A natural resource asset audit field verification evidence collection system

Abstract

The application discloses a natural resource asset audit on-site verification evidence collection system and relates to the technical field of natural resource audit.The system comprises a UAV and a mobile control terminal, the mobile control terminal is provided with a UAV on-site evidence collection system, the UAV on-site evidence collection system comprises a map positioning assembly, a UAV connecting assembly, a flight route planning and flying task assembly and a multimedia connecting assembly, the map positioning assembly realizes site positioning, suspicious area positioning and UAV position positioning, the UAV connecting assembly is used for connecting the UAV and the mobile control terminal, realizes display of the UAV state, the flight route planning and flying task assembly is used for determining UAV flight route data, the multimedia connecting assembly is used for managing UAV multimedia data, feeding back UAV flight attitude data to a server and live streaming the UAV flying task process in real time, and the server associates evidence collection photos with suspicious area data.The application uses the UAV to assist in completing the natural resource asset audit on-site verification evidence collection, can perform on-site verification evidence collection on complex natural resource areas and improves the comprehensiveness and safety of the on-site verification evidence collection.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of natural resource auditing, in particular to a natural resource asset auditing on-site verification evidence collection system. BACKGROUND

[0002] Natural resource asset auditing is a key link in ecological civilization construction, and its core goal 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 undergone significant changes. The application of GIS technology has changed the auditing work from single doubt analysis to a comprehensive process including on-site evidence collection, which has become the main method of current natural resource auditing. In the on-site evidence collection stage, auditors begin to use devices loaded with mobile GIS software to assist their work. The application of this technology greatly improves 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 compare and analyze existing audit data, thereby more accurately identifying and assessing the status and changes of natural resource assets. However, there are still problems such as difficulty in collecting evidence from large areas, low efficiency in collecting evidence from multiple scattered suspicious areas, and restrictions from terrain and environment. In summary, the coverage area is small, the completeness of evidence collection is low, the accuracy of evidence collection is poor, the terrain and environmental restrictions are large, and the safety risks of personnel are high. SUMMARY

[0003] The purpose of the present application is to provide a natural resource asset auditing on-site verification evidence collection system that can use unmanned aerial vehicles to assist in completing natural resource asset auditing on-site verification evidence collection, and can conduct on-site verification evidence collection in complex natural resource areas, thereby improving the comprehensiveness and safety of on-site verification evidence collection.

[0004] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0005] The present application provides a natural resource asset auditing on-site verification evidence collection system, comprising: an unmanned aerial vehicle and a mobile control terminal;

[0006] The mobile control terminal is connected with the unmanned aerial vehicle and the server respectively;

[0007] The mobile control terminal is provided with an unmanned aerial vehicle on-site evidence collection system; the mobile control terminal is used to support human-computer interaction of the unmanned aerial vehicle on-site evidence collection system;

[0008] The unmanned aerial vehicle on-site evidence collection system comprises a map positioning component, an unmanned aerial vehicle connection component, a flight route planning and flight task component, and a multimedia connection component;

[0009] The unmanned aerial vehicle connection component is connected with the map positioning component, the flight path planning and flight task component and the unmanned aerial vehicle respectively; the multimedia connection component is connected with the map positioning component, the flight path planning and flight task component, the unmanned aerial vehicle and the server respectively; the map positioning component is connected with the flight path planning and flight task component;

[0010] The map positioning component is used for loading base map image data, place name and address data and suspicious area data, supporting basic map browsing or view roaming, realizing location positioning, suspicious area positioning and unmanned aerial vehicle position positioning;

[0011] The unmanned aerial vehicle connection component is used for displaying unmanned aerial vehicle state and displaying unmanned aerial vehicle state information in real time;

[0012] The flight path planning and flight task component is used for determining unmanned aerial vehicle flight path data by using an automatic navigation point evidence collection planning method, a manual navigation point evidence collection planning method and an orthographic evidence collection planning method, and performing flight task feasibility detection on the unmanned aerial vehicle, and transmitting the unmanned aerial vehicle flight path data to the unmanned aerial vehicle after passing the flight task feasibility detection;

[0013] The multimedia connection component is used for managing unmanned aerial vehicle multimedia data, returning unmanned aerial vehicle posture, live streaming unmanned aerial vehicle flight task process in real time, downloading evidence collection photos of the unmanned aerial vehicle after completing the flight task, and uploading the evidence collection photos to the server;

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

[0015] Optionally, the number of unmanned aerial vehicles connected with one mobile control terminal is one.

