Unmanned aerial vehicle emergency surveying and mapping system and method based on dynamic data analysis

Abstract

The invention provides an unmanned aerial vehicle emergency surveying and mapping system and method based on dynamic data analysis, and belongs to the technical field of surveying and mapping. The unmanned aerial vehicle emergency surveying and mapping system based on dynamic data analysis comprises an acquisition module, a division module, an analysis module and a determination module, the acquisition module is used for acquiring historical geographic data of a surveying and mapping area and the number of unmanned aerial vehicles; the division module is used for determining a plurality of sub-region groups according to the historical geographic data; each sub-region group comprises a plurality of cell regions; the analysis module is used for analyzing according to the historical geographic data and a preset comparison table to obtain surveying and mapping difficulty data of each cell region; the determination module is used for determining the surveying and mapping task load of each unmanned aerial vehicle according to the surveying and mapping difficulty data and the number of the unmanned aerial vehicles; by adopting the scheme, the overall surveying and mapping task detection efficiency of the unmanned aerial vehicle can be improved.

Description

Technical Field

[0001] The present application relates to the field of surveying and mapping technology, and in particular to an unmanned aerial vehicle emergency surveying and mapping system and method based on dynamic data analysis. Background Art

[0002] Drone emergency mapping refers to the use of drones to quickly obtain geographic information of disaster areas in emergency situations such as natural disasters, accidental disasters, public health incidents, etc., to provide timely and accurate mapping data for emergency command, rescue operations and post-disaster reconstruction; through drone oblique photogrammetry technology, a three-dimensional model of the disaster area can be constructed to help rescue personnel understand the terrain and conditions of buildings in the disaster area; the high-resolution cameras carried by drones can take detailed images of the disaster area, providing a basis for disaster assessment and rescue planning; generally speaking, drone emergency mapping needs to ensure efficient and rapid acquisition of disaster area information, but when the number of drones is small, it is difficult to complete the emergency mapping task comprehensively and efficiently. Summary of the invention

[0003] In order to solve the above technical problems, the present application provides a UAV emergency mapping system and method based on dynamic data analysis.

[0004] In a first aspect, the present application provides a UAV emergency mapping system based on dynamic data analysis. The system includes an acquisition module, a division module, an analysis module and a determination module;

[0005] The acquisition module is used to obtain historical geographic data and the number of drones in the surveying and mapping area;

[0006] The division module is used to determine a plurality of sub-region groups according to the historical geographic data; each of the sub-region groups includes a plurality of cell areas;

[0007] The analysis module is used to analyze and obtain the surveying and mapping difficulty data of each cell area according to the historical geographic data and the preset comparison table;

[0008] The determination module is used to determine the surveying and mapping task volume of each drone according to the surveying and mapping difficulty data and the number of drones.

[0009] Furthermore, the division module is further configured such that the determining of a plurality of sub-region groups according to the historical geographic data comprises:

[0010] Dividing the surveying and mapping area into a plurality of cells based on the historical geographic data and preset division standard data; the preset division standard data is associated with normal detection coverage data of the drone;

[0011] Determine a regional altitude record of the surveying area based on the historical geographic data; the regional altitude record includes historical altitude data of the historical records of the surveying area;

[0012] Determine average height data of each cell area according to the area height record;

[0013] A plurality of cells are grouped according to the average height data and a preset grouping rule to obtain a plurality of sub-region groups; the preset grouping rule includes a plurality of preset height range data.

[0014] Furthermore, the analysis module is further configured to obtain the surveying and mapping difficulty data of each cell area according to the historical geographic data and the preset comparison table, including:

[0015] The preset comparison table includes the corresponding relationship between the preset height range data and the terrain complexity;

[0016] Determine the terrain complexity data of each sub-region group according to the historical geographical data and the preset comparison table;

[0017] Determine the surveying and mapping difficulty data of the cell area included in each sub-area group according to the terrain complexity data; the surveying and mapping difficulty data is positively correlated with the terrain complexity data.

