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

Abstract

The present invention discloses a method, device and computer-readable storage medium for dynamic control of material throwing, wherein the method includes: obtaining the first initial position and the first target position of the material to be thrown, and calculating the first vertex position of the material when it makes a first parabolic motion and the first time when the material moves to the first vertex position; obtaining the second initial position of the propulsion device to be thrown, and calculating the second vertex position of the propulsion device when it makes a second parabolic motion and the second time when the propulsion device moves to the second vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time. The present invention realizes a material uphill plan based on separate throwing of propulsion device and materials and combined aerial control, which improves the utilization rate of propulsion device 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 dynamic control method and device for material throwing, 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 dynamic control method for material throwing, which includes:

[0005] Obtaining a first initial position and a first target position of a material to be thrown, and calculating a first vertex position of the material when performing a first parabolic motion based on the first initial position and the first target position, and a first time for the material to move from the first initial position to the first vertex position;

[0006] Obtaining a second initial position of the propulsion device to be cast, and calculating a second vertex position of the propulsion device when performing a second parabolic motion, and a second time for the propulsion device to move from the second initial position to the second vertex position based on the second initial position and the first vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time;

[0007] After the propulsion device reaches the second vertex position, monitoring the predicted vertex position of the material when performing the first parabolic motion, and determining whether the predicted landing point of the material when performing downward motion from the predicted vertex position is within the area corresponding to the first target position;

[0008] When it is determined that the predicted landing point is within the area range, the propulsion device is controlled to execute the pre-propulsion process of the next thrown material. When it is determined that the predicted landing point is not within the area range, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the area range.

[0009] Optionally, the step of obtaining a first initial position and a first target position of the material to be thrown, and calculating a first vertex position of the material when performing a first parabolic motion based on the first initial position and the first target position, and a first time for the material to move from the first initial position to the first vertex position, includes:

[0010] Acquire the material area where the material in the waiting state is located, and the equipment area where the propulsion equipment in the idle state is located;

[0011] At least one of the materials is selected in the material area as the current material to be thrown, and at least one of the propulsion devices is selected in the equipment area as the current propulsion device to be thrown corresponding to the current material to be thrown, and the first initial position is set according to the relative position relationship between the material area and the equipment area.

[0012] Optionally, obtaining a second initial position of the propulsion device to be cast, calculating a second vertex position of the propulsion device when performing a second parabolic motion based on the second initial position and the first vertex position, and a second time for the propulsion device to move from the second initial position to the second vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time, includes:

[0013] setting the second initial position according to the relative position relationship, and determining whether the calculated second time for the propulsion device to move from the second initial position to the second vertex position is less than or equal to the first time;

[0014] If the calculated second time is less than or equal to the first time, the current propulsion device to be thrown is bound to the current material to be thrown. If the calculated second time is greater than the first time, the propulsion device bound to the current material to be thrown is replaced.

[0015] Optionally, after the propulsion device reaches the second vertex position, monitoring the predicted vertex position of the material when performing the first parabolic motion, and determining whether the predicted landing point of the material when performing downward motion from the predicted vertex position is within an area corresponding to the first target position includes:

[0016] After the propulsion device reaches the second vertex position, detecting whether there are other aerial materials to be controlled and located in the trajectory vertex range within the time difference between the first time and the second time;

[0017] If there are other aerial materials to be tracked and controlled that are already within the trajectory vertex range, then when the calculated auxiliary time of the aerial materials is less than or equal to the time difference, the trajectory of the aerial materials is controlled.

[0018] Optionally, when it is determined that the predicted landing point is within the regional range, controlling the propulsion device to execute a pre-propulsion process for the next thrown material; when it is determined that the predicted landing point is not within the regional range, combining the material at the predicted vertex position and performing trajectory control so that the predicted landing point is within the regional range, includes:

[0019] When it is determined that the predicted landing point is not within the range of the area, detecting whether the calculated power consumption for combining the materials and performing trajectory control at the predicted vertex position is less than or equal to the remaining power of the propulsion device;

[0020] If the power consumption is less than or equal to the remaining power, the propulsion device is controlled to combine the materials at the predicted vertex position and perform trajectory control until the materials are separated after falling to the ground. If the power consumption is greater than the remaining power, the propulsion device is controlled to combine the materials and perform trajectory control, and separate before the materials fall to the ground.

