阅读说明：本技术 一种基于无人机的航测系统智能化快速处理方法 (Unmanned aerial vehicle-based aerial survey system intelligent rapid processing method ) 是由 胡华科 雷斌 张威治 肖聪 陈斯 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种基于无人机的航测系统智能化快速处理方法,涉及自动控制技术领域,解决了现有方案无人机航测路径规划不完善,预警措施不足导致航测效率低的技术问题；本发明在无人机飞行过程中采集数据并进行环境预警,根据环境预警结果实时调整无人机的航测高度；在飞行过程中对飞行环境实时预警,既能够保证无人机采集的数据质量,又能够避免补飞区域的增大,提高了航测效率；本发明中补飞任务的设置时刻在无人机完成航测之前,将已经完成航测的区域中出现未采集到航测图像或者航测图像不合格的区域标记补飞区域,根据补飞区域设置补飞任务,不需要等到所有航测都完成时再设置补飞任务,对时间进行充分利用,采用并行处理方式提高航测效率。(The invention discloses an intelligent rapid processing method of an aerial survey system based on an unmanned aerial vehicle, which relates to the technical field of automatic control and solves the technical problems of low aerial survey efficiency caused by incomplete aerial survey path planning and insufficient early warning measures of the unmanned aerial vehicle in the prior art; the method comprises the steps of collecting data and carrying out environment early warning in the flight process of the unmanned aerial vehicle, and adjusting the aerial survey height of the unmanned aerial vehicle in real time according to the environment early warning result; the flight environment is early warned in real time in the flight process, so that the data quality acquired by the unmanned aerial vehicle can be ensured, the increase of a flight compensation area can be avoided, and the aerial survey efficiency is improved; according to the method, the area which is not acquired or unqualified in the aerial survey area is marked with the flying-supplementing area at the flying-supplementing task setting moment before the aerial survey is completed by the unmanned aerial vehicle, the flying-supplementing task is set according to the flying-supplementing area, the flying-supplementing task does not need to be set when all the aerial surveys are completed, the time is fully utilized, and the aerial survey efficiency is improved by adopting a parallel processing mode.)

1. An intelligent rapid processing method of an aerial survey system based on an unmanned aerial vehicle is characterized by comprising the following steps:

acquiring an aerial survey task through an aerial survey control system, and acquiring aerial survey time according to the aerial survey task; the aerial survey task comprises a working area and a cut-off time;

before the aerial survey task is executed, acquiring a weather evaluation label according to the aerial survey task and the aerial survey time;

when the weather evaluation label meets the aerial survey requirement, selecting and marking the unmanned aerial vehicle;

planning an aerial survey path of the unmanned aerial vehicle through an aerial survey control system, enabling the unmanned aerial vehicle to fly according to the aerial survey path, acquiring data in real time in the flying process, carrying out environment early warning, and adjusting the aerial survey height of the unmanned aerial vehicle in real time according to an environment early warning result; when planning an aerial survey path, presetting course overlapping degree, side overlapping degree and aerial survey height;

counting the task completion degree of the aerial survey task, and setting a flight compensation task according to the task completion degree;

and the aerial survey control system controls the unmanned aerial vehicle to complete the flying compensation task.

2. The unmanned aerial vehicle-based aerial survey system intelligent rapid processing method according to claim 1, wherein the aerial survey task is obtained by a manual input mode or a data import mode; acquiring an aerial survey task in a data import mode, wherein the data import mode comprises the following steps:

importing task data into an aerial survey control system; the task data comprise aerial survey base point coordinates and cut-off time;

and the aerial survey control system analyzes the task data to form an operation area, and combines the operation area with the deadline in the task data to generate an aerial survey task.

3. The unmanned aerial vehicle-based aerial survey system intelligent rapid processing method of claim 1, wherein the obtaining of the weather assessment tag comprises:

acquiring weather early warning data in an operation area; the weather early warning data comprises wind speed, temperature, humidity and air pressure;

and inputting the weather early warning data into a weather assessment model to obtain a weather assessment tag.

4. The intelligent rapid processing method of the aerial survey system based on the unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle is selected according to the aerial survey task, comprising:

extracting an operation area in the aerial survey task and acquiring operation time; the operation time is the required time of the unmanned aerial vehicle during navigation;

and determining the number of the unmanned aerial vehicles according to the operation area and the operation time, and numbering the unmanned aerial vehicles.

