A method, apparatus, and computer readable storage medium for a cast net catch

Abstract

The application discloses a kind of throwing net catch method, equipment and computer readable storage medium, wherein, the method comprises: when multiple aircrafts of a catch net are collectively pulled to the delivery address corresponding to the current delivery order, control multiple aircrafts to adjust to the first hovering position, so that the relative distance of the catch net under the first hovering position from the delivery point of the delivery order meets the clearance environmental condition of the delivery address corresponding to the delivery order;Control multiple aircrafts to adjust the hovering position to adjust the opening size and opening angle of the catch net;After obtaining the motion information of the to-be-received item, control multiple aircrafts to adjust to the fourth hovering position, so that the catch net under the fourth hovering position captures the to-be-received item.A kind of efficient throwing net catch scheme is realized, which greatly simplifies the delivery efficiency of customer, improves the efficiency of air logistics.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for capturing a delivery item by a throwing net, and a computer readable storage medium. BACKGROUND

[0002] In the prior art, with the continuous development of unmanned aerial vehicle technology, aerial logistics services based on multi-rotor unmanned aerial vehicles and other aerial vehicles have begun to be popularized.

[0003] However, in the current aerial logistics service flow, customers still need to go to specific areas such as aerial logistics transfer cabinets, or specific devices, or specific service points to deliver items, which is no different from the operation convenience of conventional logistics express cabinet delivery.

[0004] Based on the above status, how to fully utilize the flexibility of multi-rotor unmanned aerial vehicles and other aerial vehicles to improve the efficiency of customer goods delivery has become a technical problem to be solved at present. SUMMARY

[0005] In order to solve the above technical defects in the prior art, the present application provides a method for capturing a delivery item by a throwing net, which comprises:

[0006] When a plurality of aerial vehicles jointly towing a capture net arrive at a delivery address corresponding to a delivery order, the plurality of aerial vehicles are controlled to adjust to a first hovering position, so that the relative distance between the capture net at the first hovering position and a throwing point of the delivery order meets the clearance environment condition of the delivery address corresponding to the delivery order.

[0007] After obtaining the goods information of the delivery item to be received, the plurality of aerial vehicles are controlled to adjust to a second hovering position within the range of the first hovering position, so that the opening size of the capture net at the second hovering position meets the goods data condition in the goods information.

[0008] After obtaining the throwing object of the delivery item to be received, the plurality of aerial vehicles are controlled to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the capture net at the third hovering position meets the throwing posture condition of the throwing object.

[0009] After obtaining the motion information of the delivery item to be received, the plurality of aerial vehicles are controlled to adjust to a fourth hovering position, so that the capture net at the fourth hovering position captures the delivery item to be received.

[0010] Optionally, when the plurality of aircrafts with the net are controlled to reach the delivery address corresponding to the current delivery order, the plurality of aircrafts are controlled to adjust to a first hovering position, so that the relative distance between the net under the first hovering position and the delivery point of the delivery order meets the clearance environment condition of the delivery address corresponding to the delivery order, comprising:

[0011] determining the clearance environment condition meeting the delivery operation according to one or more of the floor, the house type and the structure of the delivery address;

[0012] setting a distance range of the relative distance according to the clearance environment condition, and controlling the hovering position of at least one of the plurality of aircrafts to be within the distance range.

[0013] Optionally, after obtaining the cargo information of the to-be-received item of the delivery order, the plurality of aircrafts are controlled to adjust to a second hovering position within the range of the first hovering position, so that the opening size of the net under the second hovering position meets the cargo data condition in the cargo information, comprising:

[0014] determining the cargo data condition according to one or more of the relative distance, the cargo length-width-height data, and the cargo weight data in the cargo information;

[0015] adjusting the hovering position of at least one of the aircrafts so that the opening size meets the cargo data condition, and keeping the hovering position of at least one of the aircrafts within the distance range.

[0016] Optionally, after obtaining the delivery object of the to-be-received item, the plurality of aircrafts are controlled to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the net under the third hovering position meets the delivery posture condition of the delivery object, comprising:

[0017] determining the delivery posture condition according to one or more of the object attribute, the delivery action of the delivery object, the cargo length-width-height data, and the cargo weight data;

[0018] adjusting the hovering position of at least one of the aircrafts so that the opening angle meets the delivery posture condition, and keeping the hovering position of at least one of the aircrafts within the distance range.

[0019] Optionally, after obtaining the motion information of the to-be-received item, the plurality of aircrafts are controlled to adjust to a fourth hovering position, so that the net under the fourth hovering position captures the to-be-received item, comprising:

[0020] determining the motion trajectory of the to-be-received item according to the motion information;

[0021] adjust one or more of the relative distance, the opening size, and the opening angle according to the movement trajectory, so that the net under the fourth hovering position captures the to-be-received item.