[0018] Furthermore, the determination module is further configured to determine the amount of surveying and mapping tasks for each drone according to the surveying and mapping difficulty data and the number of drones, including:

[0019] Calculate the overall difficulty data of the surveying and mapping area according to the surveying and mapping difficulty data of each cell area;

[0020] Calculate and determine the average difficulty data that each drone should bear based on the overall difficulty data and the number of drones;

[0021] The surveying and mapping task amount of each UAV is determined according to the average difficulty data and the surveying and mapping difficulty data of each cell area.

[0022] Furthermore, the determination module is further configured to also include, when the UAV detects the cell area to be surveyed, if the surveying and mapping task volume corresponding to the cell area to be surveyed exceeds the remaining surveying and mapping task volume of the UAV, and the remaining surveying and mapping task volume of the UAV is not greater than the minimum task volume corresponding to the cell area, adjusting the remaining surveying and mapping task volume of the UAV to zero.

[0023] In a second aspect, the present application provides a UAV emergency mapping method based on dynamic data analysis, which is applied to the UAV emergency mapping system. The method includes:

[0024] Obtain historical geographic data and drone populations for the surveyed area;

[0025] Determine a plurality of sub-region groups according to the historical geographic data; each of the sub-region groups includes a plurality of cell areas;

[0026] Analyze the historical geographic data and the preset comparison table to obtain the surveying and mapping difficulty data of each cell area;

[0027] The amount of surveying and mapping tasks for each UAV is determined according to the surveying and mapping difficulty data and the number of UAVs.

[0028] Further, determining a plurality of sub-region groups according to the historical geographic data includes:

[0029] Dividing the surveying and mapping area into a plurality of cells based on the historical geographic data and preset division standard data; the preset division standard data is associated with normal detection coverage data of the drone;

[0030] Determine a regional altitude record of the surveying area based on the historical geographic data; the regional altitude record includes historical altitude data of the historical records of the surveying area;

[0031] Determine average height data of each cell area according to the area height record;

[0032] A plurality of cells are grouped according to the average height data and a preset grouping rule to obtain a plurality of sub-region groups; the preset grouping rule includes a plurality of preset height range data.

[0033] Furthermore, the surveying and mapping difficulty data of each cell area obtained by analyzing the historical geographic data and the preset comparison table includes:

[0034] The preset comparison table includes the corresponding relationship between the preset height range data and the terrain complexity;

[0035] Determine the terrain complexity data of each sub-region group according to the historical geographical data and the preset comparison table;

[0036] Determine the surveying and mapping difficulty data of the cell area included in each sub-area group according to the terrain complexity data; the surveying and mapping difficulty data is positively correlated with the terrain complexity data.

[0037] Further, the determining the surveying and mapping task amount of each drone according to the surveying and mapping difficulty data and the number of drones includes:

[0038] Calculate the overall difficulty data of the surveying and mapping area according to the surveying and mapping difficulty data of each cell area;

[0039] Calculate and determine the average difficulty data that each drone should bear based on the overall difficulty data and the number of drones;

[0040] The surveying and mapping task amount of each UAV is determined according to the average difficulty data and the surveying and mapping difficulty data of each cell area.

[0041] Furthermore, it also includes that when the UAV detects the cell area to be surveyed, if the surveying and mapping task volume corresponding to the cell area to be surveyed exceeds the remaining surveying and mapping task volume of the UAV, and the remaining surveying and mapping task volume of the UAV is not greater than the minimum task volume corresponding to the cell area, the remaining surveying and mapping task volume of the UAV is adjusted to zero.

[0042] It should be understood that the contents described in the Summary of the Invention are not intended to limit the key or important features of the embodiments of the present application, nor are they intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other features, advantages and aspects of the embodiments of the present application will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0044] Figure 1 A block diagram of a UAV emergency mapping system based on dynamic data analysis in an embodiment of the present application is shown;

[0045] Figure 2 A flow chart of a UAV emergency mapping method based on dynamic data analysis in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0048] The present application provides a UAV emergency mapping system and method based on dynamic data analysis, which can improve the overall efficiency of UAV emergency mapping when the number of UAVs is insufficient.