[0021] The present invention also provides a dynamic control device for material throwing, 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] Obtaining a first initial position and a first target position of a material to be thrown, and calculating a first vertex position of the material when performing a first parabolic motion based on the first initial position and the first target position, and a first time for the material to move from the first initial position to the first vertex position;

[0023] Obtaining a second initial position of the propulsion device to be cast, and calculating a second vertex position of the propulsion device when performing a second parabolic motion, and a second time for the propulsion device to move from the second initial position to the second vertex position based on the second initial position and the first vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time;

[0024] After the propulsion device reaches the second vertex position, monitoring the predicted vertex position of the material when performing the first parabolic motion, and determining whether the predicted landing point of the material when performing downward motion from the predicted vertex position is within the area corresponding to the first target position;

[0025] When it is determined that the predicted landing point is within the area range, the propulsion device is controlled to execute the pre-propulsion process of the next thrown material. When it is determined that the predicted landing point is not within the area range, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the area range.

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

[0027] Acquire the material area where the material in the waiting state is located, and the equipment area where the propulsion equipment in the idle state is located;

[0028] At least one of the materials is selected in the material area as the current material to be thrown, and at least one of the propulsion devices is selected in the equipment area as the current propulsion device to be thrown corresponding to the current material to be thrown, and the first initial position is set according to the relative position relationship between the material area and the equipment area.

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

[0030] setting the second initial position according to the relative position relationship, and determining whether the calculated second time for the propulsion device to move from the second initial position to the second vertex position is less than or equal to the first time;

[0031] If the calculated second time is less than or equal to the first time, the current propulsion device to be thrown is bound to the current material to be thrown. If the calculated second time is greater than the first time, the propulsion device bound to the current material to be thrown is replaced.

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

[0033] After the propulsion device reaches the second vertex position, detecting whether there are other aerial materials to be controlled and located in the trajectory vertex range within the time difference between the first time and the second time;

[0034] If there are other aerial materials that are already within the trajectory vertex range and need to be controlled, then when the calculated auxiliary time of the aerial materials is less than or equal to the time difference, the trajectory of the aerial materials is controlled;

[0035] When it is determined that the predicted landing point is not within the range of the area, detecting whether the calculated power consumption for combining the materials and performing trajectory control at the predicted vertex position is less than or equal to the remaining power of the propulsion device;

[0036] If the power consumption is less than or equal to the remaining power, the propulsion device is controlled to combine the materials at the predicted vertex position and perform trajectory control until the materials are separated after falling to the ground. If the power consumption is greater than the remaining power, the propulsion device is controlled to combine the materials and perform trajectory control, and separate before the materials fall to the ground.

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

[0038] The material throwing dynamic control method, device and computer-readable storage medium of the present invention are implemented by obtaining the first initial position and the first target position of the material to be thrown, and calculating the first vertex position of the material when it performs a first parabolic motion based on the first initial position and the first target position, as well as the first time for the material to move from the first initial position to the first vertex position; obtaining the second initial position of the propulsion device to be thrown, and calculating the second vertex position of the propulsion device when it performs a second parabolic motion based on the second initial position and the first vertex position, as well as the second time for the propulsion device to move from the second initial position to the second vertex position, wherein the The second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time; after the propulsion device reaches the second vertex position, the predicted vertex position of the material when performing the first parabolic motion is monitored, and it is determined whether the predicted landing point of the material when performing the downward motion from the predicted vertex position is within the area corresponding to the first target position; when it is determined that the predicted landing point is within the area, the propulsion device is controlled to execute the pre-propulsion process for the next thrown material; when it is determined that the predicted landing point is not within the area, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the area. A material uphill plan based on separate throwing of propulsion equipment and materials, and the propulsion equipment picking up the materials in the air and controlling the trajectory is realized. On the one hand, a single propulsion device in the air can assist multiple materials, and on the other hand, the thrown materials can switch to other propulsion devices for trajectory assistance adjustment, 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 the first flow chart of the material throwing dynamic control method of the present invention;

[0041] Figure 2 This is the second flow chart of the material throwing dynamic control method of the present invention;

[0042] Figure 3 This is the third flow chart of the material throwing dynamic control method of the present invention;

