Natural resource asset auditing field checking and evidence obtaining system

Abstract

The invention discloses a natural resource asset auditing field checking and evidence obtaining system, and relates to the technical field of natural resource auditing, and the system comprises an unmanned aerial vehicle and a mobile control terminal. An unmanned aerial vehicle field evidence obtaining system is arranged on the mobile control terminal; the unmanned aerial vehicle field evidence obtaining system comprises a map positioning assembly, an unmanned aerial vehicle connecting assembly, a route planning flight task assembly and a multimedia connecting assembly. The map positioning assembly realizes location positioning, doubtful point area positioning and unmanned aerial vehicle position positioning; the unmanned aerial vehicle connecting assembly is used for connecting the unmanned aerial vehicle with the mobile control terminal to display the state of the unmanned aerial vehicle; the route planning flight task assembly is used for determining route data of the unmanned aerial vehicle; the multimedia connection assembly is used for managing multimedia data of the unmanned aerial vehicle, returning flight attitude data of the unmanned aerial vehicle to the server side and live-broadcasting the flight task process of the unmanned aerial vehicle in real time; and the server side associates the evidence obtaining picture with the doubtful point area data. According to the method, the unmanned aerial vehicle is used for assisting in completing natural resource asset auditing field verification and evidence obtaining, field verification and evidence obtaining can be carried out on complex natural resource regions, and the comprehensiveness and safety of field verification and evidence obtaining are improved.

Description

Technical Field

[0001] This application relates to the technical field of natural resource auditing, and particularly to a field verification and evidence collection system for natural resource asset auditing. Background Art

[0002] As a key link in the construction of ecological civilization, the core goal of natural resource asset auditing is to ensure the sustainable use and effective protection of natural resources. With the continuous development and application of geographic information technology (GIS), the methods and processes of natural resource auditing have also undergone significant changes. The application of GIS technology has transformed the auditing work from a single suspicious point analysis into a comprehensive process that includes on-site evidence collection, which has become the main method of current natural resource auditing work. In the on-site evidence collection stage, auditors have begun to use devices equipped with mobile GIS software to assist in their work. The application of this technology has greatly improved the efficiency and accuracy of auditing evidence collection, enabling auditors to directly access and analyze geographic information data on-site, quickly locate suspicious areas, and conduct comparative analysis with existing auditing data, thereby more accurately identifying and evaluating the status and changes of natural resource assets. However, it also faces problems such as difficult evidence collection in large areas of suspicious areas, low efficiency in evidence collection in multiple fragmented suspicious areas, and terrain and environmental restrictions. Generally speaking, it has problems such as a small coverage area, low integrity of evidence collection, poor accuracy of evidence collection, large terrain and environmental restrictions, and high personnel safety risks. Summary of the Invention

[0003] The purpose of this application is to provide a field verification and evidence collection system for natural resource asset auditing, which can use drones to assist in completing the field verification and evidence collection of natural resource assets, can conduct on-site verification and evidence collection in complex natural resource areas, and improve the comprehensiveness and safety of on-site verification and evidence collection.

[0004] To achieve the above purpose, this application provides the following solutions:

[0005] This application provides a field verification and evidence collection system for natural resource asset auditing, including: a drone and a mobile control terminal;

[0006] The mobile control terminal is respectively connected to the drone and the server;

[0007] The mobile control terminal is equipped with a drone on-site evidence collection system; the mobile control terminal is used to support the human-computer interaction of the drone on-site evidence collection system;

[0008] The drone on-site evidence collection system includes: a map positioning component, a drone connection component, a flight path planning and flight mission component, and a multimedia connection component;

[0009] The UAV connection component is respectively connected to the map positioning component, the flight route planning and flight mission component, and the UAV; the multimedia connection component is respectively connected to the map positioning component, the flight route planning and flight mission component, the UAV, and the server; the map positioning component is connected to the flight route planning and flight mission component;

[0010] The map positioning component is used to load base map image data, place name and address data, and suspicious area data, support basic map browsing or view roaming, and implement location positioning, suspicious area positioning, and UAV position positioning;

[0011] The UAV connection component is used to display the UAV status and real-time display of UAV status information;

[0012] The flight route planning and flight mission component is used to determine UAV route data using automatic waypoint evidence collection planning method, manual waypoint evidence collection planning method, and orthophoto evidence collection planning method, and perform flight mission feasibility detection on the UAV. After passing the flight mission feasibility detection, the UAV route data is transmitted to the UAV;

[0013] The multimedia connection component is used to manage UAV multimedia data, transmit the UAV attitude back, real-time broadcast the UAV flight mission process, download UAV evidence collection photos after the flight mission is completed, and can upload the evidence collection photos to the server;

[0014] The server is used to associate the evidence collection photos with the suspicious area data.

