An adaptive marine survey path planning and execution system and method

Abstract

The application relates to the technical field of surveying and mapping, in particular to a self-adaptive marine surveying and mapping path planning and execution system and method. The method comprises the following steps: obtaining to-be-mapped sea area data, analyzing the to-be-mapped sea area data, and determining a to-be-mapped range; determining a surveying and mapping path according to the to-be-mapped range; and performing cruise surveying and mapping according to the surveying and mapping path; in the surveying and mapping process, obtaining travel data, and determining whether a bay exists according to the travel data; if the bay exists, analyzing the travel data, determining an entry point of the bay, and performing bay surveying and mapping planning and execution according to the entry point. The method ensures that surveying and mapping work can be carried out comprehensively and orderly, and reduces repeated work and missed areas. The travel data in the surveying and mapping process is monitored in real time, and the complex topography of the bay is identified in a timely manner. The entry point of the bay is accurately determined, and the bay surveying and mapping can be accurately performed. A special bay surveying and mapping plan is formulated, and a surveying and mapping task is executed, so that topographic data can be recorded in detail and accurately.

Description

Technical Field

[0001] This application relates to the field of surveying and mapping technology, and in particular to an adaptive marine surveying and mapping path planning and execution system and method. Background Technology

[0002] Adaptive ocean mapping path planning and execution methods, especially in complex environments, are of great significance for improving the efficiency and accuracy of ocean mapping. Underwater autonomous robots can perform complex mapping tasks without direct human intervention.

[0003] However, the efficiency of these underwater autonomous robots largely depends on optimized path planning strategies, which need to take into account numerous environmental factors. Therefore, optimizing the mapping process, reducing unnecessary overlap, and ensuring the efficient operation of underwater autonomous robots become crucial. Summary of the Invention

[0004] This application provides an adaptive marine mapping path planning and execution system and method to solve the above problems.

[0005] Firstly, this application provides an adaptive marine mapping path planning and execution method, the method comprising:

[0006] Acquire data on the sea area to be surveyed, analyze the data, and determine the survey area.

[0007] Based on the area to be surveyed, determine the surveying path; and conduct cruise surveying based on the surveying path;

[0008] During the surveying process, travel data is acquired, and based on the travel data, it is determined whether a bay exists.

[0009] If it exists, analyze the travel data, determine the bay entry point, and perform bay mapping planning and execution based on the bay entry point.

[0010] This plan aims to collect comprehensive marine data, including seabed topography, sea surface conditions, and the marine environment. Data analysis will identify key survey areas and their scope, providing target regions for route planning and improving surveying efficiency and data quality. A route covering the surveyed area will be planned to ensure comprehensive and orderly surveying operations, minimizing duplication and omissions. Cruise surveying will collect seabed topography and other relevant information in real time, forming preliminary surveying data. Real-time monitoring of the surveying process will identify complex bay topography. The entry point into the bay will be precisely determined to ensure accurate bay surveying. A specific bay surveying plan will be developed and executed to ensure detailed and accurate recording of topographic data.

[0011] Optionally, determining the surveying path based on the area to be surveyed includes:

[0012] Analyze the area to be surveyed and determine the survey boundaries;

[0013] Determine the first direction of travel based on the boundary distance of the surveyed boundary;

[0014] Based on the first direction of travel, and using a bow-shaped loop structure, the second direction of travel is determined.

[0015] The surveying path is determined based on the first and second directions of travel.

[0016] This solution, by analyzing marine data and determining the specific surveying area, helps to focus resources, avoid ineffective surveying activities, and improve the targeting and efficiency of surveying. Determining the surveying boundary provides a clear start and end point for route planning, helping to reduce the randomness of the planning process. Determining the first direction of travel provides a clear direction for the surveying equipment, helping to maintain the straightness and efficiency of the survey. The bow-shaped circulation structure makes the surveying route more flexible, adaptable to surveying areas of different shapes and sizes. Determining the second direction of travel helps to ensure the integrity and coverage of the surveying route, reducing data omissions. Complete surveying route planning ensures that the surveying task can be completed efficiently and accurately. By optimizing the route, surveying time and costs are reduced, while the quality and reliability of data acquisition are improved.

[0017] Optionally, determining whether a bay exists based on the travel data includes:

[0018] For the area to be surveyed, the minimum patrol unit is determined according to the patrol structure;

[0019] Based on the surveyed boundaries, determine the first boundary of the first direction of travel and the second boundary of the second direction of travel;

[0020] Analyze the travel data to determine if there was any instance where the travel did not reach the first boundary or the second boundary;

[0021] If so, based on the travel data, determine whether there are two directional turns when the first boundary or the second boundary is not reached in any travel, using the minimum cycle unit as a reference.

[0022] If it exists, then the bay is confirmed to exist.

[0023] This scheme provides basic measurement standards for surveying path planning and bay detection, helping to maintain surveying consistency and accuracy. It provides clear boundaries for the start and end of the surveying path, guiding surveying equipment to follow the predetermined route. Real-time analysis of travel data allows monitoring of the surveying equipment's actual movement, ensuring it adheres to the planned path and promptly detecting deviations. It identifies whether the surveying equipment failed to reach the expected boundary due to encountering unknown terrain features or other obstacles. Detecting directional changes in the travel data helps determine if the surveying equipment made two directional turns before reaching the boundary, aiding in bay feature identification. If two directional turns are confirmed, combined with the minimum patrol unit and the surveying equipment's position information, the bay's location and extent can be determined, thus confirming its existence.

[0024] Optionally, analyzing the travel data to determine the bay entry point includes:

[0025] Analyze the travel data to determine the position where the first boundary or the second boundary is not reached for the second time within a minimum cycle unit;

[0026] The location is determined as the bay entry point.

[0027] This solution allows for monitoring the actual movement of surveying equipment by analyzing travel data, ensuring it follows the predetermined path and promptly detecting deviations. Decomposing the travel data into multiple minimum patrol units facilitates more detailed analysis of the equipment's trajectory, improving accuracy. Detecting whether the equipment fails to reach the boundary during a second pass identifies potential bends. Accurately marking bend entry points helps plan subsequent surveying routes, ensuring the continuity of the surveying task and the integrity of the data.

[0028] Optionally, the step of planning and executing bay mapping based on the bay entry point includes:

[0029] Obtain basic information about the surveying robot; analyze the basic information to determine the surveying range per unit time.

[0030] When the existence of a bay is confirmed, the inner boundary of the bay is determined based on the minimum patrol unit, and the inner boundary of the bay is mapped according to the inner boundary of the bay.

