A material throwing trajectory control method, device and computer readable storage medium

Abstract

The present invention discloses a material throwing trajectory control method, device and computer-readable storage medium, wherein the method includes: throwing a throwing object according to a preset throwing angle and throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, obtaining a second relative position relationship between the highest point and the target position; when the throwing object moves from the highest point along the throwing downward trajectory, adjusting the throwing downward trajectory according to the propulsion parameters of the propulsion component corresponding to the second relative position relationship, so that the throwing object falls into the area corresponding to the target position. The present invention realizes an efficient material throwing trajectory control scheme, which effectively reduces the resource consumption of a single transport in the scenario of transporting batches of materials up the mountain, and improves transportation efficiency while ensuring transportation accuracy.

Description

Technical Field

[0001] The present invention relates to the field of aerial logistics technology, and in particular to a material throwing trajectory control method, device and computer-readable storage medium. Background Art

[0002] With the continuous development of unmanned aerial vehicle (UAV) technology, aerial logistics services have begun to gain widespread application. In particular, for transporting supplies up mountainous terrain, the current logistics solution involves using UAVs to carry the supplies up the mountain. During this time, the UAVs must provide flight power and perform attitude adjustments in real time. This solution consumes significant amounts of electrical and computing resources, resulting in low logistics efficiency when dealing with high-altitude transport or multiple transport needs.

[0003] Therefore, for the scenario of transporting materials up the mountain, how to reduce the resource consumption of unmanned aerial vehicles in a single transportation and thus improve logistics efficiency has become a technical problem that needs to be solved urgently. Summary of the Invention

[0004] In order to solve the above technical defects in the prior art, the present invention proposes a material throwing trajectory control method, which includes:

[0005] After setting a target position of a thrown object, obtaining a first relative position relationship between an initial position of the thrown object and the target position, wherein the thrown object includes internal transport materials and an external propulsion component;

[0006] Setting a throwing angle and a throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object;

[0007] Throwing the throwing object at the throwing angle and the throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, obtaining a second relative position relationship between the highest point and the target position;

[0008] When the thrown object moves along a throwing downward trajectory from the highest point, the throwing downward trajectory is adjusted according to the propulsion parameters of the propulsion component corresponding to the second relative position relationship, so that the thrown object falls into the area corresponding to the target position.

[0009] Optionally, after setting the target position of the thrown object, obtaining a first relative position relationship between the initial position of the thrown object and the target position, wherein the thrown object includes internal transport materials and an external propulsion component, includes:

[0010] Acquiring geographical environment characteristics of the target location and external morphological characteristics of the thrown object;

[0011] The area range including the target location is set according to the geographical environment characteristics and the external morphological characteristics.

[0012] Optionally, setting the throwing angle and throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object includes:

[0013] Setting the casting angle according to the first relative position relationship;

[0014] The throwing speed is set according to the throwing angle and the physical properties so that the thrown object falls to the target position under ideal conditions.

[0015] Optionally, throwing the throwing object according to the throwing angle and the throwing speed, and when the throwing object moves to a highest point along an upward throwing trajectory, obtaining a second relative position relationship between the highest point and the target position includes:

[0016] When the thrown object leaves the throwing track and moves along the throwing upward trajectory, monitoring a first motion state of the thrown object;

[0017] The casting upward trajectory is adjusted according to the first propulsion parameter of the propulsion component corresponding to the first motion state, so that the vertex of the casting trajectory falls into a first area corresponding to the highest point.

[0018] Optionally, when the thrown object moves along a throwing downward trajectory from the highest point, adjusting the throwing downward trajectory according to a propulsion parameter of the propulsion assembly corresponding to the second relative position relationship so that the thrown object falls into an area corresponding to the target position includes:

[0019] When the thrown object moves from the vertex along the thrown downward trajectory, monitoring a second motion state of the thrown object;

[0020] The throwing downward trajectory is adjusted according to the second propulsion parameter of the propulsion component corresponding to the second motion state, so that the thrown object falls into a second area corresponding to the target position.