5. The intelligent rapid processing method for the unmanned aerial vehicle-based aerial survey system according to claim 4, wherein the determination of the number of unmanned aerial vehicles comprises:

acquiring the area of the operation area and marking the area as QM; marking the operation time as ZS;

acquiring the number WS of the unmanned aerial vehicles by a formula WS ═ alpha × QM/(ZS × DQ); wherein DQ represents an aerial survey area completed by a single unmanned aerial vehicle in a unit time, α is a proportionality coefficient, and α is a real number greater than 0.

6. The unmanned aerial vehicle-based aerial survey system intelligent rapid processing method of claim 1, wherein course overlap is 60% -90% and side overlap is 30% -60% when planning the aerial survey path.

7. The unmanned aerial vehicle-based aerial survey system intelligent rapid processing method of claim 1, wherein obtaining the environmental early warning result according to environmental data comprises:

acquiring the real-time position of the unmanned aerial vehicle, and setting a set area; the shape of the set area is rectangular or circular, and the set area is arranged on the remaining aerial survey path of the unmanned aerial vehicle;

acquiring a weather evaluation label of a set area, and controlling the unmanned aerial vehicle to normally operate according to a corresponding aerial survey path and an aerial survey height when the weather evaluation label meets the aerial survey requirement; when the weather evaluation label does not meet the aerial survey requirement, the unmanned aerial vehicle is controlled to reduce the aerial survey height, and meanwhile, the unmanned aerial vehicle runs according to the corresponding aerial survey path.

8. The unmanned aerial vehicle-based aerial survey system intelligent rapid processing method according to claim 1, wherein the flying-supplementing task is set according to task completion degree, and the method comprises the following steps:

acquiring the task completion degree of the aerial survey task, and marking the task completion degree as RWD;

when the task completion degree L1 is not less than RWD is not less than 1, acquiring a supplemental flight area, and planning a supplemental flight path according to the supplemental flight area; wherein L1 is a completion threshold, and L1 is more than or equal to 0.2 and less than or equal to 0.8;

and integrating the supplement flight area and the supplement flight path to generate a supplement flight task.

Technical Field

The invention belongs to the field of automatic control, relates to an intelligent processing technology of a aerial survey system, and particularly relates to an intelligent rapid processing method of the aerial survey system based on an unmanned aerial vehicle.

Background

Unmanned aerial vehicle aerial survey is a novel geographic information acquisition mode, compares in traditional survey and drawing of measuring, can acquire the field data of higher accuracy with less cost. The existing aerial survey system has the characteristics of high scanning speed, strong real-time performance, strong initiative and full digital characteristics, greatly reduces the cost and improves the overall operation efficiency.

In the aerial survey process, when the range of a working area is large, multiple unmanned aerial vehicles are required to perform cooperative operation at the same time, paths of the unmanned aerial vehicles with excessive quantity can be overlapped when aerial survey tasks are executed, and collision accidents of the unmanned aerial vehicles can be caused; the unmanned aerial vehicle cannot predict sudden extreme weather, so that the data returned by the unmanned aerial vehicle are abnormal, and the aerial survey efficiency is reduced; therefore, an intelligent fast processing method capable of ensuring the reliability of the unmanned aerial vehicle and the aerial survey data is needed.

Disclosure of Invention

The invention provides an intelligent rapid processing method of an aerial survey system based on an unmanned aerial vehicle, which is used for solving the technical problems of low aerial survey efficiency caused by incomplete aerial survey path planning and insufficient early warning measures of the unmanned aerial vehicle in the prior art.

The purpose of the invention can be realized by the following technical scheme: an intelligent rapid processing method of an aerial survey system based on an unmanned aerial vehicle comprises the following steps:

acquiring an aerial survey task through an aerial survey control system, and acquiring aerial survey time according to the aerial survey task; the aerial survey task comprises a working area and a cut-off time;

before the aerial survey task is executed, acquiring a weather evaluation label according to the aerial survey task and the aerial survey time;

when the weather evaluation label meets the aerial survey requirement, selecting and marking the unmanned aerial vehicle;

planning an aerial survey path of the unmanned aerial vehicle through an aerial survey control system, enabling the unmanned aerial vehicle to fly according to the aerial survey path, acquiring data in real time in the flying process, carrying out environment early warning, and adjusting the aerial survey height of the unmanned aerial vehicle in real time according to an environment early warning result; when planning an aerial survey path, presetting course overlapping degree, side overlapping degree and aerial survey height;

counting the task completion degree of the aerial survey task, and setting a flight compensation task according to the task completion degree;

and the aerial survey control system controls the unmanned aerial vehicle to complete the flying compensation task.