[0031] Based on the survey range within the specified unit time, determine whether the survey within the bay is complete. If complete, return to the bay entry point.

[0032] This solution provides fundamental information on equipment performance and status for surveying planning and execution, ensuring that surveying tasks are rationally planned based on equipment capabilities. Analysis determines the area the surveying robot can survey per unit time, providing a basis for surveying path planning and time management. Timely detection and confirmation of bay existence provides targets and directions for surveying within the bay. Clearly defining the bay's surveying area provides precise boundaries, avoiding data omissions or duplications during the surveying process. Ensuring the surveying robot can efficiently cover the entire bay, reducing blank areas and redundant surveying. Collecting detailed bay data through actual surveying operations provides valuable information for nautical charting, resource exploration, and other purposes. Real-time monitoring ensures the surveying task proceeds as planned, allowing for timely adjustments to the surveying path or strategy to address unforeseen circumstances. Comparing the actual surveyed area with the planned surveyed area determines whether the surveying task has been completed. After surveying is completed, the surveying robot returns to its entry point into the bay.

[0033] Optionally, the step of planning and executing bay mapping based on the bay entry point includes:

[0034] After returning to the bay entry point, the detection data of the surveying robot is obtained, the detection data is analyzed, and the bay line is determined.

[0035] Travel to the next area according to the described bay line.

[0036] This plan ensures that the surveying robot can safely and orderly complete its current bay surveying task and prepare for entering the next surveying area. It collects all key data acquired by the surveying robot during its bay surveying process. In-depth analysis of the data reveals the bay's topographic features and seabed structure, providing a basis for determining the bay's boundary line. Clearly defining the bay boundary line provides crucial geographic information for chart drawing, channel maintenance, and marine resource management. This enables the surveying robot to efficiently navigate to the next surveying area based on accurate bay boundary line information.

[0037] Optionally, before determining the surveying path based on the area to be surveyed, the method further includes:

[0038] Analyze the basic information to determine the surveying performance of the surveying robot;

[0039] The number of robots is determined based on the surveying performance and the area to be surveyed;

[0040] Based on the number of robots, the area to be surveyed is divided into zones, and the surveying area of ​​each surveying robot is determined.

[0041] The step of determining the surveying path based on the area to be surveyed includes:

[0042] The mapping path is determined based on the mapping area of ​​each mapping robot.

[0043] This solution clarifies the actual capabilities and limitations of surveying robots. It ensures a sufficient number of robots to complete the tasks within the surveyed area, while avoiding resource waste and improving surveying efficiency. The surveying area is rationally divided, giving each robot a clear task, avoiding overlap, and improving overall surveying efficiency. A specific work area is assigned to each robot, ensuring orderly surveying work and facilitating management and monitoring. Detailed environmental information is provided for path planning, ensuring that the planned paths are both safe and efficient.

[0044] Optionally, the method further includes:

[0045] During the surveying process, the remaining battery power of each surveying robot is obtained; based on the surveying performance and the remaining battery power, the return position is determined.

[0046] Based on the surveying area of ​​each surveying robot and the surveying range per unit time, determine the remaining surveying area and the remaining number of cycles.

[0047] Analyze the return position, determine the surveying direction of the return position, and plan the round-trip route based on the surveying direction.

[0048] This solution monitors the battery status of each surveying robot in real time, ensuring it can return to base before its battery runs low, preventing it from running aground or getting lost at sea. Based on the robot's remaining battery power and surveying capabilities, the return position is calculated, ensuring a safe and efficient return to base while maximizing the use of remaining battery power to complete the surveying task. The remaining surveying area and required number of rounds for each robot are clearly defined, providing a basis for planning the return route and subsequent surveying tasks. By analyzing the return position relative to the already surveyed area, the surveying direction for the return is determined, guiding the planning of an efficient round-trip route. Based on the surveying direction and the remaining surveyed area, a route is planned that can both complete the surveying task and ensure a safe return, improving both surveying efficiency and safety.

[0049] Optionally, planning the round-trip route based on the surveying direction includes:

[0050] Compare the surveying direction with the return direction to determine if the directions are consistent;

[0051] If they match, the surveying path corresponding to the surveying direction is taken as the return route, and the turning position is determined based on the minimum patrol unit. The starting point for subsequent surveying is determined based on the turning position.

[0052] If they are inconsistent, obtain the battery power and mapping data of nearby robots in adjacent areas;

[0053] Analyze the mapping data to determine whether there is any nearby robot whose current working direction is consistent with the mapping direction;

[0054] If present, the nearest robot whose current working direction is consistent with the surveying direction is identified as a machine that can be continued;

[0055] Based on the battery level of the nearby robot and the mapping path corresponding to the mapping direction, the mapping path of the connectable robot is adjusted to obtain a continuing mapping path so that the connectable robot can perform mapping according to the continuing mapping path.

[0056] This solution avoids unnecessary path adjustments and improves the efficiency of surveying tasks by comparing directions. When the surveying direction coincides with the return direction, the surveying path is directly used as the return route, saving time and energy. It ensures the surveying robot can efficiently utilize remaining power during the return process, while preparing for the next surveying task. Clearly defining the starting point for the next survey allows for continuous surveying, reducing interruptions. It provides data support for task succession, ensuring the continuity of surveying tasks. By analyzing surveying data, it can determine if a nearby robot can take over the current robot's surveying task, improving resource utilization. If a successor robot exists, task interruptions can be reduced, improving the continuity and efficiency of surveying tasks. By adjusting the surveying path, it ensures that a successor robot can seamlessly take over the current robot's task, reducing data loss. Generating a continuation surveying path allows the successor robot to continue the surveying task according to the new path, ensuring data integrity and accuracy.

[0057] Secondly, this application provides an adaptive marine mapping path planning and execution system, the system comprising:

[0058] The data analysis module is used to acquire data on the sea area to be surveyed, analyze the data on the sea area to be surveyed, and determine the survey area.

[0059] The path planning module is used to determine the surveying path based on the area to be surveyed, and to conduct cruise surveying based on the surveying path.

[0060] The bay detection module is used to acquire travel data during the surveying process and determine whether a bay exists based on the travel data.

[0061] The bay surveying and planning module is used to analyze the travel data, determine the bay entry point, and perform bay surveying and planning based on the bay entry point, if such a point exists.