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

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

[0018] Optionally, the unmanned aerial vehicle field evidence collection system further comprises an authentication module.

[0019] The authentication module is connected with the map positioning component.

[0020] The authentication module is used for completing special network authentication, user login authentication and unmanned aerial vehicle offline authentication.

[0021] Optionally, the map positioning component comprises a map module and a map function module.

[0022] The map function module is connected with the map module, the multimedia connection component and the flight path planning and flight task component respectively.

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

[0024] The map function module is configured to realize location positioning, suspicious area positioning, and unmanned aerial vehicle position positioning.

[0025] Optionally, the flight route planning and flight task component comprises a flight route planning module and a flight task module.

[0026] The flight route planning module and the flight task module are connected with the map positioning component.

[0027] The flight route planning module and the flight task module are connected with the multimedia connection component.

[0028] The flight route planning module is configured to determine unmanned aerial vehicle flight route data by using an automatic waypoint evidence planning method, a manual waypoint evidence planning method, and an orthographic evidence planning method.

[0029] The flight task module is configured to perform flight task feasibility detection on the unmanned aerial vehicle, and transmit the unmanned aerial vehicle flight route data to the unmanned aerial vehicle by using the unmanned aerial vehicle connection component after passing the flight task feasibility detection.

[0030] Optionally, the detection content of the flight task feasibility detection comprises a connection state of the unmanned aerial vehicle, a current mode of the unmanned aerial vehicle, a battery capacity of the unmanned aerial vehicle, a total length of an execution flight route, a required time for executing the flight route, whether the battery capacity of the unmanned aerial vehicle can support completion of the flight task, and whether a return point is set.

[0031] Optionally, the multimedia connection component comprises a multimedia data module.

[0032] The multimedia data module is connected with the unmanned aerial vehicle connection component and the server connection component.

[0033] The multimedia data module is configured to live broadcast a flight task process of the unmanned aerial vehicle in real time, download evidence photos of the unmanned aerial vehicle after completion of the flight task, and upload the evidence photos to the server.

[0034] Optionally, the unmanned aerial vehicle is provided with an image sensor.

[0035] The unmanned aerial vehicle is configured to move based on the unmanned aerial vehicle flight route data, hover at a waypoint indicated by the unmanned aerial vehicle flight route data, and acquire a waypoint image; the waypoint image comprises a photo directly below the waypoint, and photos at 45-degree angles in east, south, west, and north directions.

[0036] According to the specific embodiments provided in the application, the following technical effects are disclosed:

[0037] The application provides a natural resource asset audit field verification evidence collection system. Through preset flight paths and task planning, the unmanned aerial vehicle can automatically perform aerial photography and data collection, reducing the complexity of manual operation. Through the execution of orthographic aerial photography tasks, the unmanned aerial vehicle can quickly respond and cover a large area while collecting high-resolution images. Through the flexibility and maneuverability of the unmanned aerial vehicle, it can reach areas that were previously difficult to access, such as remote forests, high mountains and wetlands, improving the comprehensiveness of the audit. At the same time, the unmanned aerial vehicle reduces the field work of auditors in dangerous or difficult-to-reach areas, thereby reducing the safety risks of personnel and achieving automation and intelligentization of natural resource audit field unmanned aerial vehicle evidence collection work. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0039] Figure 1 FIG. 1 is a structural schematic diagram of a natural resource asset audit field verification evidence collection system according to an embodiment of the present application.