[0015] Optionally, the number of UAVs connected to one mobile control terminal is one.

[0016] Optionally, the number of mobile control terminals connected to one server is one or more.

[0017] Optionally, the mobile control terminal is a tablet computer.

[0018] Optionally, the UAV on-site evidence collection system further includes: an authentication module;

[0019] The authentication module is connected to the map positioning component;

[0020] The authentication module is used to complete private network authentication, user login authentication, and UAV offline authentication.

[0021] Optionally, the map positioning component includes: a map module and a map function module;

[0022] The map function module is respectively connected to the map module, the multimedia connection component, and the flight route planning and flight mission component;

[0023] The map module is used to load base map image data, place name and address data, and suspicious area data, and supports basic map browsing or view roaming;

[0024] The map function module is used to implement location positioning of places, positioning of suspicious areas, and positioning of the UAV position.

[0025] Optionally, the route planning and flight mission component includes: a route planning module and a flight mission module;

[0026] Both the route planning module and the flight mission module are connected to the map positioning component;

[0027] Both the route planning module and the flight mission module are connected to the multimedia connection component;

[0028] The route planning module is used to determine UAV route data by using automatic waypoint evidence collection planning method, manual waypoint evidence collection planning method, and orthophoto evidence collection planning method;

[0029] The flight mission module is used to perform a feasibility test on the UAV flight mission, and after passing the feasibility test of the flight mission, transmit the UAV route data to the UAV by using the UAV connection component.

[0030] Optionally, the detection content of the flight mission feasibility test includes: UAV connection status, current UAV mode, UAV battery power, total length of the executed route, time required for the executed route, whether the UAV battery power can support the completion of the flight mission, and whether the return point is set.

[0031] Optionally, the multimedia connection component includes: a multimedia data module;

[0032] The multimedia data module is respectively connected to the UAV connection component and the server;

[0033] The multimedia data module is used to live broadcast the process of the UAV flight mission in real time, download the UAV evidence collection photos after the flight mission is completed, and can upload the evidence collection photos to the server.

[0034] Optionally, the UAV is equipped with an image sensor;

[0035] The UAV is used to move based on the UAV route data and hover at the waypoints indicated by the UAV route data to obtain waypoint images; the waypoint images include photos directly below the waypoints, and photos at a 45-degree angle view in the four directions of east, south, west, and north.

[0036] According to the specific embodiments provided by the present application, the present application discloses the following technical effects:

[0037] The present application provides a field verification and evidence collection system for natural resource asset audits. Through preset flight paths and mission planning, the unmanned aerial vehicle (UAV) can automatically perform aerial photography and data collection tasks, reducing the complexity of manual operations. By executing orthophoto aerial photography missions, the UAV can quickly respond and cover large areas while collecting high-resolution images. Due to the flexibility and mobility of the UAV, it can reach areas that were previously difficult to access, such as remote forests, mountains, and wetlands, improving the comprehensiveness of the audit. At the same time, the UAV reduces the on-site work of auditors in dangerous or hard-to-reach areas, thereby reducing the safety risks of personnel and realizing the automation and intelligence of the UAV evidence collection work in the field of natural resource audits. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 Schematic diagram of the structure of a field verification and evidence collection system for natural resource asset audits in an embodiment of the present application;

[0040] Figure 2 Workflow diagram of a field verification and evidence collection system for natural resource asset audits in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0042] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0043] The rapid development of UAV technology has provided a new solution for the audit of natural resources. The integration of UAV technology can effectively solve the above problems. However, there are still problems such as difficulty in getting started and high risks of economic losses for general auditors in UAV operations, which prevent UAVs from being widely used in natural resource audit work. To address the above problems, in an exemplary embodiment, as Figure 1 shown, a field verification and evidence collection system for natural resource asset audits is provided, including: a UAV and a mobile control terminal.