[0049] In the first aspect, the present application provides a UAV emergency mapping system based on dynamic data analysis. Figure 1 The system includes an acquisition module 110, a division module 120, an analysis module 130 and a determination module 140; the acquisition module 110 is used to acquire the historical geographic data and the number of drones in the surveying and mapping area; the division module 120 is used to determine a plurality of sub-region groups according to the historical geographic data; each of the sub-region groups includes a plurality of cell areas; the analysis module 130 is used to obtain the surveying and mapping difficulty data of each cell area according to the historical geographic data and a preset comparison table; the determination module 140 is used to determine the surveying and mapping task volume of each drone according to the surveying and mapping difficulty data and the number of drones.

[0050] In an embodiment of the present application, when a drone is performing an emergency surveying and mapping task, if the emergency surveying and mapping area is large and the number of drones is insufficient, it is necessary to dispatch drones to travel back and forth to perform the surveying and mapping task. This results in low overall efficiency of the surveying and mapping work, and in serious cases it may affect subsequent emergency handling work. Therefore, in order to solve this problem, the above-mentioned method is adopted in this scheme to perform the surveying and mapping task of the drone, which realizes that under the premise that all drones start surveying and mapping simultaneously, the amount of surveying and mapping tasks completed by each drone is almost the same, thereby achieving the purpose of each drone completing the emergency surveying and mapping work almost synchronously, so that the back-end staff can obtain the detection image of the entire surveying and mapping area in the first time and synchronously, thereby improving the overall surveying and mapping efficiency of the drone, improving the work efficiency of the emergency surveying and mapping work, and ensuring the timeliness and efficiency of the subsequent emergency handling work.

[0051] In the embodiment of the present application, when the UAV performs emergency mapping tasks, it realizes emergency detection of the mapping area by detecting, taking pictures, scanning and combining 3D modeling.

[0052] In an embodiment of the present application, the division module 120 is further configured such that the determination of multiple sub-area groups based on the historical geographic data includes: dividing the surveying area into multiple cells based on the historical geographic data and preset division standard data; the preset division standard data is associated with the normal detection coverage data of the drone; determining the regional height record of the surveying area based on the historical geographic data; the regional height record contains historical height data of the historical records of the surveying area; determining the average height data of each cell area based on the regional height record; grouping multiple cells into multiple sub-area groups based on the average height data and preset grouping rules; the preset grouping rules contain multiple preset height range data.

[0053] It is understandable that the historical geographic data here includes the historical geographic information of the surveying area, such as the buildings, terrain, altitude data, etc. in the area; the altitude data of the surveying area is used here; the altitude data here includes the altitude data of all objects, terrain and building areas in the area; it is understandable that when the drone is performing detection work, it maintains a normal altitude and speed to fly, and performs detection, video recording, photography and other operations within its detection coverage during the flight. If there are objects in the area that are higher than the normal flight altitude range of the drone, it will affect the detection work of the drone, and the drone will need to adjust its flight altitude and speed, which will in turn affect the efficiency of the drone's detection work; therefore, in this application In the embodiment, the surveying and mapping area is divided in advance into a plurality of cells; the preset division standard data here is based on the range data that can be detected by the drone in a normal flight state; the range that the drone can detect is approximately regarded as a square, and the side length of the square is regarded as the width of the cell, so that when the drone is detecting, its normal detection range can cover the width of a cell, and the multiple cells obtained by dividing the surveying and mapping area are presented in the form of fixed width and unlimited length. When the drone is detecting, the wide side of the cell faces the drone, which makes it possible for multiple drones to seamlessly connect their coverage ranges when performing detection simultaneously, and achieves comprehensive coverage of the surveying and mapping area.

[0054] Since different cell areas contain different objects, buildings and terrains, when calculating the average height data of the cell area based on the regional height record, it is based on the known average terrain height data, such as different height data representing different terrains such as plains and hills.

[0055] It is understandable that the preset grouping rules include preset height range data of different levels, such as the first level is 0-5 meters, the second level is 6-10 meters, etc.