[0043] Figure 4 This is the fourth flow chart of the material throwing dynamic control method of the present invention;

[0044] Figure 5 This is the fifth flow chart of the material throwing dynamic control method of the present invention;

[0045] Figure 6 It is a schematic diagram of the throwing control of the material throwing dynamic 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 material throwing dynamic control method of the present invention. This embodiment proposes a material throwing dynamic control method, the method comprising:

[0049] S1. Obtaining a first initial position and a first target position of a material to be thrown, and calculating a first vertex position of the material when performing a first parabolic motion based on the first initial position and the first target position, and a first time for the material to move from the first initial position to the first vertex position;

[0050] S2. Obtain a second initial position of the propulsion device to be cast, and calculate a second vertex position of the propulsion device when performing a second parabolic motion based on the second initial position and the first vertex position, and a second time for the propulsion device to move from the second initial position to the second vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time;

[0051] S3. After the propulsion device reaches the second vertex position, monitor the predicted vertex position of the material when performing the first parabolic motion, and determine whether the predicted landing point of the material when performing downward motion from the predicted vertex position is within the area corresponding to the first target position;

[0052] S4. When it is determined that the predicted landing point is within the area range, the propulsion device is controlled to execute the pre-propulsion process of the next thrown material. When it is determined that the predicted landing point is not within the area range, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the area range.

[0053] In this embodiment, if Figure 6 As shown, materials are stored in one or more material areas, and at least one material throwing track is set in each material area. The material throwing track is only used to eject materials to be thrown. Optionally, multiple throwing tracks suitable for materials of different forms are set in a material area, or materials of the same form are temporarily stored in each material area, and a throwing track corresponding to the materials of that form is installed. In this embodiment, propulsion equipment is stored in one or more equipment areas, and at least one equipment throwing track is set in each equipment area. The equipment throwing track is only used to eject propulsion equipment. Optionally, multiple throwing tracks suitable for equipment of different forms (for example, the type of material form) or different propulsion levels (for example, the propulsion parameters or propulsion capabilities of each level) are set in an equipment area, or equipment of the same form or the same propulsion level is temporarily stored in each equipment area, and a throwing track corresponding to the equipment of the same form or the same propulsion level is installed. In this embodiment, the material going up the mountain is divided into an external force throwing stage, a free ascent stage, and a passive pickup and downward control stage. Similarly, the equipment going up the mountain is also divided into an external force throwing stage, a free ascent stage, and an active pickup and downward control stage.

[0054] In this embodiment, with respect to materials, during the external force throwing phase, the materials to be transported are thrown through a throwing track at a certain speed and angle, or a container containing the materials is thrown, so that the materials or containers can begin parabolic upward motion at the above-set speed and angle during the free upward phase after leaving the throwing track. During this free upward phase, the upward motion trajectory is monitored in real time to calculate the first vertex position of the thrown materials when the upward trajectory turns into the downward trajectory, as well as the first time it reaches the first vertex position. Similarly, with respect to the propulsion device, during the external force throwing phase, the propulsion device is thrown through a throwing track at a certain speed and angle. Based on the above-mentioned predicted quantity, during the pickup and downward control phase after the free upward phase, the propulsion device is controlled to fly to the first vertex position within the first time. Optionally, the second initial position of the propulsion device to be thrown is obtained, and the second vertex position of the propulsion device when performing the second parabolic motion and the second time for the propulsion device to move from the second initial position to the second vertex position are calculated based on the second initial position and the first vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time. Furthermore, after the propulsion device reaches the second vertex position, the predicted vertex position of the material when performing the first parabolic motion is monitored, and it is determined whether the predicted landing point of the material when it moves downward from the predicted vertex position is within the area corresponding to the first target position; when it is determined that the predicted landing point is within the area, the propulsion device is controlled to execute the pre-propulsion process for the next thrown material; when it is determined that the predicted landing point is not within the area, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the area. It can be seen that the material transport plan of this embodiment does not require the propulsion equipment to provide power output throughout the entire process, which greatly saves resource consumption. At the same time, the separation of the throwing of materials and the throwing of the propulsion equipment can effectively improve the transportation efficiency of a single propulsion equipment in the scenario of batch resource transport up the mountain.

[0055] Optionally, in this embodiment, the propulsion device includes an unmanned aerial vehicle such as a fixed-wing UAV or a multi-rotor UAV.