[0044] The mobile control terminal is respectively connected to the UAV remote controller, the UAV, and the server. The UAV on-site evidence collection system is arranged on the mobile control terminal. The mobile control terminal is used to support the human-computer interaction of the UAV on-site evidence collection system. The UAV on-site evidence collection system includes: an authentication module, a map positioning component, a flight route planning and flight mission component, and a multimedia connection component. The multimedia connection component is respectively connected to the map positioning component, the flight route planning and flight mission component, the UAV, and the server. The map positioning component is connected to the flight route planning and flight mission component. The map positioning component is used to load base map image data, place name and address data, and suspicious area data, browse the base map or perform view roaming, and realize location positioning of places, suspicious area positioning, and UAV position positioning. The flight route planning and flight mission component is used to determine the UAV flight route data by using the automatic waypoint evidence collection planning method, the manual waypoint evidence collection planning method, and the orthophoto evidence collection planning method, and perform a feasibility test on the UAV flight mission. After passing the feasibility test of the flight mission, the UAV flight route data is transmitted to the UAV by using the multimedia connection component. The multimedia connection component is used to display the UAV status, live broadcast the UAV flight mission process in real time, download the UAV evidence collection photos after the flight mission is completed, and can upload the evidence collection photos to the server. The server is used to associate the evidence collection photos with the suspicious area data. The number of UAVs connected to one mobile control terminal is one or more. The number of mobile control terminals connected to one server is one or more. The mobile control terminal is a tablet computer. The authentication module is connected to the map positioning component. The authentication module is used to complete dedicated network authentication, user login authentication, and UAV offline authentication. The authentication module is used to authenticate the system usage information, including three aspects of authentication: dedicated network authentication, system login authentication, and UAV offline authentication. Dedicated network authentication means that in order to improve the security of system data, a VPN network configuration is performed so that the system can access private network data. System login authentication means that the system identity is authenticated by the user name and password to obtain detailed identity information. UAV offline authentication means that the UAV needs to be authenticated and authorized so that the UAV can correctly execute the task. Since the network is a private network, the authentication method is offline authentication. The detection content of the flight mission feasibility test includes: UAV connection status, UAV current mode, UAV battery power, total length of the execution route, time required for the execution route, whether the UAV battery power can support the completion of the flight mission, and whether the return point is set. The UAV is equipped with an image sensor. The UAV is used to move based on the UAV flight route data and hover at the waypoints indicated by the UAV flight route data to obtain waypoint images. The waypoint images include the photo directly below the waypoint and the photos at a 45-degree angle view in the four directions of east, south, west, and north.

[0045] The map positioning component includes: a map module and a map function module. The map function module is respectively connected to the map module, the multimedia connection component, and the flight route planning and flight mission component.

[0046] The map module is used to load base map image data, place name and address data, and suspicious area data for basic map browsing or view roaming.

[0047] The map function module is used to implement location positioning, suspicious area positioning (suspicious patch positioning), and UAV position positioning.

[0048] The flight route planning and flight mission components include: a flight route planning module and a flight mission module. Both the flight route planning module and the flight mission module are connected to the map positioning component. Both the flight route planning module and the flight mission module are connected to the multimedia connection component.

[0049] The flight route planning module is used to determine UAV flight route data using automatic waypoint evidence collection planning methods, manual waypoint evidence collection planning methods, and orthophoto evidence collection planning methods. The flight route planning module is used to create, edit, and plan the UAV flight route, automatically and manually plan the flight route. It is divided into automatic waypoint evidence collection planning, manual waypoint evidence collection planning, and orthophoto evidence collection planning. Automatic waypoint evidence collection planning means automatically obtaining the optimal flight route according to the density of the verification locations from the data to be verified using an algorithm. The verification personnel can adjust the flight altitude and speed according to the on-site environment to generate the flight route. Manual waypoint evidence collection planning means that when the automatic waypoint planning cannot meet the requirements of the verification personnel, the verification personnel can manually perform waypoint evidence collection planning, manually plot waypoints within the suspicious area on the map. After the waypoint plotting is completed, the system will automatically attach the UAV photo-taking operation command to the waypoints. After saving, the flight route is generated. Orthophoto evidence collection planning means that by drawing the evidence collection range on the map, the system automatically calculates the flight route spacing and photo-taking time interval for the UAV to perform orthophoto aerial photography to generate the orthophoto evidence collection flight route.

[0050] The flight mission module is used to perform feasibility detection on the UAV flight mission. After passing the feasibility detection of the UAV flight mission, it uses the multimedia connection component to transmit the UAV flight route data to the UAV. It detects and executes the UAV flight mission, performs parameter detection and UAV status setting detection on the upcoming flight mission. The detection content includes: UAV connection status, current UAV mode, UAV battery power, total length of the executed flight route, time required for the executed flight route, whether the UAV battery power can support the completion of the flight mission, whether the return point is set, etc. A series of detections are carried out. If the detection is successful, the UAV flight route data is uploaded to the UAV to start the flight evidence collection mission.

[0051] The multimedia connection component includes: a multimedia data module. The multimedia data module is respectively connected to the UAV connection component and the server; the multimedia data module is used to live broadcast the UAV flight mission process in real time, download the UAV evidence collection photos after the flight mission is completed, and can upload the evidence collection photos to the server.