[0021] The present invention also provides a material throwing trajectory control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the following is achieved:

[0022] After setting a target position of a thrown object, obtaining a first relative position relationship between an initial position of the thrown object and the target position, wherein the thrown object includes internal transport materials and an external propulsion component;

[0023] Setting a throwing angle and a throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object;

[0024] Throwing the throwing object at the throwing angle and the throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, obtaining a second relative position relationship between the highest point and the target position;

[0025] When the thrown object moves along a throwing downward trajectory from the highest point, the throwing downward trajectory is adjusted according to the propulsion parameters of the propulsion component corresponding to the second relative position relationship, so that the thrown object falls into the area corresponding to the target position.

[0026] Optionally, when the computer program is executed by the processor, it implements:

[0027] Acquiring geographical environment characteristics of the target location and external morphological characteristics of the thrown object;

[0028] The area range including the target location is set according to the geographical environment characteristics and the external morphological characteristics.

[0029] Optionally, when the computer program is executed by the processor, it implements:

[0030] Setting the casting angle according to the first relative position relationship;

[0031] The throwing speed is set according to the throwing angle and the physical properties so that the thrown object falls to the target position under ideal conditions.

[0032] Optionally, when the computer program is executed by the processor, it implements:

[0033] When the thrown object leaves the throwing track and moves along the throwing upward trajectory, monitoring a first motion state of the thrown object;

[0034] Adjusting the casting upward trajectory according to the first propulsion parameter of the propulsion assembly corresponding to the first motion state so that the vertex of the casting trajectory falls within a first area corresponding to the highest point;

[0035] When the thrown object moves from the vertex along the thrown downward trajectory, monitoring a second motion state of the thrown object;

[0036] The throwing downward trajectory is adjusted according to the second propulsion parameter of the propulsion component corresponding to the second motion state, so that the thrown object falls into a second area corresponding to the target position.

[0037] The present invention also proposes a material throwing trajectory control device, which includes a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the computer program is executed by the processor, the steps of the material throwing trajectory control method as described in any one of the above items are implemented.

[0038] The present invention also proposes a computer-readable storage medium, which stores a material throwing trajectory control program. When the material throwing trajectory control program is executed by a processor, the steps of the material throwing trajectory control method as described in any one of the above items are implemented.

[0039] The material throwing trajectory control method, device and computer-readable storage medium of the present invention are implemented by, after setting the target position of the throwing object, obtaining the first relative position relationship between the initial position of the throwing object and the target position, wherein the throwing object includes internal transport materials and an external propulsion component; setting the throwing angle and throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object; throwing the throwing object according to the throwing angle and the throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, obtaining the second relative position relationship between the highest point and the target position; when the throwing object moves from the highest point along the throwing downward trajectory, adjusting the throwing downward trajectory according to the propulsion parameters of the propulsion component corresponding to the second relative position relationship, so that the throwing object falls into the area corresponding to the target position. An efficient material throwing trajectory control scheme is realized, which effectively reduces the resource consumption of a single transportation in the scenario of transporting batches of materials up the mountain, and improves transportation efficiency while ensuring transportation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0041] Figure 1 This is the first flow chart of the material throwing trajectory control method of the present invention;

[0042] Figure 2 This is the second flow chart of the material throwing trajectory control method of the present invention;

[0043] Figure 3 This is the third flow chart of the material throwing trajectory control method of the present invention;

[0044] Figure 4 This is the fourth flow chart of the material throwing trajectory control method of the present invention;

[0045] Figure 5 This is the fifth flow chart of the material throwing trajectory control method of the present invention;

[0046] Figure 6 It is a motion trajectory schematic diagram of the material throwing trajectory control method of the present invention. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0048] In the subsequent description, suffixes such as "module," "component," or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module," "component," or "unit" can be used interchangeably.