[0040] Figure 2 FIG. 2 is a workflow diagram of a natural resource asset audit field verification evidence collection system according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0042] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0043] The rapid development of unmanned aerial vehicle technology provides a new solution for natural resource auditing. The integration of unmanned aerial vehicle technology can effectively solve the above problems, but the operation of unmanned aerial vehicles still has problems such as difficulty in getting started, high economic loss risk, etc. for general auditors, which makes unmanned aerial vehicles cannot be widely applied in natural resource auditing work. In view of the above problems, in an exemplary embodiment, as shown in Figure 1 FIG. 1 is a structural schematic diagram of a natural resource asset audit field verification evidence collection system according to an embodiment of the present application. FIG. 2 is a workflow diagram of a natural resource asset audit field verification evidence collection system according to an embodiment of the present application.

[0044] The mobile control terminal is connected with the unmanned aerial vehicle remote controller, the unmanned aerial vehicle and the server respectively. The unmanned aerial vehicle field evidence collection system is arranged on the mobile control terminal. The mobile control terminal is used for supporting the human-computer interaction of the unmanned aerial vehicle field evidence collection system. The unmanned aerial vehicle field evidence collection system comprises an authentication module, a map positioning assembly, a flight path planning and flight task assembly and a multimedia connection assembly. The multimedia connection assembly is connected with the map positioning assembly, the flight path planning and flight task assembly, the unmanned aerial vehicle and the server respectively. The map positioning assembly is connected with the flight path planning and flight task assembly. The map positioning assembly is used for loading base map image data, place name and address data and suspicious point area data, and is used for basic map browsing or view roaming, realizing location positioning, suspicious point area positioning and unmanned aerial vehicle position positioning. The flight path planning and flight task assembly is used for determining unmanned aerial vehicle flight path data by using an automatic waypoint evidence collection planning method, a manual waypoint evidence collection planning method and an orthographic evidence collection planning method, and performing flight task feasibility detection on the unmanned aerial vehicle. After passing the flight task feasibility detection, the unmanned aerial vehicle flight path data is transmitted to the unmanned aerial vehicle by using the multimedia connection assembly. The multimedia connection assembly is used for displaying the unmanned aerial vehicle state, live streaming the unmanned aerial vehicle flight task process in real time, downloading the evidence collection photos of the unmanned aerial vehicle after the flight task is completed, and uploading the evidence collection photos to the server. The server is used for associating the evidence collection photos with the suspicious point area data. The number of unmanned aerial vehicles connected with one mobile control terminal is one or more. The number of mobile control terminals connected with one server is one or more. The mobile control terminal is a tablet computer. The authentication module is connected with the map positioning assembly. The authentication module is used for completing special network authentication, user login authentication and unmanned aerial vehicle offline authentication. The authentication module is used for authenticating system use information, including three aspects of authentication: special network authentication, system login authentication and unmanned aerial vehicle offline authentication. The special network authentication refers to performing VPN network configuration in order to improve system data security, so that the system can access special network data. The system login authentication refers to performing system identity authentication through a username and password mode, so as to obtain detailed identity information. The unmanned aerial vehicle offline authentication refers to authenticating and authorizing the unmanned aerial vehicle, so that the unmanned aerial vehicle can correctly perform the task. The authentication mode is offline authentication because the network is a special network. The detection content of the flight task feasibility detection includes: unmanned aerial vehicle connection state, unmanned aerial vehicle current mode, unmanned aerial vehicle battery capacity, total length of executed flight path, time required for executing the flight path, whether the unmanned aerial vehicle battery capacity can support completing the flight task and whether the return point is set. The unmanned aerial vehicle is provided with an image sensor. The unmanned aerial vehicle is used for moving based on the unmanned aerial vehicle flight path data, and hovering at the waypoint indicated by the unmanned aerial vehicle flight path data to obtain the waypoint image. The waypoint image comprises a photo directly below the waypoint, and photos of 45-degree angle view in east, south, west and north directions.

[0045] The map positioning assembly comprises a map module and a map function module. The map function module is connected with the map module, the multimedia connection assembly and the flight path planning and flight task assembly respectively.

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

[0047] The map function module is used to realize location positioning, suspicious area positioning (suspicious spot positioning), and unmanned aerial vehicle position positioning.