Preferably, the aerial survey task is acquired through a manual input mode or a data import mode.

Preferably, the acquiring of the aerial survey task by the manual input mode includes:

the staff selects an aerial survey base point and sets the cut-off time; the number of the aerial survey base points is not less than 3;

generating an operation area according to the aerial survey base point, and generating an aerial survey task by combining the operation area with the cut-off time;

preferably, the acquiring of the aerial survey task by the data import mode includes:

importing task data into an aerial survey control system; the task data comprise aerial survey base point coordinates and cut-off time;

the aerial survey control system analyzes the task data to form an operation area, and the operation area combines the deadline in the task data to generate an aerial survey task.

Preferably, the aerial survey time is a time at which an aerial survey task starts, and is estimated from the cutoff time and the work area.

Preferably, the acquiring of the weather assessment tag comprises:

acquiring weather early warning data in an operation area; the weather early warning data comprises wind speed, temperature, humidity and air pressure;

and inputting the weather early warning data into a weather assessment model to obtain a weather assessment tag.

Preferably, the obtaining of the weather assessment model comprises:

acquiring standard training data; the standard training data comprises environment data when the unmanned aerial vehicle fails to execute the aerial survey task and when the unmanned aerial vehicle succeeds in executing the task;

setting a weather evaluation label for standard training data; setting a weather evaluation label corresponding to the environmental data to be 1 when the aerial survey task fails, and setting the weather evaluation label corresponding to the environmental data to be 0 when the aerial survey task succeeds;

constructing an artificial intelligence model; wherein the artificial intelligence model comprises one of a support vector machine and a deep convolutional neural network;

training the artificial intelligence model through standard training data and the corresponding weather assessment labels, and marking the trained artificial intelligence model as a weather assessment model.

Preferably, the unmanned aerial vehicle selects according to the aerial survey task, and the method includes:

extracting an operation area in the aerial survey task and acquiring operation time; the operation time is the required time of the unmanned aerial vehicle during navigation;

and determining the number of the unmanned aerial vehicles according to the operation area and the operation time, and numbering the unmanned aerial vehicles.

Preferably, the determining of the number of drones comprises:

acquiring the area of the operation area and marking the area as QM; marking the operation time as ZS;

acquiring the number WS of the unmanned aerial vehicles by a formula WS ═ alpha × QM/(ZS × DQ); wherein DQ represents an aerial survey area completed by a single unmanned aerial vehicle in a unit time, α is a proportionality coefficient, and α is a real number greater than 0.

Preferably, when the aerial survey path is planned, the course overlapping degree is 60% -90%, and the side direction overlapping degree is 30% -60%.

Preferably, the obtaining the environmental early warning result according to the environmental data includes:

acquiring the real-time position of the unmanned aerial vehicle, and setting a set area; the shape of the set area is rectangular or circular, and the set area is arranged on the remaining aerial survey path of the unmanned aerial vehicle;

acquiring a weather evaluation label of a set area, and controlling the unmanned aerial vehicle to normally operate according to a corresponding aerial survey path and an aerial survey height when the weather evaluation label meets the aerial survey requirement; when the weather evaluation label does not meet the aerial survey requirement, the unmanned aerial vehicle is controlled to reduce the aerial survey height, and meanwhile, the unmanned aerial vehicle runs according to the corresponding aerial survey path.

Preferably, the setting of the flight supplementing task according to the task completion degree includes:

acquiring the task completion degree of the aerial survey task, and marking the task completion degree as RWD;

when the task completion degree L1 is not less than RWD is not less than 1, acquiring a supplemental flight area, and planning a supplemental flight path according to the supplemental flight area; wherein L1 is a completion threshold, and L1 is more than or equal to 0.2 and less than or equal to 0.8;

and integrating the supplement flight area and the supplement flight path to generate a supplement flight task.

Preferably, the unmanned aerial vehicle is provided with a signal transceiving unit, a control unit and a data acquisition unit; the aerial survey control system is respectively in communication connection with the signal receiving and transmitting unit, the control unit and the data acquisition unit; the signal receiving and transmitting unit is used for realizing data interaction between the unmanned aerial vehicle and the aerial survey control system, the control unit is used for controlling the unmanned aerial vehicle to fly and collecting data, and the data collecting unit is used for collecting aerial survey images, flight data and environment data; the flight data comprise flight speed, flight altitude, flight attitude and real-time position, and the environment data comprise temperature, wind speed, humidity and air pressure.