[0056] The advantageous effects of this embodiment are as follows: a first initial position and a first target position of a material to be dropped are obtained, and a first vertex position of the material when performing a first parabolic motion is calculated based on the first initial position and the first target position, as well as a first time for the material to move from the first initial position to the first vertex position; a second initial position of a propulsion device to be dropped is obtained, and a second vertex position of the propulsion device when performing a second parabolic motion is calculated based on the second initial position and the first vertex position, as well as a second time for the propulsion device to move from the second initial position to the second vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time; after the propulsion device reaches the second vertex position, a predicted vertex position of the material when performing the first parabolic motion is monitored, and a predicted landing point of the material when moving downward from the predicted vertex position is determined to be within a range corresponding to the first target position; if it is determined that the predicted landing point is within the range, the propulsion device is controlled to execute a pre-propulsion process for the next dropped material; if it is determined that the predicted landing point is not within the range, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the range. A material transport plan based on separate throwing of propulsion equipment and materials, and the propulsion equipment picking up the materials in the air and controlling their trajectories has been implemented. On the one hand, a single propulsion equipment in the air can assist multiple materials. On the other hand, the thrown materials can be switched to other propulsion equipment for auxiliary trajectory adjustment, which improves the utilization rate of the propulsion equipment and the overall logistics efficiency.

[0057] Figure 2 This is a second flow chart of the dynamic control method for material throwing of the present invention. Based on the above embodiment, the process of obtaining a first initial position and a first target position of the material to be thrown, and calculating a first vertex position of the material when performing a first parabolic motion based on the first initial position and the first target position, as well as a first time for the material to move from the first initial position to the first vertex position, includes:

[0058] S11, obtaining a material area where the material in a waiting state is located, and an equipment area where the propulsion equipment in an idle state is located;

[0059] S12. Select at least one of the materials in the material area as the current material to be thrown, and select at least one of the propulsion devices in the equipment area as the current propulsion device to be thrown corresponding to the current material to be thrown, and set the first initial position according to the relative position relationship between the material area and the equipment area.

[0060] Optionally, in this embodiment, the material area is on one side of the mountain, and the equipment area is on the other side of the mountain.

[0061] Optionally, in this embodiment, a first target position on the mountain is acquired, and a propulsion device in a device area is selected as a binding auxiliary device for the current material according to the first target position.

[0062] Optionally, in this embodiment, when an idle propulsion device is preferentially selected, the first initial position is set according to the relative position relationship between the material area and the equipment area. At this time, the current material will be transported to the throwing track of the first initial position for throwing.

[0063] Figure 3 This is a third flow chart of the dynamic control method for material throwing of the present invention. Based on the above embodiment, the step of obtaining a second initial position of the propulsion device to be thrown, calculating a second vertex position of the propulsion device when performing a second parabolic motion based on the second initial position and the first vertex position, and a second time for the propulsion device to move from the second initial position to the second vertex position, wherein the second vertex position coincides with the first vertex position and the second time is less than or equal to the first time, includes:

[0064] S21, setting the second initial position according to the relative position relationship, and determining whether the calculated second time for the propulsion device to move from the second initial position to the second vertex position is less than or equal to the first time;

[0065] S22. If the calculated second time is less than or equal to the first time, the propulsion device currently to be thrown is bound to the current material to be thrown; if the calculated second time is greater than the first time, the propulsion device bound to the current material to be thrown is replaced.

[0066] Optionally, in this embodiment, when the material to be thrown is preferentially selected, the second initial position is set according to the relative position relationship. At this time, the current propulsion device will be transported to the throwing track of the second initial position for throwing.

[0067] Optionally, in this embodiment, if the calculated second time is greater than the first time, a propulsion device to be bound to the current material to be thrown is selected in the current device area.

[0068] Optionally, in this embodiment, if a propulsion device that meets the above time conditions and is bound to the current material to be thrown cannot be selected in the current equipment area, a propulsion device that meets the above time conditions and is bound to the current material to be thrown is selected in other equipment areas.

