Mine monitoring and path planning method based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicle mine monitoring and surveying, in particular to a mine monitoring and path planning method based on an unmanned aerial vehicle. The method comprises the following steps: collecting monitoring object boundary information of a surface mine slope and a path basic data set of an unmanned aerial vehicle; generating a plurality of anti-fact flight paths; dividing the monitoring object into different monitoring sections according to the space structure of the monitoring object, acquiring path basic data sets acquired by different anti-fact flight paths, and performing observation closing calculation on the path basic data sets of the same monitoring section to obtain a closing calculation result; adding a path observation insufficiency identifier to the path identifier of the basic flight path to obtain a path sufficiency judgment result set; constructing a path evidence chain structure for each basic flight path, and generating a supplementary measurement flight path of the monitoring section in combination with the multi-path observation data; the unmanned aerial vehicle mine monitoring path planning method based on multi-path contrast and observation closing judgment is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle mine monitoring and surveying, and particularly relates to a mine monitoring and path planning method based on an unmanned aerial vehicle. BACKGROUND

[0002] With the continuous expansion of the scale of open-pit mines and the increasingly complex structure of the slope, periodic inspection, spatial mapping and state monitoring of the mine slope by using unmanned aerial vehicles have become common technical means. The existing unmanned aerial vehicle mine monitoring technology usually collects images or acquires multi-source sensing data of the mine slope by presetting a flight path, and carries out slope stability analysis and safety evaluation based on the collected data. In this process, path planning, as a prerequisite for the unmanned aerial vehicle monitoring task, directly affects the spatial distribution of monitoring data, the observation angle and the reliability of the monitoring results, and has become one of the key technologies in the mine monitoring system. Under the monitoring condition that the open-pit mine slope is in multi-period operation and long-term evolution, when the unmanned aerial vehicle is used to periodically monitor the slope according to the established path planning strategy, there is a problem that whether the monitoring path has formed a sufficient observation of the slope stability state cannot be determined. Specifically, the existing unmanned aerial vehicle mine monitoring and path planning method usually takes the path coverage range, flight height or image resolution as the criterion for monitoring completion, and implicitly assumes that the slope state has been fully perceived after meeting the coverage requirement. However, in the actual monitoring process, even if the monitoring path meets the coverage and resolution conditions in form, the unstable information in the internal or local structure of the slope may not be effectively observed, resulting in that the monitoring result is in an insufficient observation state in the cognitive level, and the existing technology lacks a technical means for determining whether the monitoring path reaches the observation sufficiency, which cannot identify whether the missing of monitoring information is caused by the path planning itself, so that the subsequent slope stability analysis is based on unverifiable monitoring. SUMMARY

[0003] The purpose of the present application is to provide a mine monitoring and path planning method based on an unmanned aerial vehicle to solve the problem that when the unmanned aerial vehicle is used to periodically monitor the slope according to the established path planning strategy, whether the monitoring path has formed a sufficient observation of the slope stability state cannot be determined.

[0004] To achieve the above purpose, the technical scheme of the present application is: a mine monitoring and path planning method based on an unmanned aerial vehicle, comprising: S1, using an unmanned aerial vehicle to collect boundary information of a monitoring object of an open-pit mine slope, generating a basic flight path covering the monitoring object, and obtaining a path basic data set of the same monitoring object corresponding to the basic flight path; S2. Based on the path base dataset, perform path structure transformation operation on each basic flight path to generate multiple counterfactual flight paths corresponding to the basic flight paths. Combine the basic flight paths with the multiple counterfactual flight paths generated accordingly to form a flight path control group, and assign a unique path identifier to each basic flight path and counterfactual flight path. Among them, the counterfactual flight path is a comparative flight path generated by performing a path structure transformation on the basic flight path while maintaining coverage of the same monitoring object as the basic flight path; S3. Based on the flight path control group, the monitoring object is divided into different monitoring segments according to the spatial structure of the monitoring object. The path basic dataset collected by different counterfactual flight paths of the path control group is obtained for each monitoring segment. The observation closure calculation is performed on the path basic dataset of the same monitoring segment to obtain the closure calculation result. S4. Based on the closure calculation results, determine whether the counterfactual flight path meets the preset path substitution conditions. If the counterfactual flight path meets the preset path substitution conditions, determine the counterfactual flight path as the new basic flight path and update the path basic dataset, and recalculate the closure calculation results. When there is no counterfactual flight path that meets the preset path substitution conditions, add a path observation insufficiency indicator to the path identifier of the basic flight path to obtain the path sufficiency judgment result set. Among them, the path sufficiency judgment result set is a set of judgment results used to record the path observation insufficiency indicators corresponding to the basic flight path in each monitoring segment; S5. Based on the path sufficiency determination result set, construct a path evidence chain structure for each basic flight path, and generate supplementary flight paths for the monitoring section by combining multi-path observation data. Among them, the path evidence chain structure is a path association structure used to link the basic flight path with its corresponding monitoring section and the path sufficiency determination result; the supplementary flight path refers to the supplementary flight path generated for monitoring sections with insufficient path observation information.

[0005] Preferably, in S2, the path structure transformation operation refers to the operation of adjusting the structure of the path components of the basic flight path without changing the coverage of the monitored objects. This is used to generate a counterfactual flight path that is consistent with the basic flight path in terms of the covered objects but differs in terms of path structure. In the process of performing the path structure transformation operation on each basic flight path, the path structure elements that are transformed in the basic flight path specifically include: the execution order of each path segment in the basic flight path, the heading combination relationship between adjacent path segments, and the connection relationship between path segments in the basic flight path.

[0006] Preferably, in S2, the counterfactual flight path refers to the reference flight path generated by the basic flight path through a path structure transformation operation, used for participating in flight path comparison and observation closure calculation; the counterfactual flight path and the corresponding basic flight path satisfy the spatial coverage consistency constraint, that is, the counterfactual flight path and the basic flight path cover the same monitoring object and correspond to the same monitoring object boundary range; the counterfactual flight path differs from the basic flight path in the non-coverage dimension; wherein, the non-coverage dimension includes the path segment order, heading combination method and path connection relationship.