[0049] Figure 1 This is the first flow chart of the material throwing trajectory control method of the present invention. This embodiment proposes a material throwing trajectory control method, which includes:

[0050] S1. After setting a target position of a thrown object, obtaining a first relative position relationship between an initial position of the thrown object and the target position, wherein the thrown object includes internal transport materials and an external propulsion component;

[0051] S2. Setting a throwing angle and a throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object;

[0052] S3, throwing the throwing object according to the throwing angle and the throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, obtaining a second relative position relationship between the highest point and the target position;

[0053] S4. When the thrown object moves along a throwing downward trajectory from the highest point, the throwing downward trajectory is adjusted according to the propulsion parameters of the propulsion assembly corresponding to the second relative position relationship, so that the thrown object falls into the area corresponding to the target position.

[0054] In this embodiment, if Figure 6 As shown, the material transport up the mountain is divided into a throwing stage, an ascending stage, and a descending stage. In the throwing stage, the throwing object carrying the materials is thrown at a certain speed and angle through the throwing track, so that the throwing object can start a parabolic upward motion at the above-set speed and angle during the ascending stage after leaving the throwing track. In the descending stage, the propulsion component is started in a timely manner to adjust the downward motion trajectory of the throwing object so that the throwing object falls into the area of the target location. It can be seen that the material transport scheme of this embodiment does not require the propulsion equipment to provide power output throughout the entire process, which greatly saves resource consumption and can effectively improve the transportation efficiency in the scenario of batch resource transport up the mountain.

[0055] Optionally, in this embodiment, the type of transported material is obtained, and based on this material type, a landing speed threshold corresponding to the critical damage state of the material itself is determined. Based on this landing speed threshold, the vertical distance between the highest point and the target location is adjusted. This further reduces propulsion resource consumption while preserving the transported material.

[0056] Optionally, in this embodiment, the vertical propulsion energy consumed by the propulsion assembly during the descent phase can be reduced by reducing the vertical distance between the highest point and the target location, taking into account the regional range characteristics of the target location. For example, when the regional range is relatively wide and flat, the vertical distance between the highest point and the target location can be appropriately reduced to reduce the vertical propulsion energy consumed by the propulsion assembly during the descent phase.

[0057] Optionally, in this embodiment, the horizontal azimuth propulsion efficiency of the propulsion assembly during the descent phase can be improved by increasing the vertical distance between the highest point and the target location, taking into account the regional characteristics of the target location. For example, if the area is narrow and rugged, the vertical distance between the highest point and the target location can be appropriately increased to increase the horizontal azimuth adjustment space and adjustment range of the propulsion assembly during the descent phase.

[0058] The beneficial effect of this embodiment is that after setting the target position of the throwing object, a first relative position relationship between the initial position of the throwing object and the target position is obtained, wherein the throwing object includes internal transport materials and an external propulsion component; the throwing angle and throwing speed of the throwing object are set according to the first relative position relationship and the physical properties of the throwing object; the throwing object is thrown according to the throwing angle and the throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, the second relative position relationship between the highest point and the target position is obtained; when the throwing object moves from the highest point along the throwing downward trajectory, the throwing downward trajectory is adjusted according to the propulsion parameters of the propulsion component corresponding to the second relative position relationship, so that the throwing object falls into the area corresponding to the target position. An efficient material throwing trajectory control scheme is realized, which effectively reduces the resource consumption of a single transportation in the scenario of transporting batches of materials up the mountain, and improves transportation efficiency while ensuring transportation accuracy.

[0059] Figure 2 This is a second flow chart of the material throwing trajectory control method of the present invention. Based on the above embodiment, after setting the target position of the throwing object, a first relative position relationship between the initial position of the throwing object and the target position is obtained, wherein the throwing object includes internal transport materials and external propulsion components, including:

[0060] S11, obtaining geographical environment characteristics of the target location and external morphological characteristics of the thrown object;

[0061] S12. Setting the area range including the target location according to the geographical environment characteristics and the external morphological characteristics.

[0062] Optionally, in this embodiment, the geographical environment characteristics include the topography characteristics and vegetation characteristics of the area where the target location is located, so as to determine a clear area suitable for landing.

[0063] Optionally, in this embodiment, the external morphological features include cubic shapes such as a cube, a cuboid, and a trapezoid, and circular shapes such as an ellipsoid and a sphere. The amount of rolling or sliding when falling to the ground is determined according to different morphological types, thereby determining the slip area corresponding to the target position area.