[0062] Optionally, when the path planning module determines the surveying path based on the area to be surveyed, it is used to:

[0063] Analyze the area to be surveyed and determine the survey boundaries;

[0064] Determine the first direction of travel based on the boundary distance of the surveyed boundary;

[0065] Based on the first direction of travel, and using a bow-shaped loop structure, the second direction of travel is determined.

[0066] The surveying path is determined based on the first and second directions of travel.

[0067] Optionally, when the bay detection module determines whether a bay exists based on the travel data, it is used to:

[0068] For the area to be surveyed, the minimum patrol unit is determined according to the patrol structure;

[0069] Based on the surveyed boundaries, determine the first boundary of the first direction of travel and the second boundary of the second direction of travel;

[0070] Analyze the travel data to determine if there was any instance where the travel did not reach the first boundary or the second boundary;

[0071] If so, based on the travel data, determine whether there are two directional turns when the first boundary or the second boundary is not reached in any travel, using the minimum cycle unit as a reference.

[0072] If it exists, then the bay is confirmed to exist.

[0073] Optionally, when the bay surveying and planning module analyzes the travel data to determine the bay entry point, it is used for:

[0074] Analyze the travel data to determine the position where the first boundary or the second boundary is not reached for the second time within a minimum cycle unit;

[0075] The location is determined as the bay entry point.

[0076] Optionally, when the bay surveying and planning module performs and executes bay surveying and planning based on the bay entry point, it is used for:

[0077] Obtain basic information about the surveying robot; analyze the basic information to determine the surveying range per unit time.

[0078] When the existence of a bay is confirmed, the inner boundary of the bay is determined based on the minimum patrol unit, and the inner boundary of the bay is mapped according to the inner boundary of the bay.

[0079] Based on the survey range within the specified unit time, determine whether the survey within the bay is complete. If complete, return to the bay entry point.

[0080] Optionally, when the bay surveying and planning module performs and executes bay surveying and planning based on the bay entry point, it is used for:

[0081] After returning to the bay entry point, the detection data of the surveying robot is obtained, the detection data is analyzed, and the bay line is determined.

[0082] Travel to the next area according to the described bay line.

[0083] Optionally, the adaptive marine mapping path planning and execution system further includes a quantitative analysis module, used for:

[0084] Analyze the basic information to determine the surveying performance of the surveying robot;

[0085] The number of robots is determined based on the surveying performance and the area to be surveyed;

[0086] Based on the number of robots, the area to be surveyed is divided into zones, and the surveying area of ​​each surveying robot is determined.

[0087] When determining the surveying path based on the area to be surveyed, it is used for:

[0088] The mapping path is determined based on the mapping area of ​​each mapping robot.

[0089] Optionally, the adaptive marine mapping path planning and execution system further includes a round-trip analysis module, used for:

[0090] During the surveying process, the remaining battery power of each surveying robot is obtained; based on the surveying performance and the remaining battery power, the return position is determined.

[0091] Based on the surveying area of ​​each surveying robot and the surveying range per unit time, determine the remaining surveying area and the remaining number of cycles.

[0092] Analyze the return position, determine the surveying direction of the return position, and plan the round-trip route based on the surveying direction.

[0093] Optionally, when the round-trip analysis module plans the round-trip route based on the surveying direction, it is used for:

[0094] Compare the surveying direction with the return direction to determine if the directions are consistent;

[0095] If they match, the surveying path corresponding to the surveying direction is taken as the return route, and the turning position is determined based on the minimum patrol unit. The starting point for subsequent surveying is determined based on the turning position.

[0096] If they are inconsistent, obtain the battery power and mapping data of nearby robots in adjacent areas;

[0097] Analyze the mapping data to determine whether there is any nearby robot whose current working direction is consistent with the mapping direction;

[0098] If present, the nearest robot whose current working direction is consistent with the surveying direction is identified as a machine that can be continued;

[0099] Based on the battery level of the nearby robot and the mapping path corresponding to the mapping direction, the mapping path of the connectable robot is adjusted to obtain a continuing mapping path so that the connectable robot can perform mapping according to the continuing mapping path. Attached Figure Description

[0100] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0101] Figure 1 This is a schematic diagram illustrating an application scenario provided in one embodiment of this application;

[0102] Figure 2 A flowchart of an adaptive marine mapping path planning and execution method provided in one embodiment of this application;

[0103] Figure 3 This is a schematic diagram of an adaptive marine mapping path planning and execution system provided in one embodiment of this application. Detailed Implementation

[0104] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0105] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0106] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0107] Adaptive ocean mapping path planning and execution methods, especially in complex environments, are of great significance for improving the efficiency and accuracy of ocean mapping. Underwater autonomous robots can perform complex mapping tasks without direct human intervention.

[0108] However, the efficiency of these underwater autonomous robots largely depends on optimized path planning strategies, which need to take into account numerous environmental factors. Therefore, optimizing the mapping process, reducing unnecessary overlap, and ensuring the efficient operation of underwater autonomous robots become crucial.

[0109] Based on this, this application provides an adaptive marine mapping path planning and execution system and method. The system acquires data of the sea area to be mapped, analyzes the data, and determines the mapping scope. Based on the mapping scope, a mapping path is determined. Cruise mapping is then conducted according to the mapping path. During the mapping process, travel data is acquired, and based on the travel data, the existence of a bay is determined. If a bay exists, the travel data is analyzed to determine the bay entry point, and bay mapping planning and execution are performed based on the entry point. Data of the sea area to be mapped is acquired through a marine database. Data analysis clarifies the key areas and scope of the mapping, providing target areas for path planning, which helps improve mapping efficiency and data quality. A path covering the mapping scope is planned to ensure that the mapping operation can be carried out comprehensively and orderly, reducing repetitive work and missed areas. Cruise mapping collects seabed topography and other relevant information in real time, forming preliminary mapping data. Real-time monitoring of the mapping process acquires the travel data of the mapping robot, promptly identifying complex bay topography. Accurate determination of the bay entry point ensures accurate bay mapping. Develop a specific bay surveying plan and carry out surveying tasks to ensure that topographic data is recorded in detail and accurately.

[0110] Figure 1 This application provides an illustration of an application scenario where the method provided in this application is used during the process of a surveying robot planning and executing a marine surveying path. Specifically, the method provided in this application is applied to any server, where the server interacts with a marine database and the surveying robot to obtain data on the marine area to be surveyed through the marine database. Through data analysis, the key areas and scope of the survey are identified, providing target areas for path planning and helping to improve surveying efficiency and data quality. A path covering the area to be surveyed is planned to ensure that the surveying operation can be carried out comprehensively and orderly, reducing repetitive work and missed areas. Through cruise surveying, seabed topography and other relevant information are collected in real time to form preliminary surveying data. The movement data of the surveying robot is acquired in real time during the surveying process to promptly identify complex terrain in the bay. The entry point into the bay is accurately determined to ensure accurate bay surveying. A specific bay surveying plan is formulated and the surveying task is executed to ensure that topographic data is recorded in detail and accurately. Specific implementation methods can be found in the following embodiments.