[0007] Preferably, in S3, the monitoring segment refers to a spatial sub-region within the spatial range of the monitoring object, divided according to the spatial structure of the monitoring object, and used to carry path observation data and perform observation closure calculations; different monitoring segments divide the monitoring object according to its spatial structure, specifically by: obtaining the spatial geometric structure of the monitoring object based on its boundary information, performing structural analysis on the spatial geometric structure to determine structural units with spatial continuity, and using the structural units as the basis for dividing the monitoring segments; wherein, the spatial geometric structure includes slope surface structure, step structure, slope top structure, and slope toe structure.

[0008] Preferably, in S3, the observation closure calculation refers to performing a unified constraint closure analysis on multi-path observation data collected from different counterfactual flight paths in the path control group for the same monitoring segment, to determine whether the observations of the same monitoring segment are consistent under different path structure conditions; the observation closure calculation obtains the closure calculation result corresponding to the monitoring segment by matching, aligning and calculating the differences of the multi-path observation data corresponding to the same monitoring segment, so as to determine whether the path observation of the monitoring segment meets the preset judgment conditions; wherein, the closure calculation result is a calculation result used to characterize the consistency of multi-path observations in the same monitoring segment, and its data structure includes a monitoring segment identifier field, a path identifier combination field and a closure judgment value field; the preset judgment conditions are artificial preset conditions used to determine whether the closure calculation result meets the requirements.

[0009] Preferably, in step S4, the preset path substitution condition refers to the condition for determining the substitutability of the counterfactual flight path and the basic flight path in terms of path observation consistency based on the closed-loop calculation results corresponding to the monitoring segment; the preset path substitution condition includes: the closed-loop calculation results corresponding to the counterfactual flight path in the monitoring segment meet the preset judgment conditions, and the basic flight path is not identified as having insufficient path observation in the same monitoring segment; when the counterfactual flight path meets the preset path substitution condition, the counterfactual flight path is determined as a candidate path for replacing the basic flight path.

[0010] Preferably, in step S4, the insufficient path observation identifier refers to the identifier information used to mark that the basic flight path does not meet the preset judgment conditions in at least one monitoring segment, and is used to indicate that the basic flight path has an insufficient observation state in the corresponding monitoring segment; the path sufficiency judgment result set refers to the result set used to record the path observation status of the basic flight path in each monitoring segment; wherein, the data structure of the path sufficiency judgment result set includes at least a path identifier field, a monitoring segment identifier field, and a path observation status field.

[0011] Preferably, in S5, the path evidence chain structure refers to a structured data structure used to associate and organize the path observation status and judgment criteria of the basic flight path under different monitoring sections, and is used to locate the insufficient path observation sections and generate supplementary flight paths; the data structure of the path evidence chain structure includes a path identifier field, a monitoring section identifier field, a path observation status field, and a closed calculation result index field.

[0012] Compared with the prior art, the above-mentioned technical solution of the present invention has the following beneficial technical effects: 1. In this invention, the path determination based on counterfactual flight path and observation closure calculation can objectively judge whether the existing UAV flight path has truly completed the monitoring task without increasing the number of monitoring objects or relying on experience settings. This avoids the problem of assuming sufficient monitoring based solely on path coverage or flight completion status, thereby significantly reducing the risk of hidden monitoring omissions caused by unreasonable path structure. 2. In this invention, a path planning method that combines path substitution judgment with mutually exclusive decision-making for insufficient path observation is used. When the existing basic flight path is found to be unsatisfactory, it can be directly replaced with a more suitable flight path. When it cannot be replaced, a supplementary flight path is generated for the specific monitoring section. This realizes a monitoring process of first optimizing the path and then accurately supplementing the measurement, transforming UAV mine monitoring from a post-event remedial operation into a path planning process that is determinable, adjustable, and closed-loop. Attached Figure Description

[0013] Figure 1 This is a flowchart of one embodiment of the present invention. Detailed Implementation

[0014] like Figure 1 As shown, the specific implementation steps of the UAV-based mine monitoring and path planning method proposed in this invention are as follows: S1. Use drones to collect boundary information of monitoring objects on the slope of open-pit mines, generate basic flight paths covering the monitoring objects, and obtain the basic dataset of paths corresponding to the same monitoring object. S2. Based on the path base dataset, perform path structure transformation operation on each basic flight path to generate multiple counterfactual flight paths corresponding to the basic flight paths. Combine the basic flight paths with the multiple counterfactual flight paths generated accordingly to form a flight path control group, and assign a unique path identifier to each basic flight path and counterfactual flight path. Among them, the counterfactual flight path is a comparative flight path generated by performing a path structure transformation on the basic flight path while maintaining coverage of the same monitoring object as the basic flight path; S3. Based on the flight path control group, the monitoring object is divided into different monitoring segments according to the spatial structure of the monitoring object. The path basic dataset collected by different counterfactual flight paths of the path control group is obtained for each monitoring segment. The observation closure calculation is performed on the path basic dataset of the same monitoring segment to obtain the closure calculation result. S4. Based on the closure calculation results, determine whether the counterfactual flight path meets the preset path substitution conditions. If the counterfactual flight path meets the preset path substitution conditions, determine the counterfactual flight path as the new basic flight path and update the path basic dataset, and recalculate the closure calculation results. When there is no counterfactual flight path that meets the preset path substitution conditions, add a path observation insufficiency indicator to the path identifier of the basic flight path to obtain the path sufficiency judgment result set. Among them, the path sufficiency judgment result set is a set of judgment results used to record the path observation insufficiency indicators corresponding to the basic flight path in each monitoring segment; S5. Based on the path sufficiency determination result set, construct a path evidence chain structure for each basic flight path, and generate supplementary flight paths for the monitoring section by combining multi-path observation data. Among them, the path evidence chain structure is a path association structure used to link the basic flight path with its corresponding monitoring section and the path sufficiency determination result; the supplementary flight path refers to the supplementary flight path generated for monitoring sections with insufficient path observation information.

