Method, device and computer-readable storage medium for controlling casting trajectory

Abstract

The present invention discloses a method, device and computer-readable storage medium for picking up and controlling a throwing trajectory, wherein the method comprises: calculating and determining whether a first predicted landing point of a thrown material's downward trajectory is within a preset target area; when the first predicted landing point is not within the target area, controlling a propulsion device to combine with the thrown material at the highest point of the trajectory, calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown object is within the target area; when the second predicted landing point is not within the target area, adjusting the second motion state of the thrown object during descent by the propulsion device, so that the final landing point of the thrown object is within the target area. The present invention realizes a material uphill program for aerial pickup and throwing trajectory control, so that the aerial propulsion device can sequentially assist multiple thrown materials in trajectory adjustment, thereby improving propulsion device utilization and overall logistics efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for controlling a casting trajectory, and a 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 casting trajectory picking control method, which includes:

[0005] Identifying and monitoring an upward trajectory of the thrown material, and obtaining a predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and an arrival time of the predicted vertex according to the upward trajectory;

[0006] Controlling the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time according to the first motion state of the thrown material during its ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material;

[0007] Calculating and determining whether a first predicted landing point of the downward trajectory is within a preset target area; if the first predicted landing point is not within the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown material is within the target area;

[0008] When the second predicted landing point is not in the target area, the second motion state of the thrown object during descent is adjusted by the propulsion device so that the final landing point of the thrown object is in the target area.

[0009] Optionally, the identifying and monitoring an upward trajectory of the thrown material, and obtaining, according to the upward trajectory, a predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and an arrival time of the predicted vertex, includes:

[0010] Identifying and monitoring the upward trajectory of the thrown material through ground measuring equipment or sensor equipment on the thrown material;

[0011] The predicted peak point and arrival time are sent to the propulsion device via a communication device connected to the measuring device or the sensing device.

[0012] Optionally, controlling the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time according to the first motion state of the thrown material during its ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material, comprises:

[0013] Calculating the arrival time of the thrown material at the highest point of the trajectory according to the vertical motion component included in the first motion state;

[0014] The predicted vertex is calculated and updated according to the arrival time and the horizontal motion component included in the first motion state, so that the predicted vertex coincides with the highest point of the trajectory.

[0015] Optionally, the calculating and determining whether a first predicted landing point of the downward trajectory is within a preset target area, and when the first predicted landing point is not within the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown object is within the target area, includes:

[0016] Calculate and determine at the highest point of the trajectory whether the first predicted landing point is in the target area;

[0017] If the first predicted landing point is in the target area, the propulsion device is controlled to fly to the predicted vertex of other thrown materials. If the first predicted landing point is not in the target area, the propulsion device is controlled to pick up the thrown materials at the highest point of the trajectory and combine with the thrown materials.

[0018] Optionally, when the second predicted landing point is not in the target area, adjusting the second motion state of the thrown object during descent by the propulsion device so that the final landing point of the thrown object is in the target area includes:

[0019] When adjusting the second motion state of the thrown object during descent by the propulsion device, calculating whether the predicted landing point of the thrown object is within the target area;

[0020] When it is determined that the predicted landing point is in the target area, the propulsion device is controlled to stop propulsion adjustment and release the thrown materials.

[0021] The present invention also provides a casting trajectory picking and 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] Identifying and monitoring an upward trajectory of the thrown material, and obtaining a predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and an arrival time of the predicted vertex according to the upward trajectory;

[0023] Controlling the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time according to the first motion state of the thrown material during its ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material;

[0024] Calculating and determining whether a first predicted landing point of the downward trajectory is within a preset target area; if the first predicted landing point is not within the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown material is within the target area;

[0025] When the second predicted landing point is not in the target area, the second motion state of the thrown object during descent is adjusted by the propulsion device so that the final landing point of the thrown object is in the target area.

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

[0027] Identifying and monitoring the upward trajectory of the thrown material through ground measuring equipment or sensor equipment on the thrown material;

[0028] The predicted peak point and arrival time are sent to the propulsion device via a communication device connected to the measuring device or the sensing device.

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

[0030] Calculating the arrival time of the thrown material at the highest point of the trajectory according to the vertical motion component included in the first motion state;

[0031] The predicted vertex is calculated and updated according to the arrival time and the horizontal motion component included in the first motion state, so that the predicted vertex coincides with the highest point of the trajectory.

