A method, device, system and readable storage medium for selecting a landing site for an unmanned aerial vehicle

Abstract

A method, device, system and readable storage medium for selecting a drone landing site, relating to the field of drone mapping technology. The method for selecting a drone landing site comprises: first, obtaining the location points of each preliminary landing site according to the landing area; second, determining a screening route according to the location points of each preliminary landing site, the screening route including the location points of each preliminary landing site; third, controlling the drone to collect images of the location points of each preliminary landing site to obtain a screening image; finally, screening each preliminary landing site according to each screening image and screening condition to obtain each target landing site. The present application can not only improve the efficiency and automation of landing site search, but also the reliability of the search results is significantly better than the prior art.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) surveying and mapping technology, and in particular to a method, device, system and readable storage medium for selecting an UAV landing site. Background Art

[0002] At present, with the continuous development of drone technology, the application of drones is becoming more and more extensive. How to quickly patrol the emergency landing site plays a key role in whether the drone can make a successful emergency landing.

[0003] Existing technical solutions mainly rely on manual search and identification of the landing site of the drone. However, manual search is very inefficient, time-consuming and labor-intensive, and has low reliability. Summary of the invention

[0004] The purpose of the present invention is to provide a method, device, system and readable storage medium for selecting a landing site for an unmanned aerial vehicle, which can effectively improve the efficiency and reliability of landing site selection.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] In a first aspect, the present application provides a method for selecting a landing site for a drone, the method comprising:

[0007] According to the landing area, the location points of each preliminary landing field are obtained;

[0008] Determining a screening route according to the location points of each of the preliminary landing fields, wherein the screening route includes the location points of each of the preliminary landing fields;

[0009] Controlling the UAV to collect images of the locations of each of the preliminary landing sites to obtain a screening image;

[0010] According to each of the screening images and screening conditions, each of the preliminary landing fields is screened to obtain each of the target landing fields.

[0011] Optionally, after the step of obtaining each target landing site, the method further includes:

[0012] The environmental information of each of the target landing fields is obtained, and the type of each of the target landing fields is determined according to the environmental information of each of the target landing fields and the type of the UAV.

[0013] Optionally, after the step of determining the type of each target landing field, the method further includes:

[0014] The type of each target landing field is sent to the cloud server.

[0015] Optionally, the step of obtaining the position points of each preliminary landing field according to the landing area includes:

[0016] Determine the activity center and activity radius of the UAV, and obtain the landing area according to the activity center and activity radius;

[0017] Planning a spiral route in the landing area with the activity center as the spiral center to obtain a patrol route;

[0018] According to the patrol route, the location point of each preliminary landing field is obtained.

[0019] Optionally, the step of obtaining the location points of each of the preliminary landing sites according to the patrol route includes:

[0020] According to the patrol route, the patrol route includes a plurality of patrol points, and the drone is controlled to collect images at each patrol point to obtain preliminary image data;

[0021] According to each of the preliminary image data, the position point of each of the preliminary landing fields is obtained.

[0022] Optionally, the step of obtaining the position point of each preliminary landing field according to each preliminary image data includes:

[0023] Performing aerial triangulation and stitching processing on all the preliminary image data to obtain digital orthophotos, digital surface models and digital elevation models;

[0024] The location point of each preliminary landing site is obtained according to the digital orthophoto, the digital surface model and the digital elevation model.

[0025] Optionally, the step of obtaining preliminary landing field information according to the digital orthophoto, the digital surface model and the digital elevation model includes:

[0026] Multimodal AI recognition is performed based on the digital orthophoto, the digital surface model, and the digital elevation model to obtain the location points of each of the preliminary landing sites.

[0027] Optionally, the step of determining the screening route according to the location points of each of the preliminary landing fields includes:

[0028] According to the location points of each of the preliminary landing fields, a route with the shortest connection between the location points is selected as a screening route.