[0022] The application further provides a net-casting item receiving device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is executed by the processor to implement:

[0023] When a plurality of aircrafts jointly towing a net arrive at a delivery address corresponding to a current delivery order, the plurality of aircrafts are controlled to adjust to a first hovering position, so that the relative distance between the net under the first hovering position and a casting point of the delivery order meets the clearance environment condition of the delivery address corresponding to the current delivery order.

[0024] After obtaining the cargo information of the to-be-received item of the delivery order, the plurality of aircrafts are controlled to adjust to a second hovering position within the range of the first hovering position, so that the opening size of the net under the second hovering position meets the cargo data condition in the cargo information.

[0025] After obtaining a casting object of the to-be-received item, the plurality of aircrafts are controlled to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the net under the third hovering position meets the casting posture condition of the casting object.

[0026] After obtaining the movement information of the to-be-received item, the plurality of aircrafts are controlled to adjust to a fourth hovering position, so that the net under the fourth hovering position captures the to-be-received item.

[0027] Optionally, the computer program is executed by the processor to implement:

[0028] determining the clearance environment condition meeting the current casting operation according to one or more of the floor, the house type, and the structure of the delivery address;

[0029] setting a distance range of the relative distance according to the clearance environment condition, and controlling the hovering position of at least one of the plurality of aircrafts to be within the distance range.

[0030] Optionally, the computer program is executed by the processor to implement:

[0031] determining the cargo data condition according to one or more of the relative distance, the cargo length-width-height data in the cargo information, and the cargo weight data;

[0032] adjusting the hovering position of at least one of the aircrafts to make the opening size meet the cargo data condition, and keeping the hovering position of at least one of the aircrafts within the distance range.

[0033] Optionally, the computer program, when executed by the processor, implements:

[0034] determining the throwing posture condition according to one or more of the object attribute of the throwing object, the throwing action, the cargo length-width-height data, and the cargo weight data;

[0035] adjusting the hovering position of at least one of the aircrafts to make the opening angle meet the throwing posture condition, and keeping the hovering position of at least one of the aircrafts within the distance range;

[0036] determining the movement trajectory of the to-be-received item according to the movement information;

[0037] adjusting one or more of the relative distance, the opening size, and the opening angle according to the movement trajectory, so that the net under the fourth hovering position captures the to-be-received item.

[0038] The application further provides a computer readable storage medium, which stores a throwing net item receiving program, and the throwing net item receiving program, when executed by a processor, implements the steps of the throwing net item receiving method according to any one of the above.

[0039] The throwing net item receiving method, device and computer readable storage medium of the application are implemented as follows: when a plurality of aircrafts jointly dragging a net reach a delivery address corresponding to a delivery order, the plurality of aircrafts are controlled to adjust to a first hovering position, so that the relative distance between the net under the first hovering position and a throwing point of the delivery order meets the clearance condition of the delivery address corresponding to the delivery order; after obtaining cargo information of a to-be-received item of the delivery order, the plurality of aircrafts are controlled to adjust to a second hovering position within the range of the first hovering position, so that the opening size of the net under the second hovering position meets a cargo data condition in the cargo information; after obtaining a throwing object of the to-be-received item, the plurality of aircrafts are controlled to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the net under the third hovering position meets a throwing posture condition of the throwing object; after obtaining movement information of the to-be-received item, the plurality of aircrafts are controlled to adjust to a fourth hovering position, so that the net under the fourth hovering position captures the to-be-received item. An efficient throwing net item receiving scheme is implemented, which greatly simplifies the delivery efficiency of customers and improves the efficiency of air logistics. BRIEF DESCRIPTION OF DRAWINGS

[0040] The present application will be further described below in conjunction with the accompanying drawings and embodiments. In the drawings:

[0041] Figure 1 is the first flowchart of the method for catching the thrown net according to the present application;

[0042] Figure 2 is the second flowchart of the method for catching the thrown net according to the present application;

[0043] Figure 3 is the third flowchart of the method for catching the thrown net according to the present application;

[0044] Figure 4 is the fourth flowchart of the method for catching the thrown net according to the present application;

[0045] Figure 5 is the fifth flowchart of the method for catching the thrown net according to the present application. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are merely illustrative of the present application and do not limit the present application.

[0047] In the following description, the suffixes used for elements such as "module", "part", or "unit" are used only for convenience of explanation of the present application, and have no specific meaning by themselves. Thus, "module", "part", or "unit" can be mixedly used.