[0069] Figure 4 This is a fourth flow chart of the dynamic control method for material throwing of the present invention. Based on the above embodiment, after the propulsion device reaches the second vertex position, monitoring the predicted vertex position of the material when performing the first parabolic motion, and determining whether the predicted landing point of the material when performing downward motion from the predicted vertex position is within the area corresponding to the first target position, includes:

[0070] S31. After the propulsion device reaches the second vertex position, detecting whether there are other aerial materials to be tracked and controlled that are already in the trajectory vertex range within the time difference between the first time and the second time;

[0071] S32: If there are other aerial materials to be tracked and controlled that are already within the trajectory vertex range, then when the calculated auxiliary time of the aerial materials is less than or equal to the time difference, the aerial materials are tracked and controlled.

[0072] Optionally, in this embodiment, the trajectory vertex range refers to a preset distance range before and after the parabola vertex of the aerial material, or a preset time range before and after reaching the parabola vertex.

[0073] Optionally, in this embodiment, if there are other aerial assets that are already within the trajectory vertex range and require trajectory control, then when the calculated auxiliary time of the aerial asset is less than or equal to the time difference, monitoring data transmitted by the propulsion device previously associated with the aerial asset is received; based on the monitoring data, it is calculated whether the current propulsion device meets the auxiliary control requirements corresponding to the monitoring data; if so, trajectory control is performed on the aerial asset. The auxiliary control requirements include the conditions for the propulsion device to be associated with the aerial asset and / or the propulsion parameter conditions of the propulsion device for the aerial asset.

[0074] Figure 5 This is a fifth flow chart of the dynamic control method for material throwing of the present invention. Based on the above embodiment, when it is determined that the predicted landing point is within the range of the area, the propulsion device is controlled to execute the pre-propulsion process of the next thrown material. When it is determined that the predicted landing point is not within the range of the area, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the range of the area, including:

[0075] S41. When it is determined that the predicted landing point is not within the area, detecting whether the calculated power consumption for combining the materials at the predicted vertex position and performing trajectory control is less than or equal to the remaining power of the propulsion device;

[0076] S42. If the power consumption is less than or equal to the remaining power, the propulsion device is controlled to combine the materials at the predicted vertex position and perform trajectory control until the materials are separated after they fall to the ground. If the power consumption is greater than the remaining power, the propulsion device is controlled to combine the materials and perform trajectory control, and separate them before the materials fall to the ground.

[0077] Optionally, in this embodiment, if the power consumption is greater than the remaining power, the propulsion device is controlled to send a first assistance request to other aerial propulsion devices, so that the other aerial propulsion devices combine the materials at the predicted vertex position and perform trajectory control.

[0078] Optionally, in this embodiment, if the power consumption is greater than the remaining power, the propulsion device is controlled to send a second assistance request to other aerial propulsion devices. At the same time, the propulsion device is controlled to combine the materials and perform trajectory control, and to separate the materials before they land. Then, the other aerial propulsion devices are controlled to combine the materials and perform trajectory control at the separation point.

[0079] Optionally, in this embodiment, if the power consumption is greater than the remaining power, the propulsion device is controlled to send a third assistance request to other aerial propulsion devices, and the propulsion device and other aerial propulsion devices are controlled to combine the materials and perform trajectory control at the same time, and to separate at another time before the materials land.

[0080] Optionally, in this embodiment, if the power consumption is greater than the remaining power, the propulsion device is controlled to send a third assistance request to other aerial propulsion devices, and the propulsion device and other aerial propulsion devices are controlled to respectively combine the materials and perform trajectory control within a preset time period, and respectively perform separation within the preset time period before the materials land.

[0081] Based on the above embodiments, the present invention further proposes a dynamic control device for material throwing, 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] Obtaining a first initial position and a first target position of a material to be thrown, and calculating a first vertex position of the material when performing a first parabolic motion based on the first initial position and the first target position, and a first time for the material to move from the first initial position to the first vertex position;

[0083] Obtaining a second initial position of the propulsion device to be cast, and calculating a second vertex position of the propulsion device when performing a second parabolic motion, and a second time for the propulsion device to move from the second initial position to the second vertex position based on the second initial position and the first vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time;

[0084] After the propulsion device reaches the second vertex position, monitoring the predicted vertex position of the material when performing the first parabolic motion, and determining whether the predicted landing point of the material when performing downward motion from the predicted vertex position is within the area corresponding to the first target position;

[0085] When it is determined that the predicted landing point is within the area range, the propulsion device is controlled to execute the pre-propulsion process of the next thrown material. When it is determined that the predicted landing point is not within the area range, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the area range.