[0064] Optionally, in this embodiment, the area range is determined based on the clearance area and the slip area. For example, the intersection area of the area where the clearance area is vertically mapped to the target position plane and the slip area is taken as the area range.

[0065] Figure 3 This is a third flow chart of the material throwing trajectory control method of the present invention. Based on the above embodiment, setting the throwing angle and throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object includes:

[0066] S21, setting the casting angle according to the first relative position relationship;

[0067] S22. Setting the throwing speed according to the throwing angle and the physical properties so that the thrown object falls to the target position under ideal conditions.

[0068] Optionally, in this embodiment, a ground-based spatial coordinate system is established, the first spatial coordinates of the initial position and the second spatial coordinates of the target position are obtained, and the first relative position relationship is calculated based on the first spatial coordinates and the second spatial coordinates.

[0069] Optionally, in this embodiment, edge morphological features of the mountain are obtained, and the casting angle is set according to the edge morphological features and the first relative position relationship, so that the upward trajectory and the downward trajectory after casting theoretically avoid touching the edge of the mountain.

[0070] Optionally, in this embodiment, edge morphological characteristics of the mountain are obtained, and the casting speed is set based on the edge morphological characteristics, the casting angle, and the physical properties, so that the upward and downward trajectories after casting theoretically avoid contact with the mountain edge and the cast object lands at the target location under ideal conditions. The physical properties include air resistance data corresponding to the external shape of the cast object.

[0071] Figure 4 This is a fourth flow chart of the material throwing trajectory control method of the present invention. Based on the above embodiment, the throwing object is thrown according to the throwing angle and the throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, a second relative position relationship between the highest point and the target position is obtained, including:

[0072] S31, when the thrown object leaves the throwing track and moves along the throwing upward trajectory, monitoring a first motion state of the thrown object;

[0073] S32. Adjust the casting upward trajectory according to the first propulsion parameter of the propulsion component corresponding to the first motion state, so that the vertex of the casting trajectory falls into a first area corresponding to the highest point.

[0074] Optionally, in this embodiment, the predicted vertex position is calculated according to the above-mentioned first motion state according to a preset first monitoring period. When the above-mentioned predicted vertex position exceeds the first area range and reaches a preset threshold, the casting upward trajectory is adjusted according to the first propulsion parameter of the propulsion component corresponding to the first motion state, so that the vertex of the casting trajectory falls into the first area range corresponding to the highest point.

[0075] Optionally, in this embodiment, a predicted vertex position is calculated based on the first motion state according to a preset second monitoring period. When the predicted vertex position exceeds the first regional range and the remaining upward time is within the control range of the position correction threshold of the propulsion assembly, the casting upward trajectory is adjusted according to the first propulsion parameter of the propulsion assembly corresponding to the first motion state, so that the vertex of the casting trajectory falls within the first regional range corresponding to the highest point. The position correction threshold refers to the control range of the maximum propulsion amount of the propulsion assembly in order to ensure that the final landing point is within the regional range within the remaining upward time.

[0076] Figure 5This is a fifth flow chart of the material throwing trajectory control method of the present invention. Based on the above embodiment, when the thrown object moves from the highest point along the throwing downward trajectory, the throwing downward trajectory is adjusted according to the propulsion parameters of the propulsion assembly corresponding to the second relative position relationship so that the thrown object falls into the area corresponding to the target position, including:

[0077] S41, when the thrown object moves from the vertex along the thrown downward trajectory, monitoring a second motion state of the thrown object;

[0078] S42: Adjust the throwing downward trajectory according to the second propulsion parameter of the propulsion component corresponding to the second motion state, so that the thrown object falls into a second area corresponding to the target position.

[0079] Optionally, in this embodiment, the predicted landing point position is calculated according to the above-mentioned second motion state according to the preset third monitoring period. When the above-mentioned predicted landing point position exceeds the second area range and reaches a preset threshold, the casting upward trajectory is adjusted according to the second propulsion parameter of the propulsion component corresponding to the second motion state, so that the landing point of the casting trajectory falls into the second area range corresponding to the target position.