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

[0033] Calculate and determine at the highest point of the trajectory whether the first predicted landing point is in the target area;

[0034] If the first predicted landing point is within the target area, the propulsion device is controlled to fly to the predicted vertex of other dropped materials; if the first predicted landing point is not within the target area, the propulsion device is controlled to pick up the dropped materials at the highest point of the trajectory and combine with the dropped materials;

[0035] When adjusting the second motion state of the thrown object during descent by the propulsion device, calculating whether the predicted landing point of the thrown object is within the target area;

[0036] When it is determined that the predicted landing point is in the target area, the propulsion device is controlled to stop propulsion adjustment and release the thrown materials.

[0037] The present invention also proposes a computer-readable storage medium, which stores a casting trajectory picking up control program. When the casting trajectory picking up control program is executed by a processor, the steps of the casting trajectory picking up control method as described in any one of the above items are implemented.

[0038] The throwing trajectory picking control method, device and computer-readable storage medium of the present invention are implemented, by identifying and monitoring the upward trajectory of the thrown material, obtaining the predicted vertex of the thrown material when it changes from the upward trajectory to the downward trajectory and the arrival time of the predicted vertex according to the upward trajectory; controlling the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time according to the first motion state of the thrown material when it rises, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material; calculating and judging whether the first predicted landing point of the downward trajectory is in a preset target area, and when the first predicted landing point is not in the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and judging whether the second predicted landing point of the downward trajectory of the thrown object after the combination is in the target area; when the second predicted landing point is not in the target area, adjusting the second motion state of the thrown object when it descends by the propulsion device, so that the final landing point of the thrown object is in the target area. The present invention realizes a material transport scheme for picking up materials in the air and regulating their throwing trajectories, so that the aerial propulsion equipment can assist in adjusting the trajectories of multiple thrown materials in turn, thereby improving the utilization rate of the propulsion equipment and the overall logistics efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0040] Figure 1 This is a first flow chart of the casting trajectory picking and controlling method of the present invention;

[0041] Figure 2 is a second flow chart of the casting trajectory picking and controlling method of the present invention;

[0042] Figure 3 is a third flow chart of the casting trajectory picking and controlling method of the present invention;

[0043] Figure 4 is a fourth flow chart of the casting trajectory picking and controlling method of the present invention;

[0044] Figure 5 is a fifth flow chart of the casting trajectory picking and controlling method of the present invention;

[0045] Figure 6 It is a schematic diagram of material throwing and picking up in the throwing trajectory picking up control method of the present invention. DETAILED DESCRIPTION

[0046] 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.

[0047] 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.

[0048] Figure 1 This is the first flow chart of the casting trajectory picking control method of the present invention. This embodiment proposes a casting trajectory picking control method, which includes:

[0049] S1. Identify and monitor the upward trajectory of the thrown material, and obtain, based on the upward trajectory, a predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and an arrival time of the predicted vertex;

[0050] S2. Controlling the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time based on the first motion state of the thrown material during its ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material;

[0051] S3, calculating and determining whether a first predicted landing point of the downward trajectory is within a preset target area; if the first predicted landing point is not within the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown material is within the target area;

[0052] S4. When the second predicted landing point is not in the target area, the second motion state of the thrown object during descent is adjusted by the propulsion device so that the final landing point of the thrown object is in the target area.

[0053] In this embodiment, if Figure 6 As shown, the ascending of materials is divided into an external force throwing stage, a free ascending stage, and a picking-up and descending control stage. In the external force throwing stage, the materials to be transported are thrown at a certain speed and angle through the throwing track, or the container containing the materials is thrown, so that the materials or containers can start parabolic upward motion at the above-set speed and angle during the free ascending stage after leaving the throwing track. During this free ascending stage, the upward motion trajectory is monitored in real time to calculate the predicted vertex of the thrown materials when the upward trajectory turns into the downward trajectory and the arrival time of the predicted vertex. Based on the above-mentioned predicted amount, in the picking-up and descending control stage after the free ascending stage, the propulsion device is controlled to fly to the predicted vertex within the arrival time, and the predicted vertex is calculated and updated in real time according to the first motion state of the thrown materials during the ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown materials. In this way, it is possible to calculate and determine whether the first predicted landing point of the downward trajectory is in the preset target area. When the first predicted landing point is not in the target area, the propulsion device is controlled to combine with the thrown material at the highest point of the trajectory, and calculate and determine whether the second predicted landing point of the combined downward trajectory of the thrown object is in the target area. Furthermore, when the second predicted landing point is not in the target area, the propulsion device is used to adjust the second motion state of the thrown object during descent so that the final landing point of the thrown object is in the target area. It can be seen that the material uphill plan of this embodiment does not require the propulsion device 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 uphill.