[0015] In this embodiment S1, the drone used is a DJI Matrice 4E, M300RTK, or a combination of both. The boundary information of the monitored object is a set of boundary data used to characterize the spatial range of the open-pit mine slope monitoring object. The boundary data set includes at least a monitoring object identification field, a boundary vertex coordinate sequence, a boundary line segment connection relationship, a boundary coordinate reference identifier, a boundary elevation reference identifier, and a boundary validity identifier. Among them, the monitoring object identification field is used to uniquely identify the open-pit mine slope object to be monitored, the boundary vertex coordinate sequence is a set of spatial coordinates of boundary vertices recorded in sequence, and the boundary line segment connection relationship is used to indicate the relationship between adjacent boundary vertices. The connection relationships are used to form closed or semi-closed boundaries. Boundary coordinate reference identifiers are used to indicate the coordinate reference system adopted by the boundary vertex coordinate sequence. Boundary elevation reference identifiers are used to indicate the reference benchmark for the elevation of the boundary vertex. Boundary validity identifiers are used to indicate whether the boundary data meets the path planning input requirements. The monitoring object is the target area object in the open-pit mine slope that needs to be monitored and path planned by UAV. The target area object includes at least one of the following: slope surface area, slope step area, and the spatial range enclosed by the slope top line and slope toe line. The monitoring object is determined by the one-to-one correspondence between the monitoring object identifier field and the monitoring object boundary information.

[0016] In this embodiment S1, the process of using a DJI drone to acquire the boundary information of the monitoring object on the open-pit mine slope includes: configuring the mission flight path acquisition parameters for a 4E or M300RTK drone and performing takeoff operations to acquire aerial photographic data and corresponding pose data covering the open-pit mine slope area; wherein, the aerial photographic data includes a set of image frames arranged by time index, and the pose data includes drone positioning data, heading data, pitch data, and roll data corresponding one-to-one with each image frame; performing image registration and stitching processing on the aerial photographic data to obtain orthophoto or oblique image results covering the open-pit mine slope area; and performing boundary extraction processing on the orthophoto or oblique image results to obtain the boundary of the monitoring object. The vertex coordinate sequence, wherein the boundary extraction process includes at least one of the following: generating boundary lines based on manually delineated boundary point sets, generating boundary lines based on slope top and slope bottom line extraction rules, or generating boundary lines based on slope area segmentation results; performing coordinate reference unification processing on the boundary vertex coordinate sequence to obtain monitoring object boundary information, and writing the monitoring object boundary information into the monitoring object boundary data set; wherein, when latitude / longitude 4E and M300RTK are combined, latitude / longitude 4E is used to perform wide-area aerial photography acquisition of the slope area to form a boundary extraction input image set, and M300RTK is used to perform coordinate refinement processing on the boundary vertex coordinate sequence based on RTK positioning results to update the coordinate values ​​in the boundary vertex coordinate sequence.

[0017] In this embodiment S1, the basic flight path covering the monitored object is a set of UAV flight paths that satisfy the boundary information constraints of the monitored object. The basic flight path includes at least a path identifier field, a path segment sequence, and a set of flight parameters corresponding to each path segment. The generation process of the basic flight path includes: determining the spatial range of the monitored object based on the boundary vertex coordinate sequence of the monitored object; generating a path segment sequence within the spatial range of the monitored object according to a preset aerial photography grid generation rule, wherein the path segment sequence consists of several line segments arranged according to the aerial photography direction; determining the corresponding heading parameters, flight altitude parameters, and speed parameters for each line segment to form a basic flight path; associating the basic flight path with the monitored object identifier field to obtain a set of basic flight paths covering the monitored object; wherein the preset aerial photography grid generation rule includes a line spacing determination rule, a heading determination rule, and a boundary expansion rule, wherein the boundary expansion rule is used to expand the boundary vertex coordinate sequence of the monitored object to a planned boundary to generate line segments covering the monitored object.

[0018] In this embodiment S1, the process of obtaining the path base dataset corresponding to the same monitoring object for the basic flight path includes: generating a path base record for each basic flight path in the basic flight path set. The path base record includes at least a monitoring object identifier field, a path identifier field, a path segment sequence field, a path segment connection relationship field, a flight altitude parameter field, a heading parameter field, a speed parameter field, a take-off and landing point coordinate field, a path execution time window field, and a path version field. Among them, the path segment sequence field is used to record the spatial geometric sequence of each path segment in the basic flight path, the path segment connection relationship field is used to record the connection relationship between the path segments, and the take-off and landing point coordinate field is used to record the take-off point of the UAV. The spatial coordinates of the return point, the path execution time window field is used to record the planned execution time interval corresponding to the basic flight path, and the path version field is used to record the version index of the basic flight path under the monitoring object identifier field. All basic path records are grouped and aggregated according to the monitoring object identifier field to obtain the basic path dataset corresponding to the same monitoring object of the basic flight path. The basic path dataset specifically includes a set of basic path records, a field dictionary table, and a monitoring object-path association index table. The field dictionary table is used to define the field name, field type, and field value constraints of each field, and the monitoring object-path association index table is used to record the correspondence between the monitoring object identifier field and the path identifier field.

[0019] In this embodiment S1, a validity verification step for the boundary information of the monitored object and the basic flight path may be further included. The validity verification step includes: performing a closure verification on the vertex coordinate sequence of the monitored object boundary to output a boundary closure status field; performing a consistency verification on the boundary coordinate reference identifier to output a coordinate consistency status field; and performing a coverage verification on whether all the flight path segments of the basic flight path fall within the planned boundary to output a path coverage status field. When the boundary closure status field, the coordinate consistency status field, and the path coverage status field meet the preset availability conditions, the boundary information of the monitored object and the basic flight path are written into the path planning input set of this embodiment. Otherwise, a boundary anomaly identifier or a path anomaly identifier is output and a boundary correction or path regeneration operation is triggered.

[0020] In this embodiment S2, performing a path structure transformation operation on each basic flight path based on the path base dataset is to introduce flight paths with different path structure characteristics while keeping the spatial coverage of the monitored object unchanged, so as to construct a set of flight paths for subsequent path comparison and observation closure calculation. By performing a path structure transformation operation on the basic flight paths, multiple flight paths with differences in path structure can be obtained without introducing new monitored objects or changing the boundary information of the monitored objects, thereby providing a path structure comparison basis for subsequent closure calculation based on multi-path observation data. The specific steps of performing a path structure transformation operation on each basic flight path include: reading the corresponding path structure of the basic flight path from the path base dataset. The system includes a path segment sequence field, a path segment connection relationship field, and a heading parameter field. Based on the path segment sequence field, the system determines the original execution order of each path segment in the basic flight path. Based on the heading parameter field, the system determines the heading combination relationship between adjacent path segments. Based on the path segment connection relationship field, the system determines the connection topology between each path segment in the basic flight path. On this basis, according to a preset path structure transformation rule, at least one of the path segment execution order, heading combination relationship, or path segment connection relationship is adjusted to generate a path structure transformation result corresponding to the basic flight path. Each set of path structure transformation results is mapped to a counterfactual flight path, and the generated counterfactual flight path is associated with the corresponding basic flight path.