[0080] Optionally, in this embodiment, a predicted landing point is calculated based on the first motion state according to a preset second monitoring period. When the predicted landing point exceeds the range of the area and the remaining descent time is within the control range of the position correction threshold of the propulsion assembly, the casting downward trajectory is adjusted according to the second propulsion parameter of the propulsion assembly corresponding to the second motion state, so that the landing point of the casting trajectory falls within the second area corresponding to the target position. The position correction threshold refers to the control range of the maximum propulsion amount of the propulsion assembly in order to make the final landing point fall within the second area corresponding to the target position within the remaining descent time.

[0081] Based on the above embodiments, the present invention further proposes a material throwing trajectory control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the following is achieved:

[0082] After setting a target position of a thrown object, obtaining a first relative position relationship between an initial position of the thrown object and the target position, wherein the thrown object includes internal transport materials and an external propulsion component;

[0083] Setting a throwing angle and a throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object;

[0084] Throwing the throwing object at the throwing angle and the throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, obtaining a second relative position relationship between the highest point and the target position;

[0085] When the thrown object moves along a throwing downward trajectory from the highest point, the throwing downward trajectory is adjusted according to the propulsion parameters of the propulsion component corresponding to the second relative position relationship, so that the thrown object falls into the area corresponding to the target position.

[0086] Optionally, after setting the target position of the thrown object, obtaining a first relative position relationship between the initial position of the thrown object and the target position, wherein the thrown object includes internal transport materials and an external propulsion component, includes:

[0087] Acquiring geographical environment characteristics of the target location and external morphological characteristics of the thrown object;

[0088] The area range including the target location is set according to the geographical environment characteristics and the external morphological characteristics.

[0089] Optionally, setting the throwing angle and throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object includes:

[0090] Setting the casting angle according to the first relative position relationship;

[0091] The throwing speed is set according to the throwing angle and the physical properties so that the thrown object falls to the target position under ideal conditions.

[0092] Optionally, throwing the throwing object according to the throwing angle and the throwing speed, and when the throwing object moves to a highest point along an upward throwing trajectory, obtaining a second relative position relationship between the highest point and the target position includes:

[0093] When the thrown object leaves the throwing track and moves along the throwing upward trajectory, monitoring a first motion state of the thrown object;

[0094] The casting upward trajectory is adjusted according to the first propulsion parameter of the propulsion component corresponding to the first motion state, so that the vertex of the casting trajectory falls into a first area corresponding to the highest point.

[0095] Optionally, when the thrown object moves along a throwing downward trajectory from the highest point, adjusting the throwing downward trajectory according to a propulsion parameter of the propulsion assembly corresponding to the second relative position relationship so that the thrown object falls into an area corresponding to the target position includes:

[0096] When the thrown object moves from the vertex along the thrown downward trajectory, monitoring a second motion state of the thrown object;

[0097] The throwing downward trajectory is adjusted according to the second propulsion parameter of the propulsion component corresponding to the second motion state, so that the thrown object falls into a second area corresponding to the target position.

[0098] It should be noted that the above-mentioned device embodiment and method embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are applicable to the device embodiment, which will not be repeated here.

[0099] Based on the above embodiments, the present invention also proposes a computer-readable storage medium, which stores a material throwing trajectory control program. When the material throwing trajectory control program is executed by a processor, the steps of the material throwing trajectory control method as described in any one of the above items are implemented.

[0100] It should be noted that the above-mentioned medium embodiment and method embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are applicable to the medium embodiment, which will not be repeated here.

[0101] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0102] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0103] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0104] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A material throwing trajectory control method, characterized in that: The method comprises: After setting a target position of a thrown object, obtaining a first relative position relationship between an initial position of the thrown object and the target position, wherein the thrown object includes internal transport materials and an external propulsion component; Setting a throwing angle and a throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object; Throwing the throwing object at the throwing angle and the throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, obtaining a second relative position relationship between the highest point and the target position; When the thrown object moves along a throwing downward trajectory from the highest point, the throwing downward trajectory is adjusted according to the propulsion parameters of the propulsion component corresponding to the second relative position relationship, so that the thrown object falls into the area corresponding to the target position.