[0111] Figure 2 This is a flowchart illustrating an adaptive marine mapping path planning and execution method according to an embodiment of this application. The method of this embodiment can be applied to the server in the above scenario. Figure 2 As shown, the method includes:

[0112] S201. Obtain data on the sea area to be surveyed, analyze the data, and determine the survey area.

[0113] The data for the sea area to be mapped can be seabed topography, sea surface conditions, marine environmental parameters and other sea-related data that need to be collected for marine surveying.

[0114] The area to be surveyed can be a specific sea area determined in marine surveying based on the surveying objectives and mission requirements, which is an area that needs to be surveyed in detail.

[0115] Specifically, preliminary data on the sea area to be mapped is collected using satellite remote sensing, aerial photography, ships, and drones. Data processing software is then used to preprocess the acquired data, performing noise reduction, correction, and fusion to improve data quality. Finally, the operator of the mapping robot determines the scope of the sea area to be mapped and the key mapping areas at the control terminal.

[0116] S202. Determine the surveying route based on the area to be surveyed; and conduct patrol surveying based on the surveying route.

[0117] A surveying path can be the route taken by a surveying robot or other surveying equipment during marine surveying to collect and measure data according to a pre-planned route.

[0118] Specifically, based on the determined survey area, a preliminary survey path is generated using a path planning algorithm. Considering the complexity and dynamic nature of the marine environment, the preliminary path is optimized to ensure its feasibility and efficiency. Following the planned survey path, a surveying robot is directed to conduct a patrol survey.

[0119] S203. During the surveying process, acquire travel data and determine whether a bay exists based on the travel data;

[0120] The surveying process can encompass the entire timeframe from the start of the survey to the completion of the surveying task, including data collection, processing, and analysis.

[0121] Travel data can be various data collected during the surveying process by surveying robots and other surveying equipment, such as position information, speed, heading, attitude, and sensor readings.

[0122] Specifically, during the surveying process, location information, seabed topography data, and other travel data are collected in real time. The collected travel data is then analyzed in real time to detect the presence of bays.

[0123] S204. If it exists, analyze the travel data, determine the bay entry point, and carry out bay surveying and planning based on the bay entry point.

[0124] The bay entry point can be the starting position where a surveying robot or other surveying equipment enters the bay during marine surveying.

[0125] Specifically, if a bay is detected, the travel data is further analyzed to determine the bay entry point. Based on the bay entry point, a specialized bay mapping path is planned. Bay mapping work is then carried out according to the planned path.

[0126] This plan aims to collect comprehensive marine data, including seabed topography, sea surface conditions, and the marine environment. Data analysis will identify key survey areas and their scope, providing target regions for route planning and improving surveying efficiency and data quality. A route covering the surveyed area will be planned to ensure comprehensive and orderly surveying operations, minimizing duplication and omissions. Cruise surveying will collect seabed topography and other relevant information in real time, forming preliminary surveying data. Real-time monitoring of the surveying process will identify complex bay topography. The entry point into the bay will be precisely determined to ensure accurate bay surveying. A specific bay surveying plan will be developed and executed to ensure detailed and accurate recording of topographic data.

[0127] In some embodiments, a surveying path is determined based on the area to be surveyed, the area to be surveyed is analyzed, and the surveying boundary is determined; a first direction of travel is determined based on the boundary distance of the surveying boundary; a second direction of travel is determined based on the first direction of travel, using a bow-shaped cyclic structure; and a surveying path is determined based on the first direction of travel and the second direction of travel.

[0128] A survey boundary can be the edge line of a survey area determined during marine surveying based on the needs of the surveying task and the geographical features of the sea area.

[0129] Boundary distance can be the side length of the surveyed boundary.

[0130] The first direction of travel can be the direction of travel that is determined first in the surveying and mapping path planning.

[0131] A circuit structure can be a circular, rectangular, arc-shaped, or other regular or irregular path shape designed in surveying path planning to ensure that the entire surveying area is covered.

[0132] The second direction of travel can be the direction of travel that is perpendicular to the first direction of travel in the surveying and mapping path planning.

[0133] Specifically, spatial analysis is performed on the marine area data to be surveyed to determine the boundaries of the survey area. The survey area is refined by considering factors such as unique topography, resource distribution, and environmental conditions within the marine area. Based on the geographical features of the marine area and the requirements of the surveying task, the specific location of the survey boundary is determined. The survey boundary can be a fixed geographic coordinate or a dynamically adjusted boundary to adapt to changes in the marine environment. Based on the shape and location of the survey boundary, an initial first direction of travel is determined; this is a line or edge on the boundary. The first direction of travel can be from north to south, from west to east, etc., depending on the specific orientation of the survey boundary. Using an arc-shaped traversal structure as a basis, a second direction of travel is planned starting from the first direction of travel. The second direction of travel is perpendicular to the first direction of travel, forming the two sides of the arc. Combining the first and second directions, a detailed surveying path is planned. The surveying path should ensure coverage of the entire area to be surveyed, while avoiding duplication and omissions.

[0134] This solution, by analyzing marine data and determining the specific surveying area, helps to focus resources, avoid ineffective surveying activities, and improve the targeting and efficiency of surveying. Determining the surveying boundary provides a clear start and end point for route planning, helping to reduce the randomness of the planning process. Determining the first direction of travel provides a clear direction for the surveying equipment, helping to maintain the straightness and efficiency of the survey. The bow-shaped circulation structure makes the surveying route more flexible, adaptable to surveying areas of different shapes and sizes. Determining the second direction of travel helps to ensure the integrity and coverage of the surveying route, reducing data omissions. Complete surveying route planning ensures that the surveying task can be completed efficiently and accurately. By optimizing the route, surveying time and costs are reduced, while the quality and reliability of data acquisition are improved.

[0135] In some embodiments, based on the travel data, it is determined whether a bay exists; for the area to be surveyed, based on the roving structure, the minimum roving unit is determined; based on the surveying boundary, the first boundary of the first travel direction and the second boundary of the second travel direction are determined; the travel data is analyzed to determine whether any travel fails to reach the first or second boundary; if so, based on the travel data, it is determined whether there are two directional turns based on the minimum roving unit when any travel fails to reach the first or second boundary; if so, it is determined that a bay exists.