[0056] Furthermore, in an embodiment of the present application, the analysis module 130 is further configured such that the surveying and mapping difficulty data of each cell area obtained by analyzing the historical geographic data and the preset comparison table includes: the preset comparison table contains a correspondence between preset height range data and terrain complexity; the terrain complexity data of each sub-area group is determined according to the historical geographic data and the preset comparison table; the surveying and mapping difficulty data of the cell area contained in each sub-area group is determined according to the terrain complexity data; and the surveying and mapping difficulty data is positively correlated with the terrain complexity data.

[0057] It can be understood that the terrain complexity here corresponds one-to-one to the level of the preset height range, and the terrain complexity of each sub-area group represents the terrain complexity of each cell area in the group, thereby representing the difficulty of surveying and mapping each cell area; for example, if the average height of sub-area group A meets the first-level terrain complexity, then the terrain complexity of cell a in sub-area group A is also level one, and its surveying and mapping difficulty is level one, and the level one surveying and mapping difficulty only requires a normal drone to complete the surveying and mapping task.

[0058] In an embodiment of the present application, the determination module 140 is further configured to determine the surveying and mapping task volume of each drone based on the surveying and mapping difficulty data and the number of drones, including: calculating the overall difficulty data of the surveying and mapping area based on the surveying and mapping difficulty data of each cell area; determining the average difficulty data that each drone bears based on the overall difficulty data and the number of drones; and determining the surveying and mapping task volume of each drone based on the average difficulty data and the surveying and mapping difficulty data of each cell area.

[0059] It can be understood that after determining the surveying and mapping difficulty of each cell area, the surveying and mapping difficulty of the entire surveying and mapping area can be obtained by adding them up, and then divided by the number of drones to determine the surveying and mapping difficulty that each drone should bear; for example, if the surveying and mapping difficulty of the surveying and mapping area is 15, and there are 5 drones, then the surveying and mapping difficulty that each drone should bear is 3. After knowing the surveying and mapping difficulty of each cell area, the task volume of each drone can be determined. For example, the surveying and mapping difficulties of the cell area are 1 and 2. Then the task volume of the drone can be to complete the detection work of three cell areas with a surveying and mapping difficulty of 1, or to complete the detection work of one cell area each with a surveying and mapping difficulty of 1 and 2.

[0060] In the embodiment of the present application, after calculating the average difficulty data that each drone should bear, the average difficulty data may contain decimals. For example, the average difficulty data of each drone is 5.6, while the surveying and mapping difficulty of each cell area is an integer. In this case, the following solution can be adopted.

[0061] Specifically, the determination module 140 is further configured to also include, when the UAV detects the cell area to be surveyed, if the surveying and mapping task volume corresponding to the cell area to be surveyed exceeds the remaining surveying and mapping task volume of the UAV, and the remaining surveying and mapping task volume of the UAV is not greater than the minimum task volume corresponding to the cell area, adjusting the remaining surveying and mapping task volume of the UAV to zero.

[0062] It can be understood that when the remaining task volume of the UAV is to complete the detection work with a mapping difficulty of 0.3, this will result in a cell area with the minimum task volume, and the mapping difficulty of this cell area is 1. At this time, the remaining task volume is directly cleared to zero, and then the cell area corresponding to this part of the task volume is divided into another UAV that does not meet this condition and performs detection work on the cell area.

[0063] Specifically, the remaining task volume of UAV A and UAV B are 0.3 and 1.3 of surveying and mapping difficulty respectively, and the surveying and mapping difficulty corresponding to the cell with the minimum task volume is 1. Then the remaining task volume of UAV A is directly reset to zero, and the cell area corresponding to the detection task that UAV A is about to perform can be directly divided into its adjacent UAV B.

[0064] By adopting the above technical solution, it is possible to use drones to synchronously complete emergency mapping work with the same amount of tasks when the number of drones is insufficient, and all mapping images can be obtained in the first time, thereby improving the overall mapping efficiency of drones.

[0065] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0066] In the second aspect, the present application provides a method for emergency mapping by unmanned aerial vehicles based on dynamic data analysis. Figure 2 As shown, the method is applied to the UAV emergency mapping system. The specific steps of the method are as follows.