[0048] Figure 1 is the first flowchart of the method for catching the thrown net according to the present application. The present embodiment proposes a method for catching the thrown net, which comprises:

[0049] S1, when a plurality of aircrafts jointly dragging a net arrive at a delivery address corresponding to a delivery order, controlling the plurality of aircrafts to adjust to a first hovering position, so that the relative distance between the net at the first hovering position and a throwing point of the delivery order meets the clearance environmental condition of the delivery address corresponding to the delivery order;

[0050] S2, after obtaining the goods information of the goods to be received of the delivery order, controlling the plurality of aircrafts to adjust to a second hovering position within the range of the first hovering position, so that the opening size of the net at the second hovering position meets the goods data condition in the goods information;

[0051] S3, after obtaining the thrown object to be received, controlling the plurality of aircrafts to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the net at the third hovering position meets the throwing posture condition of the thrown object;

[0052] S4, after obtaining the motion information of the to-be-received item, controlling the plurality of aerial vehicles to adjust to a fourth hovering position, so that the fourth hovering position is captured by the net.

[0053] Optionally, in the embodiment, the plurality of aerial vehicles are all multi-rotor drones. When the multi-rotor drones are three, the unfolded shape of the net is a triangle; when the multi-rotor drones are four or more than four and less than six, the unfolded shape of the net is a square, or a rectangle, or a trapezoid; when the multi-rotor drones are six or more than six, the unfolded shape of the net is a circle, or an ellipse, or other irregular shapes, wherein the number of multi-rotor drones is configured according to the number of vertices of the irregular shape.

[0054] Optionally, in the embodiment, the delivery address is the house number of the customer, further, the delivery address is the room specified in the house structure diagram corresponding to the house number of the customer, further, the delivery address is the window sill or the railing of the specified balcony in the house structure diagram corresponding to the house number of the customer.

[0055] Optionally, in the embodiment, the conditions for determining the relative distance of the net from the throwing point of the delivery order are that the first is to meet the clearance environment for the attitude adjustment of the plurality of multi-rotor drones, and the second is to adjust according to the weight of the to-be-received item. For example, after determining a distance range according to the clearance environment condition, within the distance range, the actual relative distance is adjusted according to the weight of the to-be-received item, for example, the greater the weight of the to-be-received item, the smaller the relative distance within the distance range.

[0056] Optionally, in the embodiment, the opening size is determined by the opening shape of the net, for example, the opening size is determined according to the area of the shape formed by the traction points of the plurality of multi-rotor drones on the net, for example, the opening size is determined according to the maximum inscribed rectangle of the shape formed by the traction points of the plurality of multi-rotor drones on the net, for example, the opening size is determined according to the maximum inscribed circle of the shape formed by the traction points of the plurality of multi-rotor drones on the net.

[0057] Optionally, in the embodiment, the adjustment of the opening size also includes the unfolded shape of the net, for example, when the unfolded shape of the net is a triangle, the opening size is determined according to the area of the shape formed by the traction points of the plurality of multi-rotor drones on the net; for example, when the unfolded shape of the net is a square, or a rectangle, or a trapezoid, the opening size is determined according to the maximum inscribed rectangle of the shape formed by the traction points of the plurality of multi-rotor drones on the net; for example, when the unfolded shape of the net is a circle, or an ellipse, or other irregular shapes, the opening size is determined according to the maximum inscribed circle of the shape formed by the traction points of the plurality of multi-rotor drones on the net.

[0058] The beneficial effects of the embodiment are that, when multiple aircrafts jointly dragging a catch net reach a delivery address corresponding to a current delivery order, the multiple aircrafts are controlled to adjust to a first hovering position, so that the relative distance between the catch net under the first hovering position and the delivery point of the delivery order meets the clearance environmental condition of the delivery address corresponding to the delivery order; after obtaining the cargo information of the to-be-received goods of the delivery order, the multiple aircrafts are controlled to adjust to a second hovering position within the range of the first hovering position, so that the opening size of the catch net under the second hovering position meets the cargo data condition in the cargo information; after obtaining the delivery object of the to-be-received goods, the multiple aircrafts are controlled to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the catch net under the third hovering position meets the delivery posture condition of the delivery object; after obtaining the motion information of the to-be-received goods, the multiple aircrafts are controlled to adjust to a fourth hovering position, so that the catch net under the fourth hovering position captures the to-be-received goods. An efficient delivery net catching scheme is realized, which greatly simplifies the delivery efficiency of customers and improves the efficiency of air logistics.