[0086] Optionally, when the computer program is executed by the processor, it implements:

[0087] Acquire the material area where the material in the waiting state is located, and the equipment area where the propulsion equipment in the idle state is located;

[0088] At least one of the materials is selected in the material area as the current material to be thrown, and at least one of the propulsion devices is selected in the equipment area as the current propulsion device to be thrown corresponding to the current material to be thrown, and the first initial position is set according to the relative position relationship between the material area and the equipment area.

[0089] Optionally, when the computer program is executed by the processor, it implements:

[0090] setting the second initial position according to the relative position relationship, and determining whether the calculated second time for the propulsion device to move from the second initial position to the second vertex position is less than or equal to the first time;

[0091] If the calculated second time is less than or equal to the first time, the current propulsion device to be thrown is bound to the current material to be thrown. If the calculated second time is greater than the first time, the propulsion device bound to the current material to be thrown is replaced.

[0092] Optionally, when the computer program is executed by the processor, it implements:

[0093] After the propulsion device reaches the second vertex position, detecting whether there are other aerial materials to be controlled and located in the trajectory vertex range within the time difference between the first time and the second time;

[0094] If there are other aerial materials that are already within the trajectory vertex range and need to be controlled, then when the calculated auxiliary time of the aerial materials is less than or equal to the time difference, the trajectory of the aerial materials is controlled;

[0095] When it is determined that the predicted landing point is not within the range of the area, detecting whether the calculated power consumption for combining the materials and performing trajectory control at the predicted vertex position is less than or equal to the remaining power of the propulsion device;

[0096] If the power consumption is less than or equal to the remaining power, the propulsion device is controlled to combine the materials at the predicted vertex position and perform trajectory control until the materials are separated after falling to the ground. If the power consumption is greater than the remaining power, the propulsion device is controlled to combine the materials and perform trajectory control, and separate before the materials fall to the ground.

[0097] 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.

[0098] Based on the above embodiments, the present invention also proposes a computer-readable storage medium, which stores a dynamic control program for material throwing. When the dynamic control program for material throwing is executed by a processor, the steps of the dynamic control method for material throwing as described in any of the above items are implemented.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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 dynamic control method for material throwing, characterized in that: The method comprises: Obtaining a first initial position and a first target position of a material to be currently thrown, and calculating a first vertex position of the material when performing a first parabolic motion based on the first initial position and the first target position, as well as a first time for the material to move from the first initial position to the first vertex position; specifically comprising: obtaining a material area where the material to be thrown is located, and an equipment area where propulsion equipment in an idle state is located; selecting at least one material in the material area as the material to be currently thrown, and selecting at least one propulsion equipment in the equipment area as the propulsion equipment to be currently thrown corresponding to the material to be currently thrown, and setting the first initial position according to the relative positional relationship between the material area and the equipment area; Obtaining a second initial position of the propulsion device to be cast, and calculating a second vertex position of the propulsion device when performing a second parabolic motion, and a second time for the propulsion device to move from the second initial position to the second vertex position based on the second initial position and the first vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time; After the propulsion device reaches the second vertex position, the predicted vertex position of the material when performing the first parabolic motion is monitored, and a predicted landing point of the material when performing downward motion from the predicted vertex position is determined to be within the area corresponding to the first target position; specifically, after the propulsion device reaches the second vertex position, detecting whether there are other aerial materials that are already within the trajectory vertex range and are to be tracked and controlled within the time difference between the first time and the second time; if there are other aerial materials that are already within the trajectory vertex range and are to be tracked and controlled, then the trajectory of the aerial materials is controlled if the calculated auxiliary time of the aerial materials is less than or equal to the time difference; When it is determined that the predicted landing point is within the area range, the propulsion device is controlled to execute the pre-propulsion process of the next thrown material. When it is determined that the predicted landing point is not within the area range, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the area range.