[0021] In this embodiment S2, multiple counterfactual flight paths are generated for each basic flight path to form a path comparison set derived from the same basic flight path. These multiple counterfactual flight paths are used in subsequent steps to participate in multi-path observation data acquisition and observation closure calculation at the monitoring segment level, enabling the same monitoring segment to obtain observation data input from different path structures. By generating multiple counterfactual flight paths for the same basic flight path, the path structure dependency caused by observation judgment based solely on a single path structure can be avoided, and diverse path structure samples can be provided for path comparison analysis. Assigning a unique path identifier to each basic flight path and each counterfactual flight path is to ensure that the path basic data... In the process of data collection, flight path control group analysis, and subsequent path determination, different flight paths are uniquely identified and associated. The path identifier is a structured data field, whose data structure includes at least a unique path identifier field, a path type identifier field, and a path version identifier field. The unique path identifier field is used to uniquely identify a flight path globally, the path type identifier field is used to indicate whether the path is a basic flight path or a counterfactual flight path, and the path version identifier field is used to identify the generation batch or updated version of the flight path under the corresponding monitoring object. Through the data structure setting of the path identifier, the same flight path can be accurately indexed and distinguished in the subsequent monitoring segment division, observation closure calculation, and path determination process.

[0022] In this embodiment S2, a further step of verifying the validity of the counterfactual flight path may be included. The validity verification step includes: verifying whether the counterfactual flight path meets the boundary information constraints of the monitored object, verifying whether all the path segments of the counterfactual flight path fall within the coverage area corresponding to the basic flight path, and verifying whether the number of path segments of the counterfactual flight path and the number of path segments of the basic flight path meet a preset correspondence. When the counterfactual flight path passes the validity verification, it is written into the flight path control group; otherwise, the counterfactual flight path is removed and the path structure transformation operation is re-executed.

[0023] In this embodiment S2, the path structure transformation operation refers to the operation of adjusting the structure of the path components of the basic flight path without changing the coverage of the monitored objects. This is used to generate a counterfactual flight path that is consistent with the basic flight path in terms of the covered objects but differs in terms of path structure. In the process of performing the path structure transformation operation on each basic flight path, the path structure elements that are transformed in the basic flight path specifically include: the execution order of each path segment in the basic flight path, the heading combination relationship between adjacent path segments, and the connection relationship between path segments in the basic flight path.

[0024] In this embodiment S2, the premise of not changing the coverage range of the monitored object by the basic flight path means that before and after performing the path structure transformation operation, both the basic flight path and the corresponding generated counterfactual flight path spatially cover the spatial range defined by the boundary information of the same monitored object. The coverage range of the monitored object by the basic flight path is jointly determined by the vertex coordinate sequence of the monitored object boundary and the preset aerial photography grid generation rule. The vertex coordinate sequence of the monitored object boundary is used to limit the spatial boundary of the path planning, and the aerial photography grid generation rule is used to limit the spatial distribution density and coverage direction of each path segment in the basic flight path. The counterfactual flight path and the basic flight path differ in path structure. The path structure difference is specifically reflected in at least one of the following: path segment execution order, heading combination relationship, and path segment connection relationship. The path segment execution order refers to the order in which each path segment in the basic flight path is executed in the flight mission. The execution order is described by the path segment sequence field; the heading combination relationship refers to the heading connection method formed by adjacent path segments during space flight, which is jointly determined by the heading parameter fields of adjacent path segments; the path segment connection relationship refers to the topological structure of the connection between path segments, which is used to indicate the connection method and direction of the path segments in the overall flight path; when transforming the path structure of the basic flight path, the execution arrangement of each path segment in the flight path can be changed by adjusting the execution order of the path segments; the spatial order of heading switching in the flight path can be changed by adjusting the heading combination relationship between adjacent path segments; the connection topology between path segments can be changed by reconstructing the connection relationship between path segments in the basic flight path; all the above adjustments to the path structure elements are performed without changing the spatial range of the monitored object covered by the path segments.

[0025] In this embodiment S2, the counterfactual flight path refers to the reference flight path generated by the basic flight path through path structure transformation operation, which is used to participate in flight path comparison and observation closure calculation; the counterfactual flight path and the corresponding basic flight path satisfy the spatial coverage consistency constraint, that is, the counterfactual flight path and the basic flight path cover the same monitoring object and correspond to the same monitoring object boundary range; the counterfactual flight path differs from the basic flight path in the non-coverage dimension; wherein, the non-coverage dimension includes the path segment order, heading combination method and path connection relationship.

[0026] In this embodiment S2, the counterfactual flight path and the corresponding basic flight path satisfy the spatial coverage consistency constraint. Specifically, the counterfactual flight path and the basic flight path cover the spatial range defined by the boundary information of the same monitored object, and their spatial coverage areas within the boundary range of the monitored object remain consistent. The spatial coverage consistency constraint is used to ensure the comparability of observation data obtained under different path structures. The non-coverage dimension refers to the difference dimension presented by the flight path at the path structure level without affecting the spatial coverage range of the monitored object. The non-coverage dimension includes at least the path segment order, heading combination method, and path connection relationship. Among them, the path segment order refers to the execution arrangement order of each path segment in the flight path, the heading combination method refers to the heading connection method between adjacent path segments, and the path connection relationship refers to the connection topology of the path segments in the overall flight path. By introducing differences in the non-coverage dimension, the counterfactual flight path maintains spatial coverage consistency while forming a contrast with the basic flight path at the path structure level.

[0027] In this embodiment S3, the spatial structure of the monitored object refers to the set of spatial structures within the spatial range defined by the boundary information of the monitored object, which can reflect the geometric morphology and structural distribution characteristics of the open-pit mine slope. The spatial structure is used to describe the spatial composition and structural continuity of the monitored object, and is the structural basis for subsequent division of monitoring sections and organization of path observation data. The spatial structure of the monitored object is determined by the coordinate sequence of the boundary vertices of the monitored object and its corresponding elevation information, and is used to construct the spatial geometric structure of the monitored object. The process of dividing the monitored object into different monitoring sections according to the spatial structure of the monitored object includes: obtaining the spatial geometric structure of the monitored object based on the boundary information of the monitored object, performing structural analysis on the spatial geometric structure to identify continuous regions in the spatial structure, and using the identified continuous regions as monitoring sections. The structural analysis refers to the process of identifying regions in the spatial geometric structure that have the same or similar geometric features, continuous spatial positions, and consistent structural morphology. Through the structural analysis process, different structural regions within the spatial range of the monitored object are divided into several mutually distinguishable monitoring sections.