[0029] In a second aspect, the present application provides a drone landing site selection device, the device comprising a preliminary landing site determination module, a route screening module, and a target landing site determination module;

[0030] The preliminary landing field determination module is used to obtain the location points of each preliminary landing field according to the landing area;

[0031] The screening route module is used to determine the screening route according to the location points of each preliminary landing field, the screening route includes the location points of each preliminary landing field, and control the drone to collect images of the location points of each preliminary landing field to obtain a screening image;

[0032] The target landing field determination module is used to screen each of the preliminary landing fields according to each of the screening images and screening conditions to obtain the location point of each target landing field.

[0033] In a third aspect, the present application provides a drone landing site selection system, the system comprising a controller and a drone, the controller being communicatively connected to the drone, and the controller being used to execute the drone landing site selection method.

[0034] In a fourth aspect, the present application provides a drone landing site selection system, the system comprising a controller and a drone, the controller being communicatively connected to the drone, and the drone being used to execute the drone landing site selection method.

[0035] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for selecting a landing site for a UAV.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] A method, device, system and readable storage medium for selecting a landing site for a drone, the method comprising: first, obtaining the location points of each preliminary landing site according to the landing area; second, determining a screening route according to the location points of each preliminary landing site, the screening route including the location points of each preliminary landing site; third, controlling the drone to collect images of the location points of each preliminary landing site to obtain a screening image; finally, screening each preliminary landing site according to each screening image and screening condition to obtain each target landing site. The present application can not only improve the efficiency and automation of landing site search, but also the reliability of the search results is significantly better than the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A schematic diagram of the architecture of a drone landing site selection system provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the architecture of an electronic device provided in an embodiment of the present application;

[0041] Figure 3 One of the flow charts of the method for selecting a drone landing site provided in an embodiment of the present application;

[0042] Figure 4 The second flowchart of the method for selecting a drone landing site provided in the embodiment of the present application;

[0043] Figure 5 Flowchart 3 of the method for selecting a drone landing site provided in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of a spiral route provided in an embodiment of the present application;

[0045] Figure 7 Flowchart 4 of the method for selecting a drone landing site provided in an embodiment of the present application;

[0046] Figure 8 Flowchart 5 of the method for selecting a drone landing site provided in an embodiment of the present application;

[0047] Fig. 9 A schematic diagram of the structure of a drone landing site selection device provided in an embodiment of the present application.

[0048] Icons: 10 - processor; 11 - memory; 12 - bus; 13 - communication interface; 20 - preliminary landing field determination module; 30 - route screening module; 40 - target landing field determination module. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0050] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0052] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0053] The term "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed or that are inherent to such process, method, article, or apparatus.

[0054] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be noted that, in the absence of conflict, the features in the embodiments of the present invention can be combined with each other.

[0055] This embodiment provides a system that can realize the selection of drone landing sites. Figure 1 The system includes a controller and a drone, the controller is connected to the drone in communication, the drone is equipped with a surveying and mapping device, and the surveying and mapping device is connected to the drone in communication. The system can execute the drone landing site selection method provided in this application.

[0056] The system provided in this embodiment may further include a server, which may be a cloud server, and the server is communicatively connected with the controller and the drone.

[0057] The present application also provides an electronic device, which may be a landing field selection device, or an electronic device such as a computer, a mobile phone, or a tablet. Figure 2 , a schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12, and the processor 10 is used to execute an executable module stored in the memory 11, such as a computer program.

[0058] The processor 10 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the drone landing site selection method can be completed by the hardware integrated logic circuit in the processor 10 or the instructions in the form of software. The above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0059] The memory 11 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0060] The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Figure 2 Although only one bidirectional arrow is used in the figure, it does not mean that there is only one bus 12 or only one type of bus 12 .

[0061] The memory 11 is used to store programs, such as programs corresponding to the drone landing site selection device. The drone landing site selection device includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or fixed in the operating system (OS) of the electronic device. After receiving the execution instruction, the processor 10 executes the program to implement the drone landing site selection method.

[0062] Possibly, the electronic device provided in the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via the bus 12.