[0067] Step S210: Obtain historical geographic data and the number of drones in the surveying area.

[0068] Step S220: determining a plurality of sub-region groups according to the historical geographic data; each of the sub-region groups includes a plurality of cell areas.

[0069] Step S230: Analyze the historical geographic data and the preset comparison table to obtain the surveying and mapping difficulty data of each cell area.

[0070] Step S240: Determine the surveying and mapping task volume of each UAV according to the surveying and mapping difficulty data and the number of UAVs.

[0071] Among them, determining multiple sub-area groups based on the historical geographic data includes: dividing the surveying area into multiple cells based on the historical geographic data and preset division standard data; the preset division standard data is associated with the normal detection coverage data of the drone; determining the regional height record of the surveying area based on the historical geographic data; the regional height record contains historical height data of the historical records of the surveying area; determining the average height data of each cell area based on the regional height record; grouping multiple cells into multiple sub-area groups according to the average height data and preset grouping rules; the preset grouping rules contain multiple preset height range data.

[0072] The surveying and mapping difficulty data of each cell area obtained by analyzing the historical geographical data and the preset comparison table includes: the preset comparison table contains the correspondence between preset height range data and terrain complexity; the terrain complexity data of each sub-area group is determined according to the historical geographical data and the preset comparison table; the surveying and mapping difficulty data of the cell area included in each sub-area group is determined according to the terrain complexity data; the surveying and mapping difficulty data is positively correlated with the terrain complexity data.

[0073] The determining of the surveying and mapping task volume of each drone based on the surveying and mapping difficulty data and the number of drones includes: calculating the overall difficulty data of the surveying and mapping area based on the surveying and mapping difficulty data of each cell area; determining the average difficulty data that each drone bears based on the overall difficulty data and the number of drones; and determining the surveying and mapping task volume of each drone based on the average difficulty data and the surveying and mapping difficulty data of each cell area.

[0074] It also includes, when the UAV detects the cell area to be surveyed, if the surveying and mapping task volume corresponding to the cell area to be surveyed exceeds the remaining surveying and mapping task volume of the UAV, and the remaining surveying and mapping task volume of the UAV is not greater than the minimum task volume corresponding to the cell area, adjusting the remaining surveying and mapping task volume of the UAV to zero.

[0075] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described device can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0076] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other to form a technical solution.

Claims

1. An unmanned aerial vehicle emergency mapping system based on dynamic data analysis, characterized in that: It includes an acquisition module (110), a division module (120), an analysis module (130) and a determination module (140); The acquisition module (110) is used to acquire historical geographic data and the number of drones in the surveying and mapping area; The division module (120) is used to determine a plurality of sub-region groups according to the historical geographic data; each of the sub-region groups includes a plurality of cell areas; The analysis module (130) is used to analyze and obtain surveying and mapping difficulty data of each cell area according to the historical geographical data and a preset comparison table; The determination module (140) is used to determine the surveying and mapping task volume of each drone according to the surveying and mapping difficulty data and the number of drones.

2. The unmanned aerial vehicle emergency mapping system based on dynamic data analysis according to claim 1 is characterized in that: The division module (120) is further configured such that the determining of a plurality of sub-region groups according to the historical geographic data comprises: Dividing the surveying and mapping area into a plurality of cells based on the historical geographic data and preset division standard data; the preset division standard data is associated with normal detection coverage data of the drone; Determine a regional altitude record of the surveying area based on the historical geographic data; the regional altitude record includes historical altitude data of the historical records of the surveying area; Determine average height data of each cell area according to the area height record; A plurality of cells are grouped according to the average height data and a preset grouping rule to obtain a plurality of sub-region groups; the preset grouping rule includes a plurality of preset height range data.

3. The unmanned aerial vehicle emergency mapping system based on dynamic data analysis according to claim 2 is characterized in that: The analysis module (130) is further configured to obtain the surveying and mapping difficulty data of each cell area according to the historical geographic data and the preset comparison table, including: The preset comparison table includes the corresponding relationship between the preset height range data and the terrain complexity; Determine the terrain complexity data of each sub-region group according to the historical geographical data and the preset comparison table; Determine the surveying and mapping difficulty data of the cell area included in each sub-area group according to the terrain complexity data; the surveying and mapping difficulty data is positively correlated with the terrain complexity data.