[0028] In this embodiment S3, obtaining the path base dataset for each monitoring segment from different counterfactual flight paths in the path control group refers to collecting and organizing the path observation data collected during the execution of each counterfactual flight path in the path control group according to the spatial range of the monitoring segment. Specifically, this includes: spatially mapping each path segment in the path base dataset corresponding to the counterfactual flight path based on the spatial range of the monitoring segment to determine the monitoring segment corresponding to each path segment in the spatial structure of the monitoring object; aggregating the path segments belonging to the same monitoring segment and their corresponding observation data to form a multi-path observation data set corresponding to that monitoring segment; the method for collecting the path base dataset of the counterfactual flight path is the same as that for collecting the path base dataset of the basic flight path; that is, the counterfactual flight path adopts the same data collection method, data organization structure and data field definition as the basic flight path during the data collection process; by maintaining the consistency of the path base dataset collection method, the path observation data from the basic flight path and the counterfactual flight path are kept consistent at the data structure level, thereby providing a unified data foundation for subsequent alignment, matching and closure calculation of multi-path observation data based on the monitoring segment.

[0029] In this embodiment S3, a monitoring segment refers to a spatial sub-region within the spatial range of the monitoring object, divided according to the spatial structure of the monitoring object, and used to carry path observation data and perform observation closure calculations. Different monitoring segments divide the monitoring object according to its spatial structure. Specifically, the spatial geometric structure of the monitoring object is obtained based on its boundary information. The spatial geometric structure is then analyzed to determine structural units with spatial continuity, and these structural units are used as the basis for dividing the monitoring segments. The spatial geometric structure includes slope surface structure, step structure, slope top structure, and slope toe structure. Different monitoring segments are spatially distinct but collectively cover the spatial range of the monitoring object.

[0030] In this embodiment S3, the monitoring section is used to carry path observation data. This means that path observation data belonging to the same continuous spatial structure are uniformly organized and used as the processing unit for subsequent observation closure calculation. By using the monitoring section as the carrying unit for path observation data, observation data from different path structures can be centrally processed within the same spatial range, avoiding data deviations introduced by inconsistencies in spatial location. The observation closure calculation uses the monitoring section as the basic processing unit. Obtaining the spatial geometric structure of the monitoring object based on the boundary information of the monitoring object means constructing a three-dimensional or two-dimensional spatial geometric representation of the monitoring object based on the coordinate sequence of the boundary vertices of the monitoring object and its corresponding elevation information. Structural analysis of the spatial geometric structure means analyzing the geometric morphological characteristics of different regions in the spatial geometric representation to determine structural units with spatial continuity. Among them, structural units with spatial continuity refer to regional units that are continuous in spatial location, consistent in geometric shape, and identical in structural attributes.

[0031] In this embodiment S3, structural units are used as the basis for dividing monitoring sections because the spatial geometric features within the same structural unit are consistent, providing a unified spatial alignment basis for observation data from different flight paths. By using structural units as monitoring sections, it can be ensured that path observation data obtained under different path structural conditions are comparable within the same monitoring section, thereby supporting subsequent observation closure calculations. The spatial geometric structure includes one or more of the following: slope surface structure, step structure, slope top structure, and slope toe structure. Among them, the slope surface structure refers to the slope area located between the slope top structure and the slope toe structure, which is continuously inclined; the step structure refers to the graded structural area with a relatively flat surface formed on the slope surface; the slope top structure refers to the structural area located at the upper edge of the slope, used to define the starting position of the slope; the slope toe structure refers to the structural area located at the lower edge of the slope, used to define the ending position of the slope. The spatial geometric features of different structural types serve as the basis for structural analysis to determine the spatial division of monitoring sections.

[0032] In this embodiment S3, observation closure calculation refers to performing a unified constraint closure analysis on multi-path observation data collected from different counterfactual flight paths in the path control group for the same monitoring segment, to determine whether the observations of the same monitoring segment are consistent under different path structure conditions. The observation closure calculation obtains the closure calculation result corresponding to the monitoring segment by matching, aligning and calculating differences of the multi-path observation data corresponding to the same monitoring segment, so as to determine whether the path observation of the monitoring segment meets the preset judgment conditions. The closure calculation result is a calculation result used to characterize the consistency of multi-path observations in the same monitoring segment, and its data structure includes a monitoring segment identifier field, a path identifier combination field and a closure judgment value field. The preset judgment conditions are artificial preset conditions used to determine whether the closure calculation result meets the requirements.

[0033] In this embodiment S3, a unified constraint closure analysis is performed on the multipath observation data collected from different counterfactual flight paths in the path control group. This means performing a consistency analysis on path observation data from different counterfactual flight paths under the same spatial range, the same monitoring section, and the same data organization rules. The unified constraint refers to applying the same spatial alignment rules, time index rules, and data field matching rules to the multipath observation data participating in the closure analysis to ensure that the observation data under different path structure conditions are comparable. The closure analysis refers to the process of matching, aligning, and calculating differences among the multipath observation data for the same monitoring section. Through the closure analysis, a closure calculation result characterizing the consistency of the multipath observation data can be obtained. The closure analysis does not depend on the specific path structure but is based on the correspondence between the observation data within the monitoring section at the spatial and data structure levels.

[0034] In this embodiment S3, the process of determining whether the observations of the same monitoring segment under different path structure conditions are consistent includes: performing data matching on multi-path observation data belonging to the same monitoring segment to determine the correspondence between observation data under different paths; performing spatial alignment processing on the matched observation data to eliminate positional offset caused by path structure differences; after alignment, calculating the differences between multi-path observation data to obtain the closure calculation result corresponding to the monitoring segment; and determining whether the path observation of the monitoring segment meets the preset judgment conditions based on the closure calculation result is as follows: when the consistency of multi-path observation represented by the closure calculation result meets the preset judgment requirements, the path observation of the monitoring segment is determined to meet the preset judgment conditions; when the consistency of multi-path observation represented by the closure calculation result does not meet the preset judgment requirements, the corresponding path control group is determined to have insufficient path observation in the monitoring segment, that is, the path observation of the monitoring segment does not meet the preset judgment conditions; wherein, the preset judgment conditions are used to distinguish whether the observation data of the same monitoring segment under different path structure conditions are consistent.