Compared with the prior art, the invention has the beneficial effects that:

1. the method comprises the steps of collecting data and carrying out environment early warning in the flight process of the unmanned aerial vehicle, and adjusting the aerial survey height of the unmanned aerial vehicle in real time according to the environment early warning result; acquiring a weather evaluation label of a set area, and controlling the unmanned aerial vehicle to normally operate according to a corresponding aerial survey path and an aerial survey height when the weather evaluation label meets the aerial survey requirement; when the weather evaluation label does not meet the aerial survey requirement, controlling the unmanned aerial vehicle to reduce the aerial survey height, and simultaneously operating according to the corresponding aerial survey path; the real-time early warning of flight environment in flight process can enough guarantee the data quality that unmanned aerial vehicle gathered, can avoid again to mend the increase in flying the region, has improved aerial survey efficiency.

2. According to the method, the area which is not acquired or unqualified in the aerial survey area is marked with the flying-supplementing area at the flying-supplementing task setting moment before the aerial survey is completed by the unmanned aerial vehicle, the flying-supplementing task is set according to the flying-supplementing area, the flying-supplementing task does not need to be set when all the aerial surveys are completed, the time is fully utilized, and the aerial survey efficiency is improved by adopting a parallel processing mode.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of the working steps of the present invention;

fig. 2 is a schematic diagram of the system of the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used herein is for the purpose of describing embodiments and is not intended to be limiting and/or limiting of the present disclosure; it should be noted that the singular forms "a," "an," and "the" include the plural forms as well, unless the context clearly indicates otherwise; also, although the terms first, second, etc. may be used herein to describe various elements, the elements are not limited by these terms, which are only used to distinguish one element from another.

Referring to fig. 1-2, the present application provides an intelligent fast processing method for an aerial survey system based on an unmanned aerial vehicle, including:

acquiring an aerial survey task through an aerial survey control system, and acquiring aerial survey time according to the aerial survey task;

before the aerial survey task is executed, acquiring a weather evaluation label according to the aerial survey task and the aerial survey time;

when the weather evaluation label meets the aerial survey requirement, selecting and marking the unmanned aerial vehicle;

planning an aerial survey path of the unmanned aerial vehicle through an aerial survey control system, enabling the unmanned aerial vehicle to fly according to the aerial survey path, acquiring data in real time in the flying process, carrying out environment early warning, and adjusting the aerial survey height of the unmanned aerial vehicle in real time according to an environment early warning result;

counting the task completion degree of the aerial survey task, and setting a flight compensation task according to the task completion degree;

and the aerial survey control system controls the unmanned aerial vehicle to complete the flying compensation task.

In the application, the method for realizing intelligent rapid processing based on the unmanned aerial vehicle aerial survey system relies on hardware comprising the unmanned aerial vehicle and the aerial survey control system for controlling the unmanned aerial vehicle.

The unmanned aerial vehicle is provided with a signal receiving and transmitting unit, a control unit and a data acquisition unit; the signal receiving and transmitting unit is used for realizing data interaction between the unmanned aerial vehicle and the aerial survey control system; the control unit is used for controlling the unmanned aerial vehicle to fly and controlling the unmanned aerial vehicle to acquire data; the data acquisition unit is used for acquiring aerial survey images, flight data and environment data. The aerial survey image in this embodiment refers to the geographical image that acquires through the data acquisition unit, and flight data includes parameters such as airspeed, flight altitude, flight attitude, real-time position that describe unmanned aerial vehicle flight state, and environmental data includes environmental parameter that temperature, humidity, wind speed, atmospheric pressure etc. influence unmanned aerial vehicle and accomplish the aerial survey task. The aerial survey control system in this application is connected with signal transceiver unit, the control unit, data acquisition unit communication respectively.

The application provides an intelligent rapid processing method of an aerial survey system based on an unmanned aerial vehicle, and firstly an aerial survey task needs to be obtained. The application provides a manual input mode or a data import mode for acquiring an aerial survey task.