[0048] The flight path planning and flight task component includes a flight path planning module and a flight task module. Both the flight path planning module and the flight task module are connected with the map positioning component. Both the flight path planning module and the flight task module are connected with the multimedia connection component.

[0049] The flight path planning module is used to determine unmanned aerial vehicle flight path data by using an automatic waypoint evidence planning method, a manual waypoint evidence planning method, and an orthographic evidence planning method. The flight path planning module is used to create, edit, and plan unmanned aerial vehicle flight routes, and to automatically and manually plan flight paths. The flight path planning module is divided into automatic waypoint evidence planning, manual waypoint evidence planning, and orthographic evidence planning. The automatic waypoint evidence planning refers to automatically obtaining the best flight path from the to-be-checked data according to the closeness of the checking locations by using an algorithm, and adjusting the flight path height and speed according to the on-site environment, so as to generate the flight path. The manual waypoint evidence planning refers to manually planning the waypoint evidence when the automatic waypoint planning cannot meet the requirements of the checking personnel. In the map, the checking personnel manually plot waypoints within the suspicious area range. After the waypoint plotting is completed, the system automatically connects the unmanned aerial vehicle photographing operation command to the waypoint, saves the command, and generates the flight path. The orthographic evidence planning refers to drawing the evidence range in the map. The system automatically calculates the flight path interval and photographing time interval of the unmanned aerial vehicle executing orthographic aerial photography, and generates the orthographic evidence flight path.

[0050] The flight task module is used to detect the feasibility of the unmanned aerial vehicle flight task. After the feasibility of the unmanned aerial vehicle flight task is detected, the flight path data of the unmanned aerial vehicle is transmitted to the unmanned aerial vehicle by using the multimedia connection component. The unmanned aerial vehicle flight task is detected and executed. The parameters of the to-be-executed flight task and the state setting of the unmanned aerial vehicle are detected. The detection content includes the connection state of the unmanned aerial vehicle, the current mode of the unmanned aerial vehicle, the battery capacity of the unmanned aerial vehicle, the total length of the executed flight path, the time required for executing the flight path, whether the battery capacity of the unmanned aerial vehicle can support the completion of the flight task, whether the return point is set, and a series of detections. After the detection is successful, the flight path data of the unmanned aerial vehicle is uploaded to the unmanned aerial vehicle, and the unmanned aerial vehicle flight evidence task is started to be executed.

[0051] The multimedia connection component includes a multimedia data module. The multimedia data module is connected with the unmanned aerial vehicle connection component and the server. The multimedia data module is used to live broadcast the unmanned aerial vehicle flight task process in real time. After the flight task is completed, the evidence photographs of the unmanned aerial vehicle are downloaded, and the evidence photographs can be uploaded to the server.

[0052] The multimedia data module is used for live broadcasting of the UAV flight task process, downloading the UAV evidence photos after the flight task is completed, and uploading the evidence photos to the server. The multimedia data module is divided into UAV video live broadcasting and UAV evidence photo management. The UAV video live broadcasting is used for live broadcasting of the UAV during the task execution, and the captured images of the UAV are uploaded to the back-end server in real time, so that the remote personnel can identify the doubtful issues by watching the live broadcast. The UAV evidence photo management refers to downloading the evidence photos taken after the task execution to the tablet and uploading them to the back-end server through a special network. The evidence photos are automatically associated with the doubtful data.

[0053] As Figure 2 The working process of the natural resource asset audit on-site verification evidence collection system provided by the embodiment is as follows:

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

[0055] (2) According to the doubtful distribution, the evidence collection route planning mode can be selected, including automatic waypoint evidence collection route, manual waypoint evidence collection route, and orthographic evidence collection route. Different route planning modes are selected, and corresponding parameters are set. After selecting the automatic waypoint evidence collection planning, the automatically clustered planned route is selected again, and the UAV flight height and speed are adjusted according to the on-site environment and limitation conditions. After selecting the manual waypoint evidence collection planning, the waypoints are plotted on the map, and after the plotting is completed, the route flight height and speed are set. After selecting the orthographic evidence collection route planning, a rectangle is plotted on the map to cover the doubtful area, and the flight height and speed are adjusted. The system automatically calculates the distance between the two points in the flight direction according to the connected UAV image sensor focal length, pixel size, map width, image heading overlap rate (default 80%), and lateral overlap rate (default 40%) parameters, calculates the waypoint position coordinates, and calculates the shooting time interval according to the set speed of the UAV. The specific formula is as follows:

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

[0057] Wherein, W is the image width, i.e., the ground coverage width; O s is the lateral overlap rate.

