Recently, using unmanned aerial vehicles (UAVs) to collect information from distributed sensors has become one of the hotspots in the Internet of Things (IoT) research. However, previous studies on the UAV-assisted data acquisition systems focused mainly on shortening the acquisition time, reducing the energy consumption, and increasing the amount of collected data, but it lacked the optimization of data freshness. Moreover, we hope that UAVs can perform long-term data collection tasks in dynamic scenarios within a constantly changing age of information (AoI) and within their own power levels. Therefore, we aim to maximize the quality of service (QoS) based on the freshness of data, while considering the endurance of the UAVs. Since our scenario is not an inertial order decision process with uniform time slots, we first transform the optimization problem into a semi-Markov decision process (SMDP) through modeling, and then we propose a hierarchical deep Q-network (DQN)-based path-planning algorithm to learn the optimal strategy. The simulation results show that the algorithm is better than the benchmark algorithm, and the tradeoff between the system QoS and the safe power state can be achieved by adjusting the parameter ${\beta }_e$.