the optimal cable path is then used as an optimal set of weights of design considerations for cable path planning. The FMM/SA algorithm-based cable planning method can provide a computationally effective approach which has lower computation costs and better performance in generating cable paths with optimal life-cycle cost and reliability.

This application provides a cleaning device, including a cleaning device body, a liquid inlet portion including at least a first water inlet and a second water inlet, a liquid outlet portion, a filtering mechanism including at least a filtering box, and a drive mechanism. The filtering box includes at least a filtering box opening for underwater cleaning in fluid communication with the first water inlet and a filtering box opening for water surface cleaning in fluid communication with the second water inlet. The cleaning device body includes a filtering box roller brush assembly disposed at the filtering box opening for water surface cleaning and a filtering box opening cover plate for water surface cleaning rotatably disposed at the filtering box opening for water surface cleaning and configured to be opened to expose the filtering box opening for water surface cleaning or cover the filtering box opening for water surface cleaning.

A swimming pool robot is disclosed, the swimming pool robot comprising: a first water inlet located at a bottom of the swimming pool robot, and is used for liquid to flow into the swimming pool robot; the swimming pool robot is configured to be switched from the bottom of the swimming pool to a liquid surface, wherein the first water inlet faces the bottom of the swimming pool when the swimming pool robot is on the bottom of the swimming pool or when the swimming pool robot is at the liquid surface; and when the swimming pool robot is switched from the bottom of the swimming pool to a liquid surface, the swimming pool robot has a state where the swimming pool robot is moving on a sidewall of the swimming pool.

This application discloses a cleaning device control method and a cleaning device. The method comprises: controlling the cleaning device to move to a starting point at which the cleaning device moves along an edge of a target water region; controlling the cleaning device to move along the edge of the target water region from the starting point by at least one round; constructing a target map of the target water region, wherein the target map comprises a map of at least one of a bottom of the target water region or a water surface of the target water region; and performing path planning on the target water region based on the target map and controlling the cleaning device to clean the target water region in a process of moving along a planned path.

A method for steering an Autonomous Underwater Vehicle along an object buried below a seabed: the AUV being equipped with at least one acoustic transmitter for generating acoustic signal towards the buried object and the seabed; arranging a first sensor assembly flush with the AUV hull of the starboard side of the AUV for recording reflected acoustic signal from the buried object and the seabed, arranging a second sensor assembly flush with the AUV hull of the port side of the AUV for recording reflected acoustic signal from the buried object and the seabed.

A pool robot control method and apparatus, a storage medium, and an electronic device are provided. The control method includes: obtaining a start position of a pool robot existing when the pool robot executes a current task, where the start position is a water entering position or a pool bottom position of the pool robot in a target map at which the pool robot executes the current task, and the target map is a map established by identifying a target pool (S202); and when the pool robot needs to be recalled during execution of the current task or after the current task is executed, controlling the pool robot to move to a target stop position in the water of the target pool, where the target stop position is a position on a side wall of the target pool, where the position corresponds to the start position (S204).

Methods and systems are provided for planning locations to surface an unmanned underwater vehicle (UUV) to reset inertial navigation errors by obtaining a GPS fix. A spatial point process model for historical maritime traffic is used to quantify surfacing risk throughout an operational area. Accumulated navigation uncertainty for each candidate surfacing point of a feasible path is modeled and penalized. This allows autonomy to balance the tradeoff between surfacing risk, navigation performance and pathlength. The planning method results in minimizing the path length the UUV travels and the number of times the UUV surfaces, while satisfying a defined constraint on maximum allowable risk.

The present application discloses a sweeping method of a swimming pool cleaning robot and a cleaning robot, the method including: acquiring map information about an area to be cleaned; planning a first sweeping path based on the map information, the first sweeping path meeting pre-set cleaning parameter requirements; controlling the cleaning robot to travel and perform a cleaning operation based on the first sweeping path; determining whether the cleaning operation is ended, and if so, controlling the cleaning robot to travel to a missed area so as to perform supplementary sweeping. This application can improve sweeping coverage rate and sweeping efficiency.

Marine vessel control can include the application of surge force, sway force, and yaw moment. The present subject matter can include two aspects, including determination of forces and moments to achieve desired motion, and translation of such forces and moments into thrust and steering commands suitable for the available propulsion devices. Various operating modes can be employed to effectively control their motion. In each operating mode, feedback control can be used to determine one or more of a target surge force, sway force, or yaw moment, or combinations thereof. The feedback controller can include individual PID (or other) controllers corresponding to each degree of freedom, a state feedback controller, or other feedback control architectures. A current vessel state can be compared to the target vessel state to determine the error in position, heading, and speed. These errors can be transformed from the global coordinate system to the vessel coordinate system for determination of appropriate thrust and steering commands.