[0058] The shooting time interval Δt is:

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

[0060] (3) Connect the unmanned aerial vehicle remote controller with the tablet, start the remote controller, and start the unmanned aerial vehicle. The connection module is used to check the connection of the unmanned aerial vehicle and the state of the unmanned aerial vehicle.

[0061] (4) The flight task detection function is used to detect the state of the aircraft and the flight path setting, and detect whether the current state of the aircraft is suitable for performing the flight path flight task. If it cannot be performed, the corresponding error information is prompted. If it meets the execution requirement, the task information is uploaded to the unmanned aerial vehicle.

[0062] (5) After the task uploading is completed, the flight evidence collection task is performed, and the unmanned aerial vehicle automatically takes off. During the task execution process, the unmanned aerial vehicle evidence collection system draws the returned unmanned aerial vehicle state and position information in real time on the map.

[0063] (6) For the flight point evidence collection task, when the flight point is reached, the unmanned aerial vehicle hovers and takes photos around the flight point for evidence collection. Five photos are taken, which are 45-degree angle photos in the east, south, west, and north directions, and one photo directly below. For the orthographic evidence collection, the unmanned aerial vehicle automatically takes the photo directly below according to the uploaded flight path task information.

[0064] (7) During the unmanned aerial vehicle evidence collection process, the video live broadcast of the unmanned aerial vehicle is started. The live broadcast transmits the current unmanned aerial vehicle shooting picture to the back-end platform in real time, which can be beneficial to the remote personnel to make more detailed discrimination on the suspicious points.

[0065] (8) After the evidence collection task is completed, the unmanned aerial vehicle automatically returns and lands. The evidence collection photos are downloaded to the tablet through the multimedia management. The system matches the photos according to the coordinate information and the suspicious point plot position of the photos, and assists the photo flight point number and the photo number to automatically associate the photos and the suspicious points, and can select to upload the photos. For the photos of the orthographic evidence collection task, the numerous photos in the unmanned aerial vehicle storage card can be exported, and the professional processing software is used to generate the orthographic image.

[0066] Based on the flexibility and high efficiency of the unmanned aerial vehicle, combined with the automatic and intelligent flight path planning, the automatic evidence collection system and method, compared with the small coverage and low efficiency of the traditional mobile device evidence collection, the progress from single point evidence collection to surface evidence collection is realized, and the evidence collection is changed from ground evidence collection to aerial evidence collection, which effectively expands the form and range of the audit evidence collection. The limitation of the terrain and the environment is effectively overcome, the evidence collection is more comprehensive, the low-cost, high-efficiency and high-quality natural resource audit evidence collection work is realized.