In the embodiment, the manual input mode is that an aerial survey base point and a cut-off time are directly set by a worker, then a working area is generated according to the aerial survey base point, and the working area and the cut-off time are spliced to generate an aerial survey task; considering that the working area needs to be generated according to the aerial survey base points, the number of the aerial survey base points is not less than 3; in other preferred embodiments, the aerial survey base points are set according to specific requirements, taking into consideration the regularity of the working area, such as a rectangle, a circle and the like. The deadline is the time to complete the aerial survey task.

In this embodiment, the data import mode is to import the task data into the aerial survey control system, the aerial survey control system analyzes the task data to form a working area, and the working area combines the deadline in the task data to generate the aerial survey task. The data import mode needs to generate task data in advance, can meet the requirement of more than one scene in an operation area, can perform batch extraction and batch processing, and ensures the generation efficiency of the aerial survey task.

The application provides an intelligent rapid processing method of an aerial survey system based on an unmanned aerial vehicle, and aerial survey time needs to be obtained according to an aerial survey task. Acquiring aerial survey time by taking both aerial survey required time and image processing required time into consideration; therefore, the cutoff time can be calculated from the required time for aerial survey and the required time for image processing. If the current time is 14: 00, 16 with same day cutoff: 00, the required time for image processing is 1 hour, the required time for aerial survey is 40 minutes, 14: and 20 is the aerial survey time.

The application provides a quick processing method of aerial survey system intellectuality based on unmanned aerial vehicle, before the aerial survey task is carried out, obtains weather assessment label according to aerial survey task and aerial survey time, includes:

acquiring weather early warning data in an operation area; the weather early warning data comprise weather factors which influence the unmanned aerial vehicle to execute the aerial survey task, such as wind speed, temperature, humidity and air pressure;

and inputting the weather early warning data into a weather assessment model to obtain a weather assessment tag.

In this embodiment, the time period for acquiring the weather warning data may be between the aerial survey time and the deadline, or may be a time period including the aerial survey time and the deadline.

In this embodiment, the weather early warning data is obtained through weather assessment.

In this embodiment, the weather assessment model is obtained through a deep convolutional neural network, including:

acquiring standard training data stored in an aviation control system; the standard training data referred to in this embodiment includes both the environmental data when the unmanned aerial vehicle fails to execute the aerial survey task and the environmental data when the aerial survey task is successfully executed; notably, the failure of the aerial survey task to execute includes deviation of the aerial survey path of the unmanned aerial vehicle and the aerial survey image not meeting the quality requirement;

setting a weather evaluation label for standard training data; setting a weather evaluation label corresponding to the environmental data to be 1 when the aerial survey task fails, and setting the weather evaluation label corresponding to the environmental data to be 0 when the aerial survey task succeeds;

and training the deep convolutional neural network through standard training data and a corresponding weather assessment label, and marking the trained deep convolutional neural network as a weather assessment model.

In the intelligent rapid processing method for the aerial survey system based on the unmanned aerial vehicle, the unmanned aerial vehicle is selected and marked according to the aerial survey task. When the operation area is small and one unmanned aerial vehicle can complete the aerial survey task, the unmanned aerial vehicle can be randomly selected; when the operation area is large and a plurality of unmanned aerial vehicles are required to simultaneously execute the aerial survey task, a certain number of unmanned aerial vehicles need to be selected. In this embodiment, the numbers of the drones, such as 1, 2, and 3 … …, can be numbered by integers greater than 0, so as to facilitate the classification of the relevant data corresponding to the drones,

this embodiment proposes to confirm unmanned aerial vehicle quantity according to operation region and activity time, specifically includes:

acquiring the area of the operation area and marking the area as QM; marking the operation time as ZS;

acquiring the number WS of the unmanned aerial vehicles by a formula WS ═ alpha × QM/(ZS × DQ); wherein DQ represents an aerial survey area completed by a single unmanned aerial vehicle in a unit time, a is a proportionality coefficient, and a is generally taken as 1; the unit time in this embodiment may be 1 second, 1 minute, or 1 hour.

In this embodiment, the operation time is the time difference between the aerial survey time and the cut-off time minus the required time for image processing; in other preferred embodiments, when the unmanned aerial vehicle acquires the aerial image and the image processing is performed synchronously, the difference between the operation time and the aerial time and the cut-off time is obtained.

In the intelligent rapid processing method for the aerial survey system based on the unmanned aerial vehicle, the aerial survey path of the unmanned aerial vehicle is planned through the aerial survey control system, the unmanned aerial vehicle flies according to the aerial survey path, data are collected in real time in the flying process and environment early warning is carried out, and the aerial survey height of the unmanned aerial vehicle is adjusted in real time according to the environment early warning result.