[0054] The beneficial effects of this embodiment are that, by identifying and monitoring the upward trajectory of the thrown material, the predicted vertex of the thrown material when it changes from the upward trajectory to the downward trajectory and the arrival time of the predicted vertex are obtained according to the upward trajectory; the propulsion device is controlled to fly to the predicted vertex within the arrival time, and the predicted vertex is calculated and updated in real time according to the first motion state of the thrown material when it rises, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material; whether the first predicted landing point of the downward trajectory is in a preset target area is calculated and judged, when the first predicted landing point is not in the target area, the propulsion device is controlled to combine with the thrown material at the highest point of the trajectory, and whether the second predicted landing point of the downward trajectory of the thrown object after the combination is in the target area is calculated and judged; when the second predicted landing point is not in the target area, the second motion state of the thrown object when it descends is adjusted by the propulsion device, so that the final landing point of the thrown object is in the target area. A material transport scheme for picking up materials from the air and controlling their dropping trajectories has been implemented, allowing aerial propulsion equipment to assist in adjusting the trajectories of multiple dropped materials in turn, thereby improving the utilization rate of propulsion equipment and overall logistics efficiency.

[0055] Figure 2 This is a second flow chart of the method for controlling the throwing trajectory of the present invention. Based on the above embodiment, the steps of identifying and monitoring the upward trajectory of the thrown material, and obtaining the predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and the arrival time of the predicted vertex according to the upward trajectory include:

[0056] S11. Identifying and monitoring the upward trajectory of the thrown material through ground measuring equipment or sensor equipment on the thrown material;

[0057] S12. Send the predicted vertex and arrival time to the propulsion device via a communication device connected to the measuring device or the sensing device.

[0058] Optionally, in this embodiment, it is detected whether the propulsion device is in an idle state. When the propulsion device is in an idle state, it is further detected whether the propulsion device can fly to the predicted vertex within the arrival time; when the propulsion device can fly to the predicted vertex within the arrival time, the propulsion device is used as an associated picking device for the current thrown material.

[0059] Optionally, in this embodiment, the predicted vertex is preset to be adjusted to the propulsion parameters required to fall into the target area. When the propulsion device is able to fly to the predicted vertex within the arrival time, the propulsion device is further detected to see whether it meets the propulsion parameters. If it is determined that the propulsion device meets the propulsion parameters, the propulsion device is used as the associated picking device for the current thrown material. If the propulsion device does not meet the propulsion parameters, other propulsion devices that meet the above-mentioned propulsion parameter conditions are selected as the associated picking device for the current thrown material.

[0060] Figure 3 This is a third flow chart of the method for controlling the trajectory of a drop, based on the above embodiment, wherein the control propulsion device is controlled to fly to the predicted vertex within the arrival time, and the predicted vertex is calculated and updated in real time according to the first motion state of the dropped material during its ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the dropped material, including:

[0061] S21, calculating the arrival time of the thrown material at the highest point of the trajectory according to the vertical motion component included in the first motion state;

[0062] S22: Calculate and update the predicted vertex according to the arrival time and the horizontal motion component included in the first motion state, so that the predicted vertex coincides with the highest point of the trajectory.

[0063] Optionally, in this embodiment, at the first moment when the propulsion device flies to the predicted vertex for the first time, the time difference between the first moment and the arrival moment is obtained; and the update frequency of the predicted vertex is determined according to the time difference.

[0064] Optionally, in this embodiment, the predicted vertex is calculated and updated according to the update frequency so that the predicted vertex coincides with the highest point of the trajectory.

[0065] Figure 4 This is a fourth flow chart of the method for controlling the picking up of a casting trajectory of the present invention. Based on the above embodiment, the method comprises: calculating and determining whether the first predicted landing point of the descending trajectory is within a preset target area; when the first predicted landing point is not within the target area, controlling the propulsion device to combine with the casting material at the highest point of the trajectory; and calculating and determining whether the second predicted landing point of the descending trajectory of the casting object after the combination is within the target area.

[0066] S31, calculating and determining at the highest point of the trajectory whether the first predicted landing point is in the target area;

[0067] S32. If the first predicted landing point is in the target area, the propulsion device is controlled to fly to the predicted vertex of other thrown materials. If the first predicted landing point is not in the target area, the propulsion device is controlled to pick up the thrown materials at the highest point of the trajectory and combine with the thrown materials.

[0068] Optionally, in this embodiment, if the first predicted landing point is not in the target area, the engagement point and engagement time of the propulsion device are calculated based on the downward motion trajectory of the thrown material and the first predicted landing point.

[0069] Optionally, in this embodiment, the propulsion device is controlled to pick up the thrown material at a joining point after the highest point of the trajectory at the joining moment and combine with the thrown material.