[0035] In this embodiment S4, the preset path substitution condition refers to the condition for determining the substitutability of the counterfactual flight path and the basic flight path in terms of path observation consistency based on the closed-loop calculation results corresponding to the monitoring segment; the preset path substitution condition includes: the closed-loop calculation results corresponding to the counterfactual flight path in the monitoring segment meet the preset judgment condition, and the basic flight path is not identified as having insufficient path observation in the same monitoring segment; when the counterfactual flight path meets the preset path substitution condition, the counterfactual flight path is determined as a candidate path for replacing the basic flight path.

[0036] In this embodiment S4, the insufficient path observation identifier refers to the identifier information used to mark that the basic flight path does not meet the preset judgment conditions in at least one monitoring segment, and is used to indicate that the basic flight path has an insufficient observation state in the corresponding monitoring segment; the path sufficiency judgment result set refers to the result set used to record the path observation status of the basic flight path in each monitoring segment; wherein, the data structure of the path sufficiency judgment result set includes at least a path identifier field, a monitoring segment identifier field, and a path observation status field.

[0037] In this embodiment S4, based on the closure calculation results, path substitution determination and path observation insufficiency determination are performed on the counterfactual flight path and the basic flight path. The closure calculation results include at least a monitoring segment identifier field, a path identifier combination field, and a closure determination value field. The monitoring segment identifier field is used to uniquely identify the monitoring segment corresponding to the closure calculation, the path identifier combination field is used to record the path identifier set of the counterfactual flight paths participating in this closure calculation, and the closure determination value field is used to characterize the degree of difference of multi-path observation data within the monitoring segment. In this embodiment, for each basic flight path, based on its corresponding flight path control group, the closure calculation results are grouped according to the monitoring segment identifier field to obtain the closure calculation result set corresponding to the basic flight path in each monitoring segment, and the segment-by-segment determination of the preset path substitution conditions is performed using the closure calculation result set as input.

[0038] In this embodiment S4, the process of determining whether the counterfactual flight path meets the preset path substitution conditions includes a joint determination of two sub-conditions. These two sub-conditions are: first, the closure calculation result corresponding to the counterfactual flight path within the monitoring segment meets the preset determination condition; second, the basic flight path is not identified as insufficient path observation within the same monitoring segment. The determination process for the sub-condition "the closure calculation result corresponding to the counterfactual flight path within the monitoring segment meets the preset determination condition" is as follows: Extract the path identifier combination field corresponding to the path identifier of the target counterfactual flight path from the closure calculation result set, and obtain the closure determination value field corresponding to the path identifier combination field under each monitoring segment identifier field; perform aggregation processing on the closure determination value fields obtained from different path identifier combination fields under the same monitoring segment to obtain the segment closure determination value corresponding to the monitoring segment. The results are determined, and the segment closure determination results are compared with preset determination conditions. When the segment closure determination results are within the allowable range defined by the preset determination conditions, it is determined that the closure calculation result corresponding to the target counterfactual flight path under the monitoring segment meets the preset determination conditions; otherwise, it is determined that the preset determination conditions are not met. The determination process for the sub-condition "the basic flight path is not identified as insufficient path observation in the same monitoring segment" is as follows: query the path observation status field corresponding to the path identifier of the basic flight path. If the path observation status field does not record the insufficient path observation identifier under the corresponding monitoring segment identifier field, it is determined that the basic flight path is not identified as insufficient path observation in the same monitoring segment; otherwise, it is determined that it has been identified as insufficient path observation. When the above two sub-conditions are met simultaneously in the same monitoring segment, it is determined that the target counterfactual flight path meets the preset path substitution conditions.

[0039] In this embodiment S4, if the counterfactual flight path meets the preset path substitution conditions, the counterfactual flight path is determined as the new basic flight path and the path basic dataset is updated. The process of updating the path basic dataset includes: using the path identifier of the counterfactual flight path as the path identifier field of the new basic flight path; writing the path segment sequence field, path segment connection relationship field, heading parameter field, flight altitude parameter field, and speed parameter field corresponding to the counterfactual flight path into the new path basic record; and associating the new path basic record with the monitoring object identifier field corresponding to the original basic flight path, thereby obtaining the path basic dataset corresponding to the substituted basic flight path. In this embodiment, based on the substituted basic flight path... The basic flight path dataset is used to regenerate the flight path control group and recalculate the closure calculation results. Specifically, this includes: performing a path structure transformation operation again based on the replaced basic flight path to generate multiple counterfactual flight paths corresponding to the replaced basic flight path, forming a replaced flight path control group; obtaining multi-path observation data corresponding to each monitoring segment according to the monitoring segment division rules based on the replaced flight path control group, and performing observation closure calculation on the multi-path observation data of the same monitoring segment to obtain a set of replaced closure calculation results; associating and storing the set of replaced closure calculation results with the path identifier field of the replaced basic flight path to update the closure calculation result input required for subsequent path replacement determination.

[0040] In this embodiment S4, when there is no counterfactual flight path that meets the preset path substitution conditions, a path observation deficiency flag is added to the path identifier of the basic flight path, and a path sufficiency judgment result set is generated. Specifically, this includes: for the closed calculation result set corresponding to the basic flight path in each monitoring segment, if the closed calculation result corresponding to the basic flight path does not meet the preset judgment conditions in any monitoring segment, the monitoring segment identifier field is associated with the path identifier field of the basic flight path, and a path observation deficiency flag is written into the associated record, thereby generating a path observation deficiency record; all path observation deficiency records are aggregated to form a path sufficiency judgment result set; wherein, the path observation deficiency flag is a structured identifier field, and its data structure includes at least a deficiency flag bit field, a deficiency monitoring segment set field, and a deficiency record version field. The deficiency flag bit field is used to indicate whether there is a path observation deficiency state in the basic flight path, the deficiency monitoring segment set field is used to record the set of monitoring segment identifier fields that trigger path observation deficiency, and the deficiency record version field is used to record the updated version index of the path observation deficiency flag.