2. The material throwing trajectory control method according to claim 1, characterized in that: After setting the target position of the thrown object, obtaining a first relative position relationship between the initial position of the thrown object and the target position, wherein the thrown object includes internal transport materials and an external propulsion component, including: Acquiring geographical environment characteristics of the target location and external morphological characteristics of the thrown object; The area range including the target location is set according to the geographical environment characteristics and the external morphological characteristics.

3. The material throwing trajectory control method according to claim 1, characterized in that: The step of setting the throwing angle and throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object includes: Setting the casting angle according to the first relative position relationship; The throwing speed is set according to the throwing angle and the physical properties so that the thrown object falls to the target position under ideal conditions.

4. The material throwing trajectory control method according to claim 1, characterized in that: Throwing the throwing object at the throwing angle and the throwing speed, and when the throwing object moves to a highest point along an upward throwing trajectory, obtaining a second relative position relationship between the highest point and the target position, includes: When the thrown object leaves the throwing track and moves along the throwing upward trajectory, monitoring a first motion state of the thrown object; The casting upward trajectory is adjusted according to the first propulsion parameter of the propulsion component corresponding to the first motion state, so that the vertex of the casting trajectory falls into a first area corresponding to the highest point.

5. The material throwing trajectory control method according to claim 4, characterized in that: When the thrown object moves along a throwing downward trajectory from the highest point, adjusting the throwing downward trajectory according to the propulsion parameter of the propulsion assembly corresponding to the second relative position relationship so that the thrown object falls into an area corresponding to the target position includes: When the thrown object moves from the vertex along the thrown downward trajectory, monitoring a second motion state of the thrown object; The throwing downward trajectory is adjusted according to the second propulsion parameter of the propulsion component corresponding to the second motion state, so that the thrown object falls into a second area corresponding to the target position.

6. A material throwing trajectory control device, characterized in that: The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the computer program implements: After setting a target position of a thrown object, obtaining a first relative position relationship between an initial position of the thrown object and the target position, wherein the thrown object includes internal transport materials and an external propulsion component; Setting a throwing angle and a throwing speed of the throwing object according to the first relative position relationship and the physical properties of the throwing object; Throwing the throwing object at the throwing angle and the throwing speed, and when the throwing object moves to the highest point along the throwing upward trajectory, obtaining a second relative position relationship between the highest point and the target position; When the thrown object moves along a throwing downward trajectory from the highest point, the throwing downward trajectory is adjusted according to the propulsion parameters of the propulsion component corresponding to the second relative position relationship, so that the thrown object falls into the area corresponding to the target position.

7. The material throwing trajectory control device according to claim 6, characterized in that: When the computer program is executed by the processor, it realizes: Acquiring geographical environment characteristics of the target location and external morphological characteristics of the thrown object; The area range including the target location is set according to the geographical environment characteristics and the external morphological characteristics.

8. The material throwing trajectory control device according to claim 6, characterized in that: When the computer program is executed by the processor, it realizes: Setting the casting angle according to the first relative position relationship; The throwing speed is set according to the throwing angle and the physical properties so that the thrown object falls to the target position under ideal conditions.

9. The material throwing trajectory control device according to claim 6, characterized in that: When the computer program is executed by the processor, it realizes: When the thrown object leaves the throwing track and moves along the throwing upward trajectory, monitoring a first motion state of the thrown object; Adjusting the casting upward trajectory according to the first propulsion parameter of the propulsion assembly corresponding to the first motion state so that the vertex of the casting trajectory falls within a first area corresponding to the highest point; When the thrown object moves from the vertex along the thrown downward trajectory, monitoring a second motion state of the thrown object; The throwing downward trajectory is adjusted according to the second propulsion parameter of the propulsion component corresponding to the second motion state, so that the thrown object falls into a second area corresponding to the target position.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a material throwing trajectory control program, and when the material throwing trajectory control program is executed by the processor, the steps of the material throwing trajectory control method according to any one of claims 1 to 5 are implemented.

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