[0067] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0068] The principles and implementation manners of the present application are described herein by using specific examples, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will have changes. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A system for on-site verification and evidence collection for natural resource asset audits, characterized in that, include: Drones and mobile control terminals; The mobile control terminal is connected to the drone and the server respectively; The mobile control terminal is equipped with an unmanned aerial vehicle (UAV) field evidence collection system. The mobile control terminal is used to support human-computer interaction in the drone field evidence collection system. The UAV field evidence collection system includes: a map positioning component, a UAV connection component, a flight route planning and flight mission component, and a multimedia connection component. The UAV connection component is connected to the map positioning component, the flight route planning and flight mission component, and the UAV, respectively; the multimedia connection component is connected to the map positioning component, the flight route planning and flight mission component, the UAV, and the server, respectively; 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, supports basic map browsing or view roaming, and realizes location positioning, suspicious area positioning and drone location positioning. The drone connection component is used to display the drone status and provide real-time drone status information. The flight route planning component is used to determine UAV flight route data using automatic waypoint certification planning method, manual waypoint certification planning method and orthogonal certification planning method, and to perform flight mission feasibility test on UAV. After passing the flight mission feasibility test, the UAV flight route data is transmitted to the UAV. The multimedia connection component is used to manage UAV multimedia data, transmit UAV attitude, broadcast the UAV flight mission process in real time, download UAV evidence photos after the flight mission is completed, and upload the evidence photos to the server. The server is used to associate the evidence photos with data on suspicious areas; The mobile control terminal is used to select the evidence collection route planning method based on the distribution of suspicious points. The evidence collection route planning methods include: automatic waypoint evidence collection route, manual waypoint evidence collection route, and orthogonal evidence collection route. Based on the selected evidence collection route planning method, corresponding parameters are set. After selecting automatic waypoint evidence collection planning, the automatically clustered route is selected again, and the UAV's flight altitude and speed are adjusted accordingly based on the on-site environment and constraints. After selecting manual waypoint evidence collection planning, waypoints are drawn on the map, and the flight altitude and speed are set after drawing. After selecting orthogonal evidence collection route planning, rectangles are drawn on the map to cover the suspicious point area, and the flight altitude and speed are adjusted. The system automatically calculates the distance between two points along the flight path based on the connected UAV image sensor's focal length, pixel size, image width, and image forward overlap and lateral overlap parameters, thereby calculating the waypoint coordinates. The shooting time interval is then calculated based on the UAV's set speed, using the following formula: The route interval S is: ; in, Image width, used to describe the width of ground coverage; This refers to the lateral overlap rate. Shooting time interval for: ; in, Image length; For heading overlap; This refers to flight speed.

2. The on-site verification and evidence collection system for natural resource asset auditing 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 natural resource asset auditing according to claim 1, characterized in that, A server can connect to one or more mobile control terminals.

4. The on-site verification and evidence collection system for natural resource asset auditing 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 natural resource asset auditing according to claim 1, characterized in that, The drone field evidence collection system also includes: an authentication module; The authentication module is connected to the map positioning component; The authentication module is used to complete dedicated network authentication, user login authentication, and drone offline authentication.

6. The on-site verification and evidence collection system for natural resource asset auditing according to claim 1, characterized in that, The map positioning component includes: a map module and a map function module; The map function module is connected to the map module, the multimedia connection component, and the route planning flight mission component, respectively. 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. The map function module is used to realize location positioning, suspicious area positioning, and drone location positioning.

7. The on-site verification and evidence collection system for natural resource asset auditing according to claim 1, characterized in that, The route planning and flight mission components include: 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 UAV route data using automatic waypoint certification planning method, manual waypoint certification planning method and orthophoto certification planning method; The flight mission module is used to perform flight mission feasibility tests on the UAV. After passing the flight mission feasibility test, the UAV connection component is used to transmit the UAV flight path data to the UAV.

8. The on-site verification and evidence collection system for natural resource asset auditing according to claim 1, characterized in that, The feasibility test for the flight mission includes the following: drone connection status, drone current mode, drone battery level, total length of the flight path, time required to complete the flight path, whether the drone's battery level can support the completion of the flight mission, and whether a return point has been set.

9. The on-site verification and evidence collection system for natural resource asset auditing according to claim 1, characterized in that, The multimedia connection component includes: a multimedia data module; The multimedia data module is connected to the drone connection component and the server respectively; The multimedia data module is used to live stream the drone flight mission in real time, download drone evidence photos after the flight mission is completed, and upload the evidence photos to the server.

10. The on-site verification and evidence collection system for natural resource asset auditing according to claim 1, characterized in that, The drone is equipped with an image sensor; The drone is used to move based on drone flight path data and hover at waypoints indicated by the drone flight path data to acquire waypoint images; the waypoint images include photos directly below the waypoints, as well as photos taken at 45-degree angles in the four directions of east, south, west, and north.

Images