Abstract: A method of controlling a robot configured to clean a hull of a vessel whilst travelling over said hull, the method comprising: receiving at least one signal indicative of a speed of the vessel; during cleaning being performed by the robot, detecting that cleaning being performed by the robot is to be paused based on (i) determining, from said at least one signal, that the speed of the vessel exceeds a predetermined speed threshold, or (ii) predicting, using said at least one signal, that the speed of the vessel will exceed the predetermined speed threshold within a predetermined time period; in response to said detecting that cleaning being performed by the robot is to be paused, outputting a pause cleaning signal indicating that said cleaning is to be paused; whilst said cleaning is paused, detecting that cleaning performed by the robot is to be restarted based on the determining that the speed of the vessel has dropped below the predetermined threshold, and in response, outputting a restart cleaning signal

Abstract: In one embodiment, there is disclosed a robot configured to clean a surface of a coating having a König pendulum hardness of less than 75 counts, the robot comprising: a cleaning brush assembly comprising a lamellar cleaning brush having a plurality of lamellas extending outwardly from a brush core and having a height, the lamellar cleaning brush arranged to rotate about its axis to apply a cleaning action to the surface when it is in contact with the surface; wherein the robot is configured to apply a degree of compression of the brush on the surface such that the brush is held in a position a distance, towards the surface of the coating, away from an initial position at which the brush is in contact with, but not deformed by, the surface of the coating, wherein said distance is less than 56% of the height of the plurality of lamellas.

Abstract: A method of controlling a robot configured to clean a hull of a vessel whilst traveling over said hull, the method comprising: receiving input data; during cleaning being performed by the robot, detecting that said cleaning being performed by the robot is to be paused based on determining, from the input data, that the robot is at risk of damage; and in response to said detecting that cleaning being performed by the robot is to be paused, outputting a pause cleaning signal indicating that said cleaning is to be paused.

Abstract: A method of controlling a robot configured to clean a hull of a vessel whilst travelling over said hull, the method comprising: receiving at least one signal indicative of a speed of the vessel; during cleaning being performed by the robot, detecting that cleaning being performed by the robot is to be paused based on (i) determining, from said at least one signal, that the speed of the vessel exceeds a predetermined speed threshold, or (ii) predicting, using said at least one signal, that the speed of the vessel will exceed the predetermined speed threshold within a predetermined time period; in response to said detecting that cleaning being performed by the robot is to be paused, outputting a pause cleaning signal indicating that said cleaning is to be paused; whilst said cleaning is paused, detecting that cleaning performed by the robot is to be restarted based on the determining that the speed of the vessel has dropped below the predetermined threshold, and in response, outputting a restart cleaning signal