[0063] It should be understood that Figure 2 The structure shown is only a schematic diagram of a portion of the electronic device. The electronic device may also include Figure 2 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 2 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0064] As described in the background technology of this application, the existing technical solutions mainly rely on manual search and identification of the landing site of the drone. However, the efficiency of manual search is very low, it is time-consuming and labor-intensive, and the reliability is not high.

[0065] In view of this, please refer to Figure 3 The embodiment of the present invention provides a method for selecting a landing site for a UAV, which can effectively solve the above problems. The method for selecting a landing site for a UAV includes:

[0066] Step S101: According to the landing area, the location points of each preliminary landing field are obtained.

[0067] In the specific application of the drone, the selection of the landing area is not random, and the landing area is often closely related to the activity area of ​​the drone. In this embodiment, the landing area can be demarcated according to the activity area of ​​the drone.

[0068] Specifically, the activity area of ​​the drone can be determined based on the activity center of the drone and the activity radius of the drone. In this embodiment, the activity center of the drone is used as the area center of the landing area, and the activity radius of the drone is used as the area radius of the landing area to determine the landing area.

[0069] In this embodiment, after the landing area is determined, the location points of each preliminary landing site can be obtained in a variety of ways. For example, the image data in the landing area can be collected, and the image data can be preliminarily analyzed and recognized in combination with AI recognition technology to obtain the location points of each preliminary landing site. Similarly, the location point information of each preliminary landing site can also be pre-stored in the system, thereby improving the efficiency of the entire drone landing site selection.

[0070] Step S102: Determine a screening route based on the location points of each preliminary landing field, where the screening route includes the location points of each preliminary landing field.

[0071] After determining the location points of each preliminary landing site, considering that not all of the preliminary landing sites meet the requirements for drone landing, in order to further improve the reliability of the landing site selection results, each preliminary landing site can be screened again based on its location points to filter out some preliminary landing sites that do not meet the requirements.

[0072] Moreover, the screening of each preliminary landing field is not random. In the present embodiment, the location points of each preliminary landing field are used as navigation points for route planning, so that the screening route can cover all the location points of the preliminary landing field, and the route with the shortest connection between the location points is selected as the screening route, thereby greatly improving the efficiency of screening.

[0073] Step S103: Control the UAV to collect images of the locations of each preliminary landing site to obtain a screening image.

[0074] In this embodiment, after the screening route is determined, the drone navigates along the screening route and collects images of the location points of each preliminary landing site. In order to reduce the amount of data processing and improve the screening effect, the drone only needs to collect images of the location points of each preliminary landing site, and does not need to collect image information of the route between the location points.

[0075] When the drone collects images at various locations, considering the different sizes of the locations, when the range of the collected locations is large, in order to ensure that the complete image information of the location can be obtained, the drone can be controlled to fly in a small circle within the range of the location to obtain complete image information of the location.

[0076] It should be noted that, in order to ensure the image acquisition effect, the drone can be equipped with a high-definition camera and set a suitable acquisition resolution to acquire images at each location. At the same time, in order to ensure the uniformity of image information at each location, the drone can be controlled to acquire images at the same set flight altitude to obtain a screening image.

[0077] Step S104: Screening each preliminary landing field according to each screening image and screening condition to obtain each target landing field.

[0078] It should be noted that, in this embodiment, each screening image is the image information of each preliminary landing site location point, and the screening conditions are the landing conditions of various types of drones. Since different types of drones have different requirements for landing sites, the screening conditions in this embodiment are not a single landing condition, but landing conditions corresponding to various types of drones.

[0079] Specifically, when a screening image meets the landing conditions for a specific type of drone, the preliminary landing field corresponding to the screening image will be used as the target landing field. When a screening image does not meet the landing conditions for any type of drone, the preliminary landing field corresponding to the screening image will be abandoned, thereby achieving the purpose of screening the preliminary landing fields.