2. The dynamic control method for material throwing according to claim 1 is characterized in that: The step of obtaining a second initial position of the propulsion device to be cast, and calculating a second vertex position of the propulsion device when performing a second parabolic motion based on the second initial position and the first vertex position, and a second time for the propulsion device to move from the second initial position to the second vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time, includes: setting the second initial position according to the relative position relationship, and determining whether the calculated second time for the propulsion device to move from the second initial position to the second vertex position is less than or equal to the first time; If the calculated second time is less than or equal to the first time, the current propulsion device to be thrown is bound to the current material to be thrown. If the calculated second time is greater than the first time, the propulsion device bound to the current material to be thrown is replaced.

3. The dynamic control method for material throwing according to claim 1 is characterized in that: When it is determined that the predicted landing point is within the regional range, controlling the propulsion device to execute a pre-propulsion process for the next thrown material; when it is determined that the predicted landing point is not within the regional range, combining the material at the predicted vertex position and performing trajectory control so that the predicted landing point is within the regional range, including: When it is determined that the predicted landing point is not within the range of the area, detecting whether the calculated power consumption for combining the materials and performing trajectory control at the predicted vertex position is less than or equal to the remaining power of the propulsion device; If the power consumption is less than or equal to the remaining power, the propulsion device is controlled to combine the materials at the predicted vertex position and perform trajectory control until the materials are separated after landing. If the power consumption is greater than the remaining power, the propulsion device is controlled to combine the materials and perform trajectory control, and separate before the materials land.

4. A dynamic control device for throwing materials, 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: Obtaining a first initial position and a first target position of a material to be currently thrown, and calculating a first vertex position of the material when performing a first parabolic motion based on the first initial position and the first target position, as well as a first time for the material to move from the first initial position to the first vertex position; specifically comprising: obtaining a material area where the material to be thrown is located, and an equipment area where propulsion equipment in an idle state is located; selecting at least one material in the material area as the material to be currently thrown, and selecting at least one propulsion equipment in the equipment area as the propulsion equipment to be currently thrown corresponding to the material to be currently thrown, and setting the first initial position according to the relative positional relationship between the material area and the equipment area; Obtaining a second initial position of the propulsion device to be cast, and calculating a second vertex position of the propulsion device when performing a second parabolic motion, and a second time for the propulsion device to move from the second initial position to the second vertex position based on the second initial position and the first vertex position, wherein the second vertex position coincides with the first vertex position, and the second time is less than or equal to the first time; After the propulsion device reaches the second vertex position, the predicted vertex position of the material when performing the first parabolic motion is monitored, and a predicted landing point of the material when performing downward motion from the predicted vertex position is determined to be within the area corresponding to the first target position; specifically, after the propulsion device reaches the second vertex position, detecting whether there are other aerial materials that are already within the trajectory vertex range and are to be tracked and controlled within the time difference between the first time and the second time; if there are other aerial materials that are already within the trajectory vertex range and are to be tracked and controlled, then the trajectory of the aerial materials is controlled if the calculated auxiliary time of the aerial materials is less than or equal to the time difference; When it is determined that the predicted landing point is within the area range, the propulsion device is controlled to execute the pre-propulsion process of the next thrown material. When it is determined that the predicted landing point is not within the area range, the material is combined at the predicted vertex position and trajectory control is performed to ensure that the predicted landing point is within the area range.

5. The dynamic control device for throwing materials according to claim 4 is characterized in that: When the computer program is executed by the processor, it realizes: setting the second initial position according to the relative position relationship, and determining whether the calculated second time for the propulsion device to move from the second initial position to the second vertex position is less than or equal to the first time; If the calculated second time is less than or equal to the first time, the current propulsion device to be thrown is bound to the current material to be thrown. If the calculated second time is greater than the first time, the propulsion device bound to the current material to be thrown is replaced.

6. The dynamic control device for throwing materials according to claim 4, characterized in that: When the computer program is executed by the processor, it realizes: When it is determined that the predicted landing point is not within the range of the area, detecting whether the calculated power consumption for combining the materials and performing trajectory control at the predicted vertex position is less than or equal to the remaining power of the propulsion device; If the power consumption is less than or equal to the remaining power, the propulsion device is controlled to combine the materials at the predicted vertex position and perform trajectory control until the materials are separated after landing. If the power consumption is greater than the remaining power, the propulsion device is controlled to combine the materials and perform trajectory control, and separate before the materials land.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a material throwing dynamic control program, and when the material throwing dynamic control program is executed by the processor, the steps of the material throwing dynamic control method according to any one of claims 1 to 3 are implemented.

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