[0052] The multimedia data module is used to live broadcast the process of the UAV flight mission in real time, download the UAV evidence-taking photos after the flight mission is completed, and can upload the evidence-taking photos to the server. The multimedia data module is divided into UAV video live broadcast and UAV evidence-taking photo management. The UAV video live broadcast is used to conduct UAV video live broadcast during the UAV's mission execution, and upload the images captured by the UAV to the backend server in real time, enabling remote personnel to judge doubtful issues by watching the live broadcast. The UAV evidence-taking photo management refers to downloading the evidence-taking photos obtained after the mission execution to the tablet and uploading them to the backend server through a dedicated network. The evidence-taking photos will be automatically associated with the doubtful data.

[0053] As Figure 2 , the working process of a natural resource asset audit on-site verification and evidence-taking system provided by this embodiment is as follows:

[0054] (1) The verification personnel carry the tablet device loaded with the UAV evidence-taking system and the UAV to the doubtful area to be verified for on-site verification and evidence-taking.

[0055] (2) According to the distribution of doubts, select the evidence-taking route planning method. The optional methods are automatic waypoint evidence-taking route, manual waypoint evidence-taking route, and orthophoto evidence-taking route. Different route planning methods have different selections, and corresponding parameters are set. After selecting the automatic waypoint evidence-taking planning, select the route that has been automatically clustered and planned again, and adjust the UAV flight altitude and speed according to the on-site environment and restrictions. For the manual waypoint evidence-taking planning, after selection, draw waypoints on the map. After the drawing is completed, set the flight altitude and speed of the route. For the orthophoto evidence-taking route planning, after selection, draw a rectangle on the map to cover the doubtful area, adjust the flight altitude and speed. The system automatically calculates the distance between two points in the heading based on the focal length, pixel size, and map width of the UAV image sensor connected, as well as the image heading overlap rate (default 80%) and side overlap rate (default 40%) parameters, so as to calculate the position coordinates of the waypoints, and then calculate the shooting time interval according to the speed set by the UAV. The specific formula is as follows:

[0056] The route interval S is: S = W × (1 - O s ).

[0057] Where, W is the image width, that is, the ground coverage width; O s is the side overlap rate.

[0058] The shooting time interval Δt is:

[0059] Where, L is the image length; O l is the heading overlap rate; v is the flight speed.

[0060] (3) Connect the drone remote controller to the tablet, power on the remote controller, and power on the drone. Check the connection status and the status of the drone through the connection module.

[0061] (4) Use the flight mission detection function to detect the aircraft status and route settings, and check whether the current aircraft status is suitable for performing the route flight mission. If it cannot be executed, corresponding error messages will be prompted. If it meets the execution requirements, the mission information will be uploaded to the drone.

[0062] (5) After the task is uploaded, execute the flight for evidence collection mission. The drone will take off automatically. During the mission execution, the drone evidence collection system will draw the transmitted drone status and position information onto the map in real time.

[0063] (6) For the waypoint evidence collection mission, when reaching the waypoint, the drone will hover and take pictures for evidence collection around the waypoint. Five pictures will be taken, namely the pictures at a 45-degree angle in the four directions of east, south, west, and north, and one picture directly below. For orthophoto evidence collection, the drone will automatically take pictures of the image directly below according to the uploaded route mission information.

[0064] (7) During the drone evidence collection process, turn on the drone video live broadcast. The live broadcast will transmit the current drone shooting picture to the backend platform in real time, which is beneficial for remote personnel to make more detailed judgments on doubts.

[0065] (8) After the evidence collection mission is completed, the drone will return and land automatically. Download the evidence collection pictures to the tablet through multimedia management. The system will match the pictures according to the coordinate information attached to the pictures and the position of the suspected point patches, supplemented by the waypoint numbers and picture numbers of the pictures, and automatically associate the pictures with the doubts, and you can choose to upload the pictures. For the pictures of the orthophoto evidence collection mission, many pictures in the drone memory card can be exported, and professional processing software can be used to generate orthophoto images.

[0066] Based on the flexibility and efficiency of the drone, combined with the automated and intelligent route planning, the evidence collection system and method that are automatically executed. Compared with the problems of small evidence collection scope and low evidence collection efficiency of traditional mobile devices, it has achieved the progress from single-point evidence collection to area evidence collection, and has changed from ground evidence collection to aerial evidence presentation, effectively expanding the form and scope of audit evidence collection. It effectively overcomes the limitations of terrain and environment, makes the evidence collection more comprehensive, and realizes the natural resource audit evidence collection work with low cost, high efficiency and high quality.