[0070] Figure 5 This is a fifth flow chart of the method for controlling the casting trajectory of the present invention. Based on the above embodiment, when the second predicted landing point is not in the target area, adjusting the second motion state of the cast object during descent by the propulsion device so that the final landing point of the cast object is in the target area includes:

[0071] S41, when adjusting the second motion state of the projectile during descent by the propulsion device, calculating whether the predicted landing point of the projectile is within the target area;

[0072] S42. When it is determined that the predicted landing point is in the target area, the propulsion device is controlled to stop propulsion adjustment and release the thrown material.

[0073] Optionally, in this embodiment, the combined propulsion device and the thrown material are used together as the throwing object of this embodiment. Based on this, the downward motion trajectory of the throwing object is monitored, and the second predicted landing point is calculated according to the downward motion trajectory of the throwing object.

[0074] Optionally, in this embodiment, the propulsion point of the propulsion device is calculated based on the downward motion trajectory of the above-mentioned throwing object and the second predicted landing point, and the second motion state of the throwing object during descent is adjusted at the propulsion point so that the final landing point of the throwing object is in the target area.

[0075] Optionally, in this embodiment, the separation point of the propulsion device is calculated based on the downward motion trajectory of the above-mentioned throwing object and the second predicted landing point, and after adjusting the second motion state of the throwing object during descent at the propulsion point, the propulsion device is controlled at the separation point to release the throwing material so that the final landing point of the throwing object is in the target area.

[0076] Based on the above embodiments, the present invention further proposes a casting trajectory pickup 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:

[0077] Identifying and monitoring an upward trajectory of the thrown material, and obtaining a predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and an arrival time of the predicted vertex according to the upward trajectory;

[0078] Controlling the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time according to the first motion state of the thrown material during its ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material;

[0079] Calculating and determining whether a first predicted landing point of the downward trajectory is within a preset target area; if the first predicted landing point is not within the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown material is within the target area;

[0080] When the second predicted landing point is not in the target area, the second motion state of the thrown object during descent is adjusted by the propulsion device so that the final landing point of the thrown object is in the target area.

[0081] Optionally, the identifying and monitoring an upward trajectory of the thrown material, and obtaining, according to the upward trajectory, a predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and an arrival time of the predicted vertex, includes:

[0082] Identifying and monitoring the upward trajectory of the thrown material through ground measuring equipment or sensor equipment on the thrown material;

[0083] The predicted peak point and arrival time are sent to the propulsion device via a communication device connected to the measuring device or the sensing device.

[0084] Optionally, controlling the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time according to the first motion state of the thrown material during its ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material, comprises:

[0085] Calculating the arrival time of the thrown material at the highest point of the trajectory according to the vertical motion component included in the first motion state;

[0086] The predicted vertex is calculated and updated according to the arrival time and the horizontal motion component included in the first motion state, so that the predicted vertex coincides with the highest point of the trajectory.

[0087] Optionally, the calculating and determining whether a first predicted landing point of the downward trajectory is within a preset target area, and when the first predicted landing point is not within the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown object is within the target area, includes:

[0088] Calculate and determine at the highest point of the trajectory whether the first predicted landing point is in the target area;

[0089] If the first predicted landing point is in the target area, the propulsion device is controlled to fly to the predicted vertex of other thrown materials. If the first predicted landing point is not in the target area, the propulsion device is controlled to pick up the thrown materials at the highest point of the trajectory and combine with the thrown materials.

[0090] Optionally, when the second predicted landing point is not in the target area, adjusting the second motion state of the thrown object during descent by the propulsion device so that the final landing point of the thrown object is in the target area includes:

[0091] When adjusting the second motion state of the thrown object during descent by the propulsion device, calculating whether the predicted landing point of the thrown object is within the target area;

[0092] When it is determined that the predicted landing point is in the target area, the propulsion device is controlled to stop propulsion adjustment and release the thrown materials.

[0093] 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.

[0094] Based on the above embodiments, the present invention also proposes a computer-readable storage medium, which stores a casting trajectory picking up control program. When the casting trajectory picking up control program is executed by a processor, the steps of the casting trajectory picking up control method as described in any one of the above items are implemented.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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 casting trajectory picking and control method, characterized in that: The method comprises: Identifying and monitoring an upward trajectory of the thrown material, and obtaining a predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and an arrival time of the predicted vertex according to the upward trajectory; Controlling the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time according to the first motion state of the thrown material during its ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material; Calculating and determining whether a first predicted landing point of the downward trajectory is within a preset target area; if the first predicted landing point is not within the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown material is within the target area; When the second predicted landing point is not in the target area, the second motion state of the thrown object during descent is adjusted by the propulsion device so that the final landing point of the thrown object is in the target area.