[0136] The smallest circulating unit can be the smallest loop unit length in a circulating structure. In a bow-shaped circulating structure, the smallest circulating unit is a structure composed of three strokes: horizontal, vertical, and horizontal.

[0137] The first boundary can be the line connecting the starting point and the ending point set along the first direction of travel in the surveying path planning.

[0138] The second boundary can be the line connecting the starting point and the ending point set along the second direction of travel in the surveying path planning.

[0139] Two directional turns can occur when a surveying robot, while traveling in a bow-shaped circumferential structure, fails to reach the predetermined boundary, first completes a "U"-shaped turn and then makes another "U"-shaped turn.

[0140] Specifically, based on the size of the area to be surveyed and the required surveying accuracy, calculate or specify the length of the minimum patrol unit. Determine the width and direction of the minimum patrol unit. Based on the surveying boundaries, determine the first boundary of the first travel direction, i.e., the positions of the start and end points in the first travel direction. Similarly, determine the second boundary of the second travel direction, i.e., the positions of the start and end points in the second travel direction. During the surveying process, use surveying robots and other equipment to collect travel data such as position coordinates, heading, and speed. Use data analysis algorithms to process the travel data, checking whether each movement has reached the predetermined first or second boundary. If any movement fails to reach the first or second boundary, record the data for that movement and perform detailed analysis. In the travel data that has not reached the boundary, check for two directional rotations. Mark the points of directional change in the travel data. Analyze the distance and angle between the points of directional change to determine if they conform to the characteristics of two directional rotations. If two directional rotations are determined to exist, combine the position information of the minimum patrol unit and the surveying equipment to verify whether a bend exists.

[0141] This scheme provides basic measurement standards for surveying path planning and bay detection, helping to maintain surveying consistency and accuracy. It provides clear boundaries for the start and end of the surveying path, guiding surveying equipment to follow the predetermined route. Real-time analysis of travel data allows monitoring of the surveying equipment's actual movement, ensuring it adheres to the planned path and promptly detecting deviations. It identifies whether the surveying equipment failed to reach the expected boundary due to encountering unknown terrain features or other obstacles. Detecting directional changes in the travel data helps determine if the surveying equipment made two directional turns before reaching the boundary, aiding in bay feature identification. If two directional turns are confirmed, combined with the minimum patrol unit and the surveying equipment's position information, the bay's location and extent can be determined, thus confirming its existence.

[0142] In some embodiments, the travel data is analyzed to determine the entry point into the bay; the travel data is analyzed to determine the position where the first or second boundary is not reached for the second time within a minimum cycle unit; and the position is determined as the entry point into the bay.

[0143] Within the smallest patrol unit, in marine surveying, the surveyed area is divided into a series of small regions with regular shapes according to a predetermined route plan.

[0144] Specifically, surveying equipment such as surveying robots is used to collect travel data including position coordinates, heading, and speed. The collected travel data undergoes preprocessing such as noise reduction and filtering to improve data quality. The processed travel data is analyzed to determine the travel status of the surveying equipment within each minimum patrol unit. Within each minimum patrol unit, it is checked whether the surveying equipment has failed to reach the first or second boundary. For travel that has not reached the boundary, the location where the surveying equipment failed to reach the boundary for the second time within the minimum patrol unit is determined. Based on the specific location of the failure to reach the boundary, the entry point is marked.

[0145] This solution allows for monitoring the actual movement of surveying equipment by analyzing travel data, ensuring it follows the predetermined path and promptly detecting deviations. Decomposing the travel data into multiple minimum patrol units facilitates more detailed analysis of the equipment's trajectory, improving accuracy. Detecting whether the equipment fails to reach the boundary during a second pass identifies potential bends. Accurately marking bend entry points helps plan subsequent surveying routes, ensuring the continuity of the surveying task and the integrity of the data.

[0146] In some embodiments, bay mapping planning is performed and executed based on the bay entry point to obtain basic information of the mapping robot; the basic information is analyzed to determine the mapping range per unit time; when a bay is determined to exist, the bay boundary is determined based on the minimum patrol unit, and the bay mapping is performed based on the bay boundary; based on the mapping range per unit time, it is determined whether the bay mapping is completed, and if completed, the system returns to the bay entry point.

[0147] A surveying robot can be an underwater autonomous robot used to collect data on ocean topography, water depth, seabed features, etc., either autonomously or remotely.

[0148] Basic information can include key parameters and statuses that a surveying robot needs to analyze before performing a task, such as position coordinates, speed, heading, battery status, sensor performance indicators, and calibration status of surveying equipment.

[0149] A unit of time can be the amount of surveying work that a surveying robot can complete or the time period of the surveyed area it covers.

[0150] The surveying range can be the area or volume of the sea that a surveying robot can survey per unit of time.

[0151] The inner boundary of a bay can be the boundary that separates the waters and rock walls within the bay.

[0152] Specifically, the system collects various parameters such as the surveying robot's position, speed, heading, and performance indicators of the surveying equipment. Using the robot's basic information, it calculates the area or volume it can survey per unit time. The data analysis module analyzes the travel data to determine if a bay exists. Based on the smallest patrol unit, combined with terrain data and real-time acquired marine data, the inner boundary of the bay is determined. Based on the bay's inner boundary, the surveying robot's surveying path is planned to ensure coverage of the entire bay. The surveying robot follows the planned path, collecting topographic data of the bay. The surveying robot's progress is monitored in real time and compared with the surveyed area per unit time. The system determines whether the surveying has reached the bay's inner boundary to confirm completion of the bay survey and ensure no uncovered areas remain. If the bay surveying is complete, the robot is guided back to its entry point.

[0153] This solution provides fundamental information on equipment performance and status for surveying planning and execution, ensuring that surveying tasks are rationally planned based on equipment capabilities. Analysis determines the area the surveying robot can survey per unit time, providing a basis for surveying path planning and time management. Timely detection and confirmation of bay existence provides targets and directions for surveying within the bay. Clearly defining the bay's surveying area provides precise boundaries, avoiding data omissions or duplications during the surveying process. Ensuring the surveying robot can efficiently cover the entire bay, reducing blank areas and redundant surveying. Collecting detailed bay data through actual surveying operations provides valuable information for nautical charting, resource exploration, and other purposes. Real-time monitoring ensures the surveying task proceeds as planned, allowing for timely adjustments to the surveying path or strategy to address unforeseen circumstances. Comparing the actual surveyed area with the planned surveyed area determines whether the surveying task has been completed. After surveying is completed, the surveying robot returns to its entry point into the bay.