[0067] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combinations of these technical features do not conflict, they should all be considered as the scope recorded in this specification.

[0068] In this article, specific examples are used to illustrate the principles and implementation manners of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application. At the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A field verification and evidence collection system for the audit of natural resource assets, characterized in that, Including: A drone and a mobile control terminal; The mobile control terminal is respectively connected to the drone and the server; The drone on-site evidence collection system is arranged on the mobile control terminal; The mobile control terminal is used to support the human-computer interaction of the drone on-site evidence collection system; The drone on-site evidence collection system includes: a map positioning component, a drone connection component, a route planning flight mission component, and a multimedia connection component; The drone connection component is respectively connected to the map positioning component, the route planning flight mission component, and the drone; the multimedia connection component is respectively connected to the map positioning component, the route planning flight mission component, the drone, and the server; the map positioning component is connected to the route planning flight mission component; The map positioning component is used to load base map image data, place name and address data, and suspicious area data, support basic map browsing or view roaming, and realize location positioning, suspicious area positioning, and drone position positioning; The drone connection component is used to display the drone status and display the drone status information in real time; The route planning flight mission component is used to determine the drone route data by using the automatic waypoint evidence collection planning method, the manual waypoint evidence collection planning method, and the orthophoto evidence collection planning method, and perform a feasibility detection of the drone flight mission. After passing the feasibility detection of the flight mission, the drone route data is transmitted to the drone; The multimedia connection component is used to manage the drone multimedia data, transmit back the drone attitude, live broadcast the process of the drone flight mission in real time, download the drone evidence collection photos after the flight mission is completed, and can upload the evidence collection photos to the server; The server is used to associate the evidence collection photos with the suspicious area data.

2. The on-site verification and evidence collection system for the audit of natural resource assets according to claim 1, characterized in that, The number of drones connected to one mobile control terminal is one.

3. The on-site verification and evidence collection system for the audit of natural resource assets according to claim 1, characterized in that, The number of mobile control terminals connected to one server is one or more.

4. The on-site verification and evidence collection system for the audit of natural resource assets according to claim 1, characterized in that, The mobile control terminal is a tablet computer.

5. The on-site verification and evidence collection system for the audit of natural resource assets according to claim 1, wherein The drone on-site evidence collection system further includes: an authentication module; The authentication module is connected to the map positioning component; The authentication module is used to complete the dedicated network authentication, user login authentication, and drone offline authentication.

6. The on-site verification and evidence collection system for the audit of natural resource assets according to claim 1, wherein The map positioning component includes: a map module and a map function module; The map function module is respectively connected to the map module, the multimedia connection component, and the route planning flight mission component; The map module is used to load base map image data, place name and address data, and suspicious area data, and support basic map browsing or view roaming; The map function module is used to realize location positioning, suspicious area positioning, and drone position positioning.

7. The on-site verification and evidence collection system for the audit of natural resource assets according to claim 1, characterized in that, The route planning flight mission component includes: a route planning module and a flight mission module; Both the route planning module and the flight mission module are connected to the map positioning component; Both the route planning module and the flight mission module are connected to the multimedia connection component; The route planning module is used to determine the drone route data by using the automatic waypoint evidence collection planning method, the manual waypoint evidence collection planning method, and the orthophoto evidence collection planning method; The flight mission module is used to detect the feasibility of the flight mission of the UAV. After passing the flight mission feasibility detection, the UAV route data is transmitted to the UAV by using the UAV connection component.

8. The on-site verification and evidence collection system for the audit of natural resource assets according to claim 1, wherein, The detection content of the flight mission feasibility detection includes: UAV connection status, UAV current mode, UAV battery power, total length of the execution route, time required for the execution route, whether the UAV power can support the completion of the flight mission, and whether the return point is set.

9. The on-site verification and evidence collection system for the audit of natural resource assets according to claim 1, characterized in that, The multimedia connection component includes: a multimedia data module; The multimedia data module is respectively connected to the UAV connection component and the server; The multimedia data module is used to live broadcast the process of the UAV flight mission in real time, download the UAV evidence-taking photos after the flight mission is completed, and can upload the evidence-taking photos to the server.

10. The on-site verification and evidence collection system for the audit of natural resource assets according to claim 1, wherein, The UAV is equipped with an image sensor; The UAV is used to move based on the UAV route data and hover at the waypoints indicated by the UAV route data to obtain waypoint images; the waypoint images include the photo directly below the waypoint and the photos at a 45-degree angle view in the four directions of east, south, west, and north.

Images