[0080] In this embodiment, through the mutual coordination of the above steps S101 to S104, intelligent selection of the drone landing site is achieved. Compared with the existing technology, the efficiency and automation of the landing site selection are greatly improved, and through secondary screening, the reliability of the landing site selection results is also greatly improved.

[0081] It should be noted that the method provided in this embodiment can be implemented in a controller, can be implemented on a drone, or can be implemented by a controller and a drone together. When both the controller and the drone are connected to a server, the method provided in this application can also be implemented in whole or in part in the server, which can be a cloud server or a physical server. Similarly, the implementation method of the subsequent methods of this embodiment is consistent with the above method, and will not be repeated in the subsequent embodiments.

[0082] After obtaining each target landing site through the above steps S101 to S104, in order to facilitate subsequent search and use, in another optional implementation, please refer to Figure 4 After the above step S104, the method further includes:

[0083] Step S105: Obtain the environmental information of each target landing field, and determine the type of each target landing field according to the environmental information of each target landing field and the type of the UAV.

[0084] In this embodiment, the environmental information of each target landing field mainly includes the area, location and other environmental information of the landing field, and each target landing field is classified in combination with the landing conditions of different types of drones. For example, the target landing field that meets the landing conditions of light and small multi-rotor drones is classified as type A, the target landing field that meets the landing conditions of medium and large rotor drones is classified as type B, the target landing field that meets the landing conditions of heavy rotor drones is classified as type C, and the target landing field that meets the landing conditions of fixed-wing and composite-wing drones is classified as type D. It should be noted that the above classification of each target landing field is only exemplary. In actual applications, each target landing field can be classified according to different classification standards.

[0085] After determining the type of the target landing site, users can also quickly query the landing site based on the type information of each target landing site (such as location, aircraft model, environment, traffic, etc.), and record the type information of each landing site on the cloud-based Geographic Information Science (GIS) map. They can also directly call it through the application interface and third-party data information, thereby meeting the needs of drones to quickly select forced landing sites in emergency situations.

[0086] In another optional implementation, in order to facilitate the drone to more quickly and accurately find a target landing site that meets the conditions when performing secondary operations, please continue to refer to Figure 4 , after the above step 105, the following steps are also included:

[0087] Step 106: Send the type of each target landing field to the cloud server.

[0088] In this embodiment, after the types of the target landing fields are determined through steps 101 to 105, the types of the target landing fields are sent to the cloud server, and the cloud server backs up the type information of the target landing fields. When the drone operates again, especially when an emergency landing is required, the target landing field backed up in the cloud server can be directly called, thereby saving the time of selecting the target landing field.

[0089] In another optional implementation, in order to obtain the location points of each preliminary landing field in the landing area more comprehensively, accurately and efficiently, please refer to Figure 5 and Figure 6 , the above step S101 may include the following sub-steps:

[0090] Step S101 - 1 : Determine the activity center and activity radius of the drone, and obtain the landing area based on the activity center and activity radius.

[0091] Step S101 - 2 : Plan a spiral route in the landing area with the activity center as the spiral center to obtain a patrol route.

[0092] In this embodiment, after the landing area is determined, since the center of the landing area is the activity center of the drone, in order to more comprehensively and quickly obtain data information in the entire landing area, the activity center is used as the spiral center to plan the spiral route of the drone. Figure 6 , so that the drone can comprehensively and quickly collect all geographic information in the landing area.

[0093] It should be noted that, in specific applications, the efficiency of data collection can also be improved by setting the heading overlap (image overlap refers to the overlap of the same images in adjacent images, where the overlap of two adjacent images on the same route is called heading overlap) and lateral overlap (also called lateral overlap, which refers to the overlap of the same images in adjacent images) of the spiral route.

[0094] Step S101 - 3 : According to the patrol route, the location points of each preliminary landing field are obtained.

[0095] The patrol route in this embodiment is a spiral route. The UAV flies along the spiral route and collects geographic image information within the landing range. The location of the preliminary landing site can be obtained through AI or other analysis and recognition technologies.