[0154] In some embodiments, bay mapping planning is performed and executed based on the bay entry point. After returning to the bay entry point, the detection data of the mapping robot is obtained, the detection data is analyzed, and the bay line is determined. The robot then travels to the next area based on the bay line.

[0155] The data collected by the mapping robot during the mapping task can include marine environmental parameters such as water depth, seabed topography, seabed type, location of seabed obstacles, temperature, salinity, and turbidity, as well as other data related to marine geology and marine environment.

[0156] A bay line can be a line drawn in marine surveying that represents the bay boundary and is closest to the point where the bay enters the bend.

[0157] Specifically, after completing its survey within the bay, the surveying robot returns to its entry point according to a pre-set path or navigation instructions. All data collected during the survey, including water depth, topography, and seabed type, is gathered. Data processing and analysis software is used to analyze the data to identify and determine the bay's location and characteristics. Based on the analysis results, the bay line is drawn. Using the determined bay line and the robot's current location, a path is planned from the current point to the next surveying area. The surveying robot then travels to the next area according to the planned path.

[0158] This plan ensures that the surveying robot can safely and orderly complete its current bay surveying task and prepare for entering the next surveying area. It collects all key data acquired by the surveying robot during its bay surveying process. In-depth analysis of the data reveals the bay's topographic features and seabed structure, providing a basis for determining the bay's boundary line. Clearly defining the bay boundary line provides crucial geographic information for chart drawing, channel maintenance, and marine resource management. This enables the surveying robot to efficiently navigate to the next surveying area based on accurate bay boundary line information.

[0159] In some embodiments, before determining the surveying path based on the area to be surveyed, the method further includes: analyzing basic information to determine the surveying performance of the surveying robot; determining the number of robots based on the surveying performance and the area to be surveyed; dividing the area to be surveyed into zones based on the number of robots to determine the surveying area of ​​each surveying robot; and determining the surveying path based on the surveying area of ​​each surveying robot.

[0160] Surveying performance refers to the measurement accuracy, working speed, endurance, and data processing capabilities exhibited by a surveying robot when performing surveying tasks.

[0161] The number of robots can refer to the number of surveying robots deployed to complete surveying tasks.

[0162] The surveying area can be a specific surveying range assigned to each surveying robot.

[0163] Specifically, the process involves collecting technical parameters of the surveying robot, including its surveying capabilities, sensor type, accuracy, and endurance. It also includes collecting relevant data such as geographic coordinates, topography, water depth, and seabed obstacles of the area to be surveyed. The performance data of the surveying robot is analyzed to determine its applicable surveying scenarios and optimal working conditions. Based on the analysis results, the robot's surveying capabilities in a specific sea area are determined. The required number of robots is calculated based on the robot's performance and the size and complexity of the sea area to be surveyed. The number of robots is adjusted considering factors such as task timeliness, cost budget, and risks. Based on the determined number of robots, the sea area to be surveyed is divided into several surveying zones. Each zone is ensured to be effectively covered by the assigned robots. A specific surveying zone is assigned to each surveying robot. Reasonable zone allocation is made considering the robot's performance and the characteristics of the surveying zone. Detailed topographic, water depth, and obstacle data are collected for each surveying zone. Environmental maps and related environmental information are prepared for path planning. The surveying path is determined based on the requirements of the surveying task and the characteristics of the marine environment.

[0164] This solution clarifies the actual capabilities and limitations of surveying robots. It ensures a sufficient number of robots to complete the tasks within the surveyed area, while avoiding resource waste and improving surveying efficiency. The surveying area is rationally divided, giving each robot a clear task, avoiding overlap, and improving overall surveying efficiency. A specific work area is assigned to each robot, ensuring orderly surveying work and facilitating management and monitoring. Detailed environmental information is provided for path planning, ensuring that the planned paths are both safe and efficient.

[0165] In some embodiments, the remaining battery power of each surveying robot is obtained during the surveying process; the return position is determined based on the surveying performance and remaining battery power; the remaining surveying area and remaining patrol volume are determined based on the surveying area and surveying range per unit time of each surveying robot; the return position is analyzed to determine the surveying direction of the return position, and the round-trip route is planned based on the surveying direction.

[0166] The remaining power can be the power that the surveying robot has left in the current surveying task.

[0167] The return point can be the starting point or base location that the surveying robot needs to return to after completing the current surveying task.

[0168] The remaining survey area can be the area that the surveying robot still needs to survey after completing part of the surveying task.

[0169] The remaining number of patrols can be defined as how many patrols the mapping robot needs to perform within the remaining mapping area to complete the task.

[0170] The surveying direction can be the heading or movement direction taken by the surveying robot during its return journey.

[0171] The round-trip route can be the outbound and return flight path of the surveying robot after completing the surveying task and returning to the base.

[0172] Specifically, the remaining battery power of each surveying robot is monitored in real time through its battery monitoring system. Based on the robot's battery level, surveying performance, and a preset safe battery threshold, the required return point for each robot is calculated to ensure a safe return. The surveying area of ​​each robot, as well as the completed survey area, is analyzed to determine the remaining surveying area. Based on the size of the remaining surveying area and the robot's surveying efficiency, the number of rounds and time required to complete the remaining surveying task are calculated. The position of the return point relative to the surveyed area is analyzed to determine the return surveying direction, allowing surveying to continue during the return journey. Based on the surveying direction and the remaining surveying area, the round-trip route of the surveying robots is planned to ensure efficient completion of the surveying task and a safe return.

[0173] This solution monitors the battery status of each surveying robot in real time, ensuring it can return to base before its battery runs low, preventing it from running aground or getting lost at sea. Based on the robot's remaining battery power and surveying capabilities, the return position is calculated, ensuring a safe and efficient return to base while maximizing the use of remaining battery power to complete the surveying task. The remaining surveying area and required number of rounds for each robot are clearly defined, providing a basis for planning the return route and subsequent surveying tasks. By analyzing the return position relative to the already surveyed area, the surveying direction for the return is determined, guiding the planning of an efficient round-trip route. Based on the surveying direction and the remaining surveyed area, a route is planned that can both complete the surveying task and ensure a safe return, improving both surveying efficiency and safety.