[0041] In this embodiment S4, the data structure of the path sufficiency determination result set includes at least a path identifier field, a monitoring segment identifier field, and a path observation status field. The path identifier field uniquely identifies the basic flight path being determined, the monitoring segment identifier field uniquely identifies the monitoring segment that triggered the determination, and the path observation status field records the path observation status of the basic flight path in the corresponding monitoring segment. In this embodiment, the path observation status field includes at least a normal status value and an insufficient observation status value. The normal status value indicates that the closure calculation result of the basic flight path in the corresponding monitoring segment meets the preset determination conditions, and the insufficient observation status value indicates that the closure calculation result of the basic flight path in the corresponding monitoring segment does not meet the preset determination conditions. Through the data structure setting of the path sufficiency determination result set, subsequent steps can locate the corresponding monitoring segment in the path evidence chain structure based on the path identifier field and the monitoring segment identifier field, and generate a supplementary flight path for the monitoring segment.

[0042] In this embodiment S5, the path evidence chain structure refers to a structured data structure used to associate and organize the path observation status and judgment criteria of the basic flight path under different monitoring sections, and is used to locate the insufficient path observation sections and generate supplementary flight paths; the data structure of the path evidence chain structure includes a path identifier field, a monitoring section identifier field, a path observation status field, and a closed calculation result index field.

[0043] In this embodiment S5, the path identifier field is used to uniquely identify the basic flight path, the monitoring segment identifier field is used to uniquely identify the monitoring segment, the path observation status field is used to record the path observation status of the basic flight path under the corresponding monitoring segment, and the closure calculation result index field is used to associate the closure calculation result under the corresponding monitoring segment. Based on the path evidence chain structure, the monitoring segments marked as insufficient observation in the path observation status field are extracted, and combined with the path observation data associated with the closure calculation result index field, a supplementary flight path for the monitoring segment is generated.

[0044] In this embodiment S5, the supplementary flight path for the monitoring segment is generated based on the path evidence chain structure and multi-path observation data. The specific method is as follows: For the basic flight path identified as having insufficient path observation in the path sufficiency judgment result set, the corresponding path evidence chain record is retrieved in the path evidence chain structure based on its path identifier field; the set of monitoring segment identifier fields with path observation status fields identified as having insufficient observation is extracted from the path evidence chain records, and the set of monitoring segment identifier fields is determined as the target monitoring segment set that needs to be supplemented; the process of generating supplementary flight paths for the target monitoring segment set includes: obtaining multi-path observation data under the corresponding monitoring segment based on the closed calculation result index field associated in the path evidence chain structure; analyzing the multi-path observation data to determine the spatial distribution location of insufficient observation within the monitoring segment, and using the spatial distribution location as the spatial constraint input for the supplementary flight path; on this basis, combined with the spatial geometric structure of the monitoring segment and the boundary information of the monitoring object, a supplementary flight path is generated to cover the spatial location of insufficient observation.

[0045] In this embodiment S5, the supplementary flight path refers to a flight path generated for a monitoring segment identified as having insufficient observations in the path evidence chain structure, used to supplement the path observation data within that monitoring segment. The supplementary flight path includes at least a supplementary flight path identifier field, a corresponding basic flight path identifier field, a supplementary monitoring segment identifier field, and a supplementary flight path segment sequence field. The supplementary flight path identifier field uniquely identifies the generated supplementary flight path, the corresponding basic flight path identifier field indicates the basic flight path corresponding to the supplementary flight path, and the supplementary monitoring segment identifier field... The supplementary flight path segment sequence field is used to indicate the monitoring segment targeted by the supplementary flight path. It is used to record the spatial geometric information of each path segment in the supplementary flight path. When generating the supplementary flight path, the basis for generating the supplementary flight path segment sequence includes: the spatial range of the target monitoring segment, the information of the insufficient observation segment recorded in the path evidence chain structure, and the corresponding insufficient observation spatial location in the multi-path observation data. By deploying the supplementary flight path segments within the target monitoring segment, the supplementary flight path can spatially cover the insufficient observation area and avoid repeating the flight mission for monitoring segments that have already met the preset judgment conditions.

[0046] In this embodiment S5, a validity verification step for the supplementary flight path may be further included. The validity verification step includes: verifying whether the supplementary flight path completely falls within the spatial range of the corresponding monitoring segment; verifying whether there is path overlap or conflict between the supplementary flight path and the original basic flight path and the generated counterfactual flight path; and verifying whether the number of path segments and the path length of the supplementary flight path meet the preset flight constraint conditions. When the supplementary flight path passes the validity verification, it is written into the supplementary flight path set for subsequent execution; otherwise, the path generation process is re-executed for the supplementary flight path. The generated supplementary flight path exists as a supplementary flight mission path independent of the basic flight path and the counterfactual flight path. The path observation data collected from its execution result can be incorporated into the multi-path observation data set of the corresponding monitoring segment for subsequent path sufficiency determination or as an update input for the path evidence chain structure.

[0047] In this embodiment S5, after obtaining the supplementary flight path, the process of path planning for UAV mine monitoring includes: writing the supplementary flight path, the corresponding basic flight path, and the counterfactual flight path into a path task set. The path task set includes at least a task identifier field, a path identifier field, a monitoring object identifier field, a monitoring section identifier field, a path type field, and a task execution status field. The path type field is used to distinguish between the basic flight path, the counterfactual flight path, and the supplementary flight path. Based on the path task set, path conflict verification and path coverage verification are performed on each path task under the same monitoring object. The path conflict verification is used to identify take-off and landing point conflicts, flight line segment intersection conflicts, or flight altitude conflicts of different path tasks within the same time window. The path coverage verification is used to confirm the supplementary flight path. The coverage relationship of the path to the target monitoring section meets the supplementary measurement requirements. After passing the verification, the path tasks in the path task set are sorted and scheduled according to the task execution status field to generate a task route sequence for UAV execution. The task route sequence is then sent to the UAV flight control task interface to complete the task-oriented configuration of path planning. The sorting and scheduling includes at least prioritizing the supplementary measurement flight path according to the monitoring section identifier field, constraining the execution order of the supplementary measurement flight path and the basic flight path according to the path type field, and updating the status of executed and pending tasks according to the task execution status field. After the UAV executes the task route sequence and transmits the path observation data back, the transmitted path observation data is written into the multi-path observation data set according to the monitoring section identifier field and the path identifier field.