[0096] In order to further improve the efficiency of landing site selection, in possible implementations, please refer to Figure 7 , the above step S101-3 may further include the following sub-steps:

[0097] Step S301: According to the inspection route, which includes multiple inspection points, the UAV is controlled to collect images at each inspection point to obtain preliminary image data.

[0098] In this embodiment, considering that in actual application scenarios, not all areas in the landing area can be used as landing fields, and some areas even obviously do not have the conditions to be used as landing fields. Therefore, in this embodiment, the patrol route can be set by using patrol points. The patrol points can skip those areas that obviously do not have the conditions to land, and more patrol points can be set for those areas that have the conditions to land. The drone only needs to collect images from the patrol points, which greatly optimizes the amount of image collection.

[0099] Step S302: Obtaining the location points of each preliminary landing field according to each preliminary image data.

[0100] In this embodiment, the location points of each preliminary landing field are obtained by analyzing the preliminary image data. The specific analysis method includes but is not limited to the above-mentioned AI recognition technology, and other image recognition technologies can also be used.

[0101] In another possible embodiment, please refer to Figure 8 For the above step S302, this embodiment provides an efficient and reliable data processing method. Specifically, the above step S302 may include the following sub-steps:

[0102] Step S302-1: Perform aerial triangulation and stitching processing on all preliminary image data to obtain digital orthophotos, digital surface models and digital elevation models.

[0103] Step S302-2: Obtain the location points of each preliminary landing site according to the digital orthophoto, the digital surface model and the digital elevation model.

[0104] In this embodiment, all image data are processed by using an aerial triangulation and stitching process, which has the advantages of being efficient and reliable.

[0105] In order to improve the accuracy of image recognition, in another possible implementation, the above step S302-2 may specifically include the following contents:

[0106] Multimodal AI recognition is performed based on digital orthophotos, digital surface models, and digital elevation models to obtain the location points of each preliminary landing site.

[0107] In this embodiment, multimodal AI recognition refers to combining the landing standards of different landing sites, the size, area and regularity of the landing sites, and analyzing their location information, traffic conditions, surrounding population density, surrounding environmental information, etc. to identify digital orthophotos, digital surface models and digital elevation models, thereby selecting several preliminary landing sites.

[0108] In this embodiment, the obstacle information in the site can also be obtained in combination with the landing site environment recognition algorithm, so as to determine the degree of influence of the obstacles on the landing of the drone.

[0109] See also Fig. 9 This embodiment also provides a drone landing site selection device, which includes a preliminary landing site determination module 20, a route screening module 30 and a target landing site determination module 40.

[0110] The preliminary landing field determination module 20 is used to obtain the position points of each preliminary landing field according to the landing area.

[0111] The screening route module 30 is used to determine the screening route according to the location points of each preliminary landing field. The screening route includes the location points of each preliminary landing field, and controls the UAV to collect images of the location points of each preliminary landing field to obtain screening images.

[0112] The target landing field determination module 40 is used to screen each preliminary landing field according to each screening image and screening conditions to obtain the location point of each target landing field.

[0113] It should be noted that the drone landing site selection device provided in this embodiment can execute the method flow shown in the above method flow embodiment to achieve the corresponding technical effect. For the sake of brief description, for parts not mentioned in this embodiment, please refer to the corresponding content in the above embodiment.

[0114] An embodiment of the present application also provides a drone landing site selection system, the system includes a controller and a drone, the controller is communicatively connected to the drone, and the controller is used to execute the above-mentioned drone landing site selection method.

[0115] In another optional embodiment, the drone landing site selection system includes a controller and a drone, the controller is communicatively connected to the drone, and the drone is used to execute the above-mentioned drone landing site selection method.

[0116] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the above-mentioned drone landing site selection method is implemented.

[0117] It should be noted that the storage medium can be set on a controller, or on a drone or a server.

[0118] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0119] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0120] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory 11 (ROM, Read-Only Memory), a random access memory 11 (RAM, Random Access Memory), a disk or an optical disk.