[0174] In some embodiments, a round-trip route is planned according to the surveying direction. The surveying direction is compared with the return direction to determine whether the directions are consistent. If they are consistent, the surveying path corresponding to the surveying direction is used as the return route, and the turning position is determined based on the minimum patrol unit. The starting point for subsequent surveying is determined based on the turning position. If they are inconsistent, the battery level and surveying data of nearby robots in adjacent areas are obtained. The surveying data is analyzed to determine whether there is any nearby robot whose current working direction is consistent with the surveying direction. If so, the nearby robot whose current working direction is consistent with the surveying direction is identified as a machine that can be continued. The surveying path of the machine that can be continued is adjusted according to the battery level of the nearby robot and the surveying path corresponding to the surveying direction to obtain a continued surveying path so that the machine that can be continued can perform surveying according to the continued surveying path.

[0175] The return direction can be the direction in which the surveying robot returns to its base or starting point after completing the surveying task.

[0176] The return route can be the path that the mapping robot follows on its way back to the base or starting point.

[0177] The turning point can be the point where the mapping robot needs to change direction on the return route.

[0178] The surveying starting point can be the starting position for the surveying robot to begin the next surveying task.

[0179] Adjacent areas can be other surveying areas that are adjacent to or close to the current surveying area.

[0180] The battery level of the nearby robot can be the remaining battery level of other mapping robots in the vicinity.

[0181] Surveying data can be various data such as water depth, topography, and bottom sediment collected by surveying robots during the surveying process.

[0182] The current working direction can be the direction in which a nearby robot is currently mapping.

[0183] A successor robot is a surveying robot whose working direction is consistent with the current surveying robot's surveying direction and can take over the task.

[0184] A continuation mapping path can be a path for a continuing mapping machine to continue mapping based on the current mapping robot's mapping direction and path.

[0185] Specifically, check if the current mapping direction of the surveying robot is consistent with the return direction. If the mapping direction is consistent with the return direction, the mapping path is directly used as the return route. On the return route, determine the turning position based on the surveying robot's minimum patrol unit, i.e., the point where the surveying robot needs to change direction. Based on the turning position, determine the starting point for the next mapping after the surveying robot completes its return. If the mapping direction is inconsistent with the return direction, obtain the battery level and mapping data of nearby robots in the adjacent area. Analyze the mapping data of nearby robots to determine if any nearby robot's current working direction is consistent with the mapping direction. If a nearby robot with the same working direction exists, it is identified as a successor robot. Adjust the mapping path of the successor robot based on the battery level and mapping path corresponding to the nearby robot's mapping direction. Generate a successor mapping path to ensure that the successor robot can perform mapping according to this path.

[0186] This solution avoids unnecessary path adjustments and improves the efficiency of surveying tasks by comparing directions. When the surveying direction coincides with the return direction, the surveying path is directly used as the return route, saving time and energy. It ensures the surveying robot can efficiently utilize remaining power during the return process, while preparing for the next surveying task. Clearly defining the starting point for the next survey allows for continuous surveying, reducing interruptions. It provides data support for task succession, ensuring the continuity of surveying tasks. By analyzing surveying data, it can determine if a nearby robot can take over the current robot's surveying task, improving resource utilization. If a successor robot exists, task interruptions can be reduced, improving the continuity and efficiency of surveying tasks. By adjusting the surveying path, it ensures that a successor robot can seamlessly take over the current robot's task, reducing data loss. Generating a continuation surveying path allows the successor robot to continue the surveying task according to the new path, ensuring data integrity and accuracy.

[0187] Figure 3 This is a schematic diagram of the structure of an adaptive marine mapping path planning and execution system provided in an embodiment of this application, as shown below. Figure 3 As shown, the adaptive marine mapping path planning and execution system 300 of this embodiment includes: a data analysis module 301, a path planning module 302, a bay detection module 303, and a bay mapping planning module 304.

[0188] Data analysis module 301 is used to acquire data of the sea area to be surveyed, analyze the data of the sea area to be surveyed, and determine the survey area.

[0189] The path planning module 302 is used to determine the surveying path based on the area to be surveyed, and to perform cruise surveying based on the surveying path.

[0190] Bay detection module 303 is used to acquire travel data during the surveying process and determine whether a bay exists based on the travel data;

[0191] The bay surveying and planning module 304 is used to analyze the travel data, determine the bay entry point, and perform bay surveying and planning based on the bay entry point, if such a point exists.

[0192] Optionally, when the path planning module 302 determines the surveying path based on the area to be surveyed, it is used to:

[0193] Analyze the area to be surveyed and determine the survey boundaries;

[0194] Determine the first direction of travel based on the boundary distance of the surveyed boundary;

[0195] Based on the first direction of travel, and using a bow-shaped loop structure, the second direction of travel is determined.

[0196] The surveying path is determined based on the first and second directions of travel.

[0197] Optionally, when the bay detection module 303 determines whether a bay exists based on the travel data, it is used to:

[0198] For the area to be surveyed, the minimum patrol unit is determined according to the patrol structure;

[0199] Based on the surveyed boundaries, determine the first boundary of the first direction of travel and the second boundary of the second direction of travel;

[0200] Analyze the travel data to determine if there was any instance where the travel did not reach the first boundary or the second boundary;

[0201] If so, based on the travel data, determine whether there are two directional turns when the first boundary or the second boundary is not reached in any travel, using the minimum cycle unit as a reference.

[0202] If it exists, then the bay is confirmed to exist.

[0203] Optionally, when the bay surveying and planning module 304 analyzes the travel data to determine the bay entry point, it is used for:

[0204] Analyze the travel data to determine the position where the first boundary or the second boundary is not reached for the second time within a minimum cycle unit;

[0205] The location is determined as the bay entry point.

[0206] Optionally, when the bay surveying and planning module 304 performs and executes bay surveying and planning based on the bay entry point, it is used for:

[0207] Obtain basic information about the surveying robot; analyze the basic information to determine the surveying range per unit time.

[0208] When the existence of a bay is confirmed, the inner boundary of the bay is determined based on the minimum patrol unit, and the inner boundary of the bay is mapped according to the inner boundary of the bay.

[0209] Based on the survey range within the specified unit time, determine whether the survey within the bay is complete. If complete, return to the bay entry point.

[0210] Optionally, when the bay surveying and planning module 304 performs and executes bay surveying and planning based on the bay entry point, it is used for:

[0211] After returning to the bay entry point, the detection data of the surveying robot is obtained, the detection data is analyzed, and the bay line is determined.

[0212] Travel to the next area according to the described bay line.