2. The casting trajectory picking and controlling method according to claim 1, characterized in that: The identifying and monitoring the upward trajectory of the thrown material, and obtaining, according to the upward trajectory, a predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and an arrival time of the predicted vertex, include: Identifying and monitoring the upward trajectory of the thrown material through ground measuring equipment or sensor equipment on the thrown material; The predicted peak point and arrival time are sent to the propulsion device via a communication device connected to the measuring device or the sensing device.

3. The casting trajectory picking and controlling method according to claim 1, characterized in that: The control of the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time according to the first motion state of the thrown material during the ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material, including: Calculating the arrival time of the thrown material at the highest point of the trajectory according to the vertical motion component included in the first motion state; The predicted vertex is calculated and updated according to the arrival time and the horizontal motion component included in the first motion state, so that the predicted vertex coincides with the highest point of the trajectory.

4. The casting trajectory picking and controlling method according to claim 3, characterized in that: The step of calculating and determining whether a first predicted landing point of the downward trajectory is within a preset target area, and when the first predicted landing point is not within the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown material is within the target area, includes: Calculate and determine at the highest point of the trajectory whether the first predicted landing point is in the target area; If the first predicted landing point is in the target area, the propulsion device is controlled to fly to the predicted vertex of other thrown materials. If the first predicted landing point is not in the target area, the propulsion device is controlled to pick up the thrown materials at the highest point of the trajectory and combine with the thrown materials.

5. The casting trajectory picking and controlling method according to claim 4, characterized in that: When the second predicted landing point is not in the target area, adjusting the second motion state of the thrown object during descent by the propulsion device so that the final landing point of the thrown object is in the target area includes: When adjusting the second motion state of the thrown object during descent by the propulsion device, calculating whether the predicted landing point of the thrown object is within the target area; When it is determined that the predicted landing point is in the target area, the propulsion device is controlled to stop propulsion adjustment and release the thrown materials.

6. A casting trajectory picking and regulating 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: Identifying and monitoring an upward trajectory of the thrown material, and obtaining a predicted vertex of the thrown material when the upward trajectory turns into a downward trajectory and an arrival time of the predicted vertex according to the upward trajectory; Controlling the propulsion device to fly to the predicted vertex within the arrival time, and calculating and updating the predicted vertex in real time according to the first motion state of the thrown material during its ascent, so that the predicted vertex coincides with the highest point of the trajectory actually reached by the thrown material; Calculating and determining whether a first predicted landing point of the downward trajectory is within a preset target area; if the first predicted landing point is not within the target area, controlling the propulsion device to combine with the thrown material at the highest point of the trajectory, and calculating and determining whether a second predicted landing point of the combined downward trajectory of the thrown material is within the target area; When the second predicted landing point is not in the target area, the second motion state of the thrown object during descent is adjusted by the propulsion device so that the final landing point of the thrown object is in the target area.

7. The casting trajectory picking and regulating device according to claim 6, characterized in that: When the computer program is executed by the processor, it realizes: Identifying and monitoring the upward trajectory of the thrown material through ground measuring equipment or sensor equipment on the thrown material; The predicted peak point and arrival time are sent to the propulsion device via a communication device connected to the measuring device or the sensing device.

8. The casting trajectory picking and regulating device according to claim 6, characterized in that: When the computer program is executed by the processor, it realizes: Calculating the arrival time of the thrown material at the highest point of the trajectory according to the vertical motion component included in the first motion state; The predicted vertex is calculated and updated according to the arrival time and the horizontal motion component included in the first motion state, so that the predicted vertex coincides with the highest point of the trajectory.

9. The casting trajectory picking and controlling device according to claim 6, characterized in that: When the computer program is executed by the processor, it realizes: Calculate and determine at the highest point of the trajectory whether the first predicted landing point is in the target area; If the first predicted landing point is within the target area, the propulsion device is controlled to fly to the predicted vertex of other dropped materials; if the first predicted landing point is not within the target area, the propulsion device is controlled to pick up the dropped materials at the highest point of the trajectory and combine with the dropped materials; When adjusting the second motion state of the thrown object during descent by the propulsion device, calculating whether the predicted landing point of the thrown object is within the target area; When it is determined that the predicted landing point is in the target area, the propulsion device is controlled to stop propulsion adjustment and release the thrown materials.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a casting trajectory picking-up control program, which, when executed by a processor, implements the steps of the casting trajectory picking-up control method according to any one of claims 1 to 5.

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