[0048] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A method for mine monitoring and path planning based on unmanned aerial vehicles (UAVs), characterized in that, Includes the following steps: S1. Use drones to collect boundary information of monitoring objects on the slope of open-pit mines, generate basic flight paths covering the monitoring objects, and obtain the basic dataset of paths corresponding to the same monitoring object. S2. Based on the path base dataset, perform path structure transformation operation on each basic flight path to generate multiple counterfactual flight paths corresponding to the basic flight paths. Combine the basic flight paths with the multiple counterfactual flight paths generated accordingly to form a flight path control group, and assign a unique path identifier to each basic flight path and counterfactual flight path. Among them, the counterfactual flight path is a comparative flight path generated by performing a path structure transformation on the basic flight path while maintaining coverage of the same monitoring object as the basic flight path; S3. Based on the flight path control group, the monitoring object is divided into different monitoring segments according to the spatial structure of the monitoring object. The path basic dataset collected by different counterfactual flight paths of the path control group is obtained for each monitoring segment. The observation closure calculation is performed on the path basic dataset of the same monitoring segment to obtain the closure calculation result. S4. Based on the closure calculation results, determine whether the counterfactual flight path meets the preset path substitution conditions. If the counterfactual flight path meets the preset path substitution conditions, determine the counterfactual flight path as the new basic flight path and update the path basic dataset, and recalculate the closure calculation results. When there is no counterfactual flight path that meets the preset path substitution conditions, add a path observation insufficiency indicator to the path identifier of the basic flight path to obtain the path sufficiency judgment result set. Among them, the path sufficiency judgment result set is a set of judgment results used to record the path observation insufficiency indicators corresponding to the basic flight path in each monitoring segment; S5. Based on the path sufficiency determination result set, construct a path evidence chain structure for each basic flight path, and generate supplementary flight paths for the monitoring section by combining multi-path observation data. Among them, the path evidence chain structure is a path association structure used to link the basic flight path with its corresponding monitoring section and the path sufficiency determination result; the supplementary flight path refers to the supplementary flight path generated for monitoring sections with insufficient path observation information.

2. The method for mine monitoring and path planning based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that: In S2, the path structure transformation operation refers to the operation of adjusting the structure of the path components of the basic flight path without changing the coverage of the monitoring objects of the basic flight path. This is used to generate a counterfactual flight path that is consistent with the basic flight path in terms of coverage objects but differs in terms of path structure. In the process of performing the path structure transformation operation on each basic flight path, the path structure elements that are transformed in the basic flight path specifically include: the execution order of each path segment in the basic flight path, the heading combination relationship between adjacent path segments, and the connection relationship between path segments in the basic flight path.

3. The method for mine monitoring and path planning based on unmanned aerial vehicles (UAVs) according to claim 2, characterized in that: In S2, the counterfactual flight path refers to the reference flight path generated by the basic flight path through path structure transformation operation, which is used to participate in flight path comparison and observation closure calculation; the counterfactual flight path and the corresponding basic flight path satisfy the spatial coverage consistency constraint, that is, the counterfactual flight path and the basic flight path cover the same monitoring object and correspond to the same monitoring object boundary range; the counterfactual flight path differs from the basic flight path in the non-coverage dimension; wherein, the non-coverage dimension includes the path segment order, heading combination method and path connection relationship.

4. The method for mine monitoring and path planning based on unmanned aerial vehicles (UAVs) according to claim 3, characterized in that: In S3, a monitoring segment refers to a spatial sub-region within the spatial range of the monitoring object, divided according to the spatial structure of the monitoring object, and used to carry path observation data and perform observation closure calculations. Different monitoring segments divide the monitoring object according to its spatial structure. The specific method is as follows: obtain the spatial geometric structure of the monitoring object based on its boundary information, perform structural analysis on the spatial geometric structure to determine the structural units with spatial continuity, and use the structural units as the basis for dividing the monitoring segments. The spatial geometric structure includes slope surface structure, step structure, slope top structure, and slope toe structure.

5. The method for mine monitoring and path planning based on unmanned aerial vehicles (UAVs) according to claim 4, characterized in that: In S3, observation closure calculation refers to performing a unified constraint closure analysis on multi-path observation data collected from different counterfactual flight paths in the path control group for the same monitoring section, and determining whether the observations of the same monitoring section are consistent under different path structure conditions. The observation closure calculation is performed by matching, aligning and calculating the differences of multi-path observation data corresponding to the same monitoring segment to obtain the closure calculation result corresponding to the monitoring segment, so as to determine whether the path observation of the monitoring segment meets the preset judgment conditions; wherein, the closure calculation result is a calculation result used to characterize the consistency of multi-path observations in the same monitoring segment, and its data structure includes a monitoring segment identifier field, a path identifier combination field and a closure judgment value field. The preset judgment condition is a pre-set condition used to determine whether the result of the closed calculation meets the requirements.

6. The method for mine monitoring and path planning based on unmanned aerial vehicles (UAVs) according to claim 5, characterized in that: In S4, the preset path substitution condition refers to the condition for determining the substitutability of the counterfactual flight path and the basic flight path in terms of path observation consistency based on the closed calculation results corresponding to the monitoring segment. The preset path substitution conditions include: the closed calculation result of the counterfactual flight path within the monitoring section meets the preset judgment conditions, and the basic flight path is not identified as insufficient path observation within the same monitoring section; When a counterfactual flight path meets the preset path substitution conditions, the counterfactual flight path is determined as a candidate path to replace the basic flight path.

7. A method for mine monitoring and path planning based on unmanned aerial vehicles (UAVs) according to claim 6, characterized in that: In S4, the insufficient path observation identifier refers to the identifier information used to mark that the basic flight path does not meet the preset judgment conditions in at least one monitoring segment, and is used to indicate that the basic flight path has an insufficient observation state in the corresponding monitoring segment; the path sufficiency judgment result set refers to the result set used to record the path observation status of the basic flight path in each monitoring segment; wherein, the data structure of the path sufficiency judgment result set includes at least a path identifier field, a monitoring segment identifier field, and a path observation status field.

8. A method for mine monitoring and path planning based on unmanned aerial vehicles (UAVs) according to claim 7, characterized in that: In S5, the path evidence chain structure refers to a structured data structure used to associate and organize the path observation status and judgment criteria of the basic flight path under different monitoring sections, and is used to locate the insufficient path observation sections and generate supplementary flight paths; the data structure of the path evidence chain structure includes a path identifier field, a monitoring section identifier field, a path observation status field, and a closed calculation result index field.

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