[0213] Optionally, the adaptive marine mapping path planning and execution system 300 further includes a quantity analysis module 305, used for:

[0214] Analyze the basic information to determine the surveying performance of the surveying robot;

[0215] The number of robots is determined based on the surveying performance and the area to be surveyed;

[0216] Based on the number of robots, the area to be surveyed is divided into zones, and the surveying area of ​​each surveying robot is determined.

[0217] When determining the surveying path based on the area to be surveyed, it is used for:

[0218] The mapping path is determined based on the mapping area of ​​each mapping robot.

[0219] Optionally, the adaptive marine mapping path planning and execution system 300 further includes a round-trip analysis module 306, used for:

[0220] During the surveying process, the remaining battery power of each surveying robot is obtained; based on the surveying performance and the remaining battery power, the return position is determined.

[0221] Based on the surveying area of ​​each surveying robot and the surveying range per unit time, determine the remaining surveying area and the remaining number of cycles.

[0222] Analyze the return position, determine the surveying direction of the return position, and plan the round-trip route based on the surveying direction.

[0223] Optionally, when the round-trip analysis module 306 plans the round-trip route based on the surveying direction, it is used for:

[0224] Compare the surveying direction with the return direction to determine if the directions are consistent;

[0225] If they match, the surveying path corresponding to the surveying direction is taken as the return route, and the turning position is determined based on the minimum patrol unit. The starting point for subsequent surveying is determined based on the turning position.

[0226] If they are inconsistent, obtain the battery power and mapping data of nearby robots in adjacent areas;

[0227] Analyze the mapping data to determine whether there is any nearby robot whose current working direction is consistent with the mapping direction;

[0228] If present, the nearest robot whose current working direction is consistent with the surveying direction is identified as a machine that can be continued;

[0229] Based on the battery level of the nearby robot and the mapping path corresponding to the mapping direction, the mapping path of the connectable robot is adjusted to obtain a continuing mapping path so that the connectable robot can perform mapping according to the continuing mapping path.

[0230] The system in this embodiment can be used to execute the methods of any of the above embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

Claims

1. An adaptive marine mapping path planning and execution method, characterized in that, include: Acquire data on the sea area to be surveyed, analyze the data, and determine the survey area. Determine the surveying path based on the area to be surveyed; And conduct cruise surveying according to the surveying route; During the surveying process, travel data is acquired, and based on the travel data, it is determined whether a bay exists. If it exists, analyze the travel data, determine the bay entry point, and perform bay mapping planning and execution based on the bay entry point; The step of determining the surveying path based on the area to be surveyed includes: Analyze the area to be surveyed and determine the survey boundaries; Determine the first direction of travel based on the boundary distance of the surveyed boundary; Based on the first direction of travel, and using a bow-shaped loop structure, the second direction of travel is determined. The surveying path is determined based on the first and second directions of travel; The step of determining whether a bay exists based on the travel data includes: For the area to be surveyed, the minimum patrol unit is determined according to the patrol structure; Based on the surveyed boundaries, determine the first boundary of the first direction of travel and the second boundary of the second direction of travel; Analyze the travel data to determine if there was any instance where the travel did not reach the first boundary or the second boundary; If so, based on the travel data, determine whether there are two directional turns when the first boundary or the second boundary is not reached in any travel, using the minimum cycle unit as a reference. If it exists, then the bay is confirmed to exist; The analysis of the travel data to determine the entry point into the bay includes: Analyze the travel data to determine the position where the first boundary or the second boundary is not reached for the second time within a minimum cycle unit; The location is determined as the point where the bay enters; The step of planning and executing bay surveying based on the bay entry point includes: Obtain basic information about the surveying robot; analyze the basic information to determine the surveying range per unit time. When the existence of a bay is confirmed, the inner boundary of the bay is determined based on the minimum patrol unit, and the inner boundary of the bay is mapped according to the inner boundary of the bay. Based on the survey range within the specified unit time, determine whether the survey within the bay is complete. If complete, return to the bay entry point.

2. The method according to claim 1, characterized in that, The step of planning and executing bay surveying based on the bay entry point includes: After returning to the bay entry point, the detection data of the surveying robot is obtained, the detection data is analyzed, and the bay line is determined. Travel to the next area according to the described bay line.

3. The method according to claim 2, characterized in that, Before determining the surveying path based on the area to be surveyed, the method further includes: Analyze the basic information to determine the surveying performance of the surveying robot; The number of robots is determined based on the surveying performance and the area to be surveyed; Based on the number of robots, the area to be surveyed is divided into zones, and the surveying area of ​​each surveying robot is determined. The step of determining the surveying path based on the area to be surveyed includes: The mapping path is determined based on the mapping area of ​​each mapping robot.

4. The method according to claim 3, characterized in that, The method further includes: During the surveying process, the remaining battery power of each surveying robot is obtained; based on the surveying performance and the remaining battery power, the return position is determined. Based on the surveying area of ​​each surveying robot and the surveying range per unit time, determine the remaining surveying area and the remaining number of cycles. Analyze the return position, determine the surveying direction of the return position, and plan the round-trip route based on the surveying direction.

5. The method according to claim 4, characterized in that, The step of planning the round-trip route based on the surveying direction includes: Compare the surveying direction with the return direction to determine if the directions are consistent; If they match, the surveying path corresponding to the surveying direction is taken as the return route, and the turning position is determined based on the minimum patrol unit. The starting point for subsequent surveying is determined based on the turning position. If they are inconsistent, obtain the battery power and mapping data of nearby robots in adjacent areas; Analyze the mapping data to determine whether there is any nearby robot whose current working direction is consistent with the mapping direction; If present, the nearest robot whose current working direction is consistent with the surveying direction is identified as a machine that can be continued; Based on the battery level of the nearby robot and the mapping path corresponding to the mapping direction, the mapping path of the connectable robot is adjusted to obtain a continuing mapping path so that the connectable robot can perform mapping according to the continuing mapping path.

6. An adaptive marine mapping path planning and execution system, characterized in that, The method applied to any one of claims 1-5 includes: The data analysis module is used to acquire data on the sea area to be surveyed, analyze the data on the sea area to be surveyed, and determine the survey area. The path planning module is used to determine the surveying path based on the area to be surveyed, and to conduct cruise surveying based on the surveying path. The bay detection module is used to acquire travel data during the surveying process and determine whether a bay exists based on the travel data. The bay surveying and planning module is used to analyze the travel data, determine the bay entry point, and perform bay surveying and planning based on the bay entry point, if such a point exists.

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