[0121] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for selecting a landing site for a drone, characterized in that: The method comprises: According to the landing area, the location points of each preliminary landing field are obtained; Determine a screening route according to the location points of each of the preliminary landing fields, wherein the screening route includes the location points of each of the preliminary landing fields; wherein the location points of each of the preliminary landing fields are used as navigation points for route planning, so that the screening route covers the location points of all of the preliminary landing fields; Controlling the UAV to collect images of the locations of each of the preliminary landing sites to obtain a screening image; According to each of the screening images and screening conditions, each of the preliminary landing fields is screened to obtain each of the target landing fields.

2. The method for selecting a drone landing site according to claim 1, characterized in that: After the step of obtaining each target landing site, the method further includes: The environmental information of each of the target landing fields is obtained, and the type of each of the target landing fields is determined according to the environmental information of each of the target landing fields and the type of the UAV.

3. The method for selecting a drone landing site according to claim 2, characterized in that: After the step of determining the type of each target landing field, the method further comprises: The type of each target landing field is sent to the cloud server.

4. The method for selecting a drone landing site according to claim 1, characterized in that: According to the landing area, the steps of obtaining the location points of each preliminary landing field include: Determine the activity center and activity radius of the UAV, and obtain the landing area according to the activity center and activity radius; Planning a spiral route in the landing area with the activity center as the spiral center to obtain a patrol route; According to the patrol route, the location point of each preliminary landing field is obtained.

5. The method for selecting a drone landing site according to claim 4, characterized in that: According to the patrol route, the step of obtaining the position points of each of the preliminary landing fields comprises: According to the patrol route, the patrol route includes a plurality of patrol points, and the drone is controlled to collect images at each patrol point to obtain preliminary image data; According to each of the preliminary image data, the position point of each of the preliminary landing fields is obtained.

6. The method for selecting a UAV landing site according to claim 5, characterized in that: The step of obtaining the position point of each preliminary landing field according to each preliminary image data comprises: Performing aerial triangulation and stitching processing on all the preliminary image data to obtain digital orthophotos, digital surface models and digital elevation models; The location point of each preliminary landing site is obtained according to the digital orthophoto, the digital surface model and the digital elevation model.

7. The method for selecting a UAV landing site according to claim 6, characterized in that: The step of obtaining preliminary landing field information according to the digital orthophoto, the digital surface model and the digital elevation model comprises: Multimodal AI recognition is performed based on the digital orthophoto, the digital surface model, and the digital elevation model to obtain the location points of each of the preliminary landing sites.

8. The method for selecting a drone landing site according to claim 1, characterized in that: According to the location points of each of the preliminary landing fields, the steps of determining the screening route include: According to the location points of each of the preliminary landing fields, a route with the shortest connection between the location points is selected as a screening route.

9. A device for selecting a landing site for a drone, characterized in that: The device includes a preliminary landing field determination module, a route screening module, and a target landing field determination module; The preliminary landing field determination module is used to obtain the location points of each preliminary landing field according to the landing area; The screening route module is used to determine the screening route according to the location points of each preliminary landing field, the screening route includes the location points of each preliminary landing field, and control the drone to collect images of the location points of each preliminary landing field to obtain screening images; wherein the location points of each preliminary landing field are used as navigation points to plan the route so that the screening route covers the location points of all preliminary landing fields; The target landing field determination module is used to screen each of the preliminary landing fields according to each of the screening images and screening conditions to obtain the location point of each target landing field.

10. A drone landing site selection system, characterized in that: The system includes a controller and a drone, wherein the controller is communicatively connected to the drone, and the controller is used to execute the method described in any one of claims 1 to 8.

11. A drone landing site selection system, characterized in that: The system includes a controller and a drone, wherein the controller is in communication with the drone, and the drone is used to execute the drone landing site selection method described in any one of claims 1-8.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for selecting a landing site for a UAV as described in any one of claims 1 to 8 is implemented.

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