When considering that the operation area is bigger, the weather of local area can take place the sudden change, consequently this application can carry out the environment early warning at unmanned aerial vehicle flight in-process, avoids the unsatisfied quality requirement of aerial survey image of gathering as far as possible.

The obtaining of the environmental early warning result specifically comprises:

acquiring the real-time position of the unmanned aerial vehicle, and setting a set area;

acquiring a weather evaluation label of a set area, and controlling the unmanned aerial vehicle to normally operate according to a corresponding aerial survey path and an aerial survey height when the weather evaluation label meets the aerial survey requirement; when the weather evaluation label does not meet the aerial survey requirement, the unmanned aerial vehicle is controlled to reduce the aerial survey height, and meanwhile, the unmanned aerial vehicle runs according to the corresponding aerial survey path.

In this embodiment, the shape of setting for the region is rectangle or circular, guarantee can cover the width in aerial survey route can, and set for regional setting on unmanned aerial vehicle's surplus aerial survey route, be close to unmanned aerial vehicle's real-time position as far as possible.

In this embodiment, when setting for regional weather assessment label and being 1, then unmanned aerial vehicle carries out the aerial survey task according to aerial survey route and aerial survey height, when setting for regional weather assessment label and being 0, reduces unmanned aerial vehicle's aerial survey height, avoids the aerial survey image quality of unmanned aerial vehicle collection unqualified.

In the intelligent rapid processing method for the aerial survey system based on the unmanned aerial vehicle, the task completion degree of the aerial survey task is counted, the compensation flight task is set according to the task completion degree, and the aerial survey control system controls the unmanned aerial vehicle to complete the compensation flight task.

In this embodiment, the setting of the booming task includes:

acquiring the task completion degree of the aerial survey task, and marking the task completion degree as RWD;

when the task completion degree L1 is not less than RWD is not less than 1, acquiring a supplemental flight area, and planning a supplemental flight path according to the supplemental flight area; wherein L1 is a completion threshold, and L1 is more than or equal to 0.2 and less than or equal to 0.8;

and integrating the supplement flight area and the supplement flight path to generate a supplement flight task.

Notably, the flying-patch area includes an aerial image quality-off working area and a flying-missing working area. The flight path is replanned to the area of meneing to fly, gathers the aerial survey image along the flight path through idle unmanned aerial vehicle of aerial survey control system control, can make full use of unmanned aerial vehicle, improves aerial survey efficiency.

For example, when the task completion degree is 0.9, it is determined that the booming can be performed.

Acquiring a fly-in area and an idle unmanned aerial vehicle; the idle unmanned aerial vehicle is an unmanned aerial vehicle which has finished an aerial survey task or is not allocated with the aerial survey task;

taking an idle unmanned aerial vehicle as an initial point, and planning a supplemental flight path according to the shortest distance principle; wherein, the idle unmanned aerial vehicle is at least one;

and carrying out aerial survey on the supplement flight path through the idle unmanned aerial vehicle to complete the supplement flight task.

According to the method and the device, the acquired aerial image is processed after the supplement flight task is completed or in the process of executing the aerial survey task.

The data in the above formulas are all calculated by removing dimensions and taking numerical values thereof, the formulas are obtained by acquiring a large amount of data and performing software simulation to obtain the formulas closest to the real conditions, and the preset parameters and the preset threshold values in the formulas are set by the technicians in the field according to the actual conditions or obtained by simulating a large amount of data.

The working principle of the invention is as follows:

acquiring an aerial survey task through an aerial survey control system, and acquiring aerial survey time according to the aerial survey task; before the aerial survey task is executed, acquiring a weather evaluation label according to the aerial survey task and the aerial survey time; when the weather evaluation tag meets the aerial survey requirements, the unmanned aerial vehicle is selected and marked.

Planning an aerial survey path of the unmanned aerial vehicle through an aerial survey control system, enabling the unmanned aerial vehicle to fly according to the aerial survey path, acquiring data in real time in the flying process, carrying out environment early warning, and adjusting the aerial survey height of the unmanned aerial vehicle in real time according to an environment early warning result; counting the task completion degree of the aerial survey task, and setting a flight compensation task according to the task completion degree; and the aerial survey control system controls the unmanned aerial vehicle to complete the flying compensation task.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.