4. The UAV emergency mapping system based on dynamic data analysis according to claim 3 is characterized in that: The determination module (140) is further configured to determine the amount of surveying and mapping tasks for each drone according to the surveying and mapping difficulty data and the number of drones, including: Calculate the overall difficulty data of the surveying and mapping area according to the surveying and mapping difficulty data of each cell area; Calculate and determine the average difficulty data that each drone should bear based on the overall difficulty data and the number of drones; The surveying and mapping task amount of each UAV is determined according to the average difficulty data and the surveying and mapping difficulty data of each cell area.

5. The unmanned aerial vehicle emergency mapping system based on dynamic data analysis according to claim 4 is characterized in that: The determination module (140) is further configured to further include, when the drone detects the cell area to be surveyed, if the surveying task volume corresponding to the cell area to be surveyed exceeds the remaining surveying task volume of the drone, and the remaining surveying task volume of the drone is not greater than the minimum task volume corresponding to the cell area, adjusting the remaining surveying task volume of the drone to zero.

6. A UAV emergency mapping method based on dynamic data analysis, applied to the UAV emergency mapping system, characterized in that: include: Obtain historical geographic data and drone populations for the surveyed area; Determine a plurality of sub-region groups according to the historical geographic data; each of the sub-region groups includes a plurality of cell areas; Analyze the historical geographic data and the preset comparison table to obtain the surveying and mapping difficulty data of each cell area; The amount of surveying and mapping tasks for each UAV is determined according to the surveying and mapping difficulty data and the number of UAVs.

7. The method for emergency mapping using unmanned aerial vehicles based on dynamic data analysis according to claim 6, characterized in that: Determining a plurality of sub-region groups according to the historical geographic data comprises: Dividing the surveying and mapping area into a plurality of cells based on the historical geographic data and preset division standard data; the preset division standard data is associated with normal detection coverage data of the drone; Determine a regional altitude record of the surveying area based on the historical geographic data; the regional altitude record includes historical altitude data of the historical records of the surveying area; Determine average height data of each cell area according to the area height record; A plurality of cells are grouped according to the average height data and a preset grouping rule to obtain a plurality of sub-region groups; the preset grouping rule includes a plurality of preset height range data.

8. The method for emergency mapping using unmanned aerial vehicles based on dynamic data analysis according to claim 7, characterized in that: The surveying and mapping difficulty data of each cell area obtained by analyzing the historical geographic data and the preset comparison table includes: The preset comparison table includes the corresponding relationship between the preset height range data and the terrain complexity; Determine the terrain complexity data of each sub-region group according to the historical geographical data and the preset comparison table; Determine the surveying and mapping difficulty data of the cell area included in each sub-area group according to the terrain complexity data; the surveying and mapping difficulty data is positively correlated with the terrain complexity data.

9. The method for emergency mapping using unmanned aerial vehicles based on dynamic data analysis according to claim 8, characterized in that: Determining the surveying and mapping task amount of each drone according to the surveying and mapping difficulty data and the number of drones includes: Calculate the overall difficulty data of the surveying and mapping area according to the surveying and mapping difficulty data of each cell area; Calculate and determine the average difficulty data that each drone should bear based on the overall difficulty data and the number of drones; The surveying and mapping task amount of each UAV is determined according to the average difficulty data and the surveying and mapping difficulty data of each cell area.

10. The method for emergency mapping using unmanned aerial vehicles based on dynamic data analysis according to claim 9, characterized in that: It also includes, when the UAV detects the cell area to be surveyed, if the surveying and mapping task volume corresponding to the cell area to be surveyed exceeds the remaining surveying and mapping task volume of the UAV, and the remaining surveying and mapping task volume of the UAV is not greater than the minimum task volume corresponding to the cell area, adjusting the remaining surveying and mapping task volume of the UAV to zero.

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