[0059] Figure 2 is a second flowchart of the delivery net catching method of the application, based on the above embodiment, when multiple aircrafts jointly dragging a catch net reach a delivery address corresponding to a current delivery order, the multiple aircrafts are controlled to adjust to a first hovering position, so that the relative distance between the catch net under the first hovering position and the delivery point of the delivery order meets the clearance environmental condition of the delivery address corresponding to the delivery order, which comprises:

[0060] S11, determining the clearance environmental condition currently meeting the delivery operation according to one or more of the floor, the house type and the structure of the delivery address;

[0061] S12, setting the distance range of the relative distance according to the clearance environmental condition, and controlling the hovering position of at least one of the multiple aircrafts to be within the distance range.

[0062] Optionally, in the embodiment, a distance range of five meters to two meters is set for a balcony guardrail, and a distance range of three meters to one meter is set for a window sill.

[0063] Optionally, in the embodiment, a distance range of five meters to two meters is set for a floor of two stories or more, and a distance range of two meters to half a meter is set for a ground floor.

[0064] Figure 3is a third flowchart of the method for catching the received item by the cast net, based on the above embodiment, after obtaining the cargo information of the received item of the delivery order, the plurality of aircrafts are controlled to adjust to a second hovering position within the range of the first hovering position, so that the opening size of the catch net under the second hovering position meets the cargo data condition in the cargo information, including:

[0065] S21, determining the cargo data condition according to one or more of the relative distance, the cargo length-width-height data in the cargo information, and the cargo weight data;

[0066] S22, adjusting the hovering position of at least one of the aircrafts so that the opening size meets the cargo data condition, and keeping the hovering position of at least one of the aircrafts within the distance range.

[0067] Optionally, in this embodiment, the opening size is determined according to the external size of the cargo, for example, the diameter of the minimum circumscribed sphere of the external size is twice the maximum circumscribed circle of the catch net opening.

[0068] Optionally, in this embodiment, the multiple is adjusted according to the cargo weight, for example, the cargo weight is divided into several grades, and a plurality of multiple relationships are corresponded. For example, the higher the weight, the larger the multiple.

[0069] Figure 4 is a fourth flowchart of the method for catching the received item by the cast net, based on the above embodiment, after obtaining the cast object to be received, the plurality of aircrafts are controlled to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the catch net under the third hovering position meets the cast posture condition of the cast object, including:

[0070] S31, determining the cast posture condition according to one or more of the object attribute, the cast action of the cast object, the cargo length-width-height data, and the cargo weight data;

[0071] S32, adjusting the hovering position of at least one of the aircrafts so that the opening angle meets the cast posture condition, and keeping the hovering position of at least one of the aircrafts within the distance range.

[0072] Optionally, in this embodiment, the opening angle is the included angle between the opening plane and the vertical plane. The opening plane is arranged opposite to the front surface of the cast object, and the cast object is a human body, a cast track or other ejection device. For example, the cast object is determined to be a human body, a cast track or other ejection device according to the identification result of the object attribute.

[0073] Optionally, in the embodiment, the throwing action is the back swing angle and the forward swing posture of the arm when the human body throws, and the initial motion state of the goods is predicted according to the back swing angle and / or the forward swing posture. Further, the opening angle is adjusted according to the motion trajectory in the initial motion state, so that the motion trajectory vertically falls into the opening plane.

[0074] Figure 5 is the fifth flowchart of the method for catching the thrown net according to the present application, based on the above-mentioned embodiment, after obtaining the motion information of the to-be-collected item, the plurality of aircrafts are controlled to adjust to a fourth hovering position, so that the net at the fourth hovering position captures the to-be-collected item, comprising:

[0075] S41, determining the motion trajectory of the to-be-collected item according to the motion information;

[0076] S42, adjusting one or more of the relative distance, the opening size and the opening angle according to the motion trajectory, so that the net at the fourth hovering position captures the to-be-collected item.

[0077] Optionally, in the embodiment, considering that in the foregoing embodiment, the ideal trajectory is predicted according to the initial motion trajectory, so that the motion trajectory vertically falls into the opening plane, but in reality, the ideal trajectory predicted above may not be accurate due to factors such as wind direction, wind speed and resistance, therefore, the embodiment adjusts one or more of the relative distance, the opening size and the opening angle according to the motion trajectory, so that the actual motion trajectory vertically falls into the opening plane.

[0078] Based on the above-mentioned embodiment, the present application further proposes a throwing net catching device, which comprises a memory, a processor and a computer program stored on the memory and executable on the processor, and when the computer program is executed by the processor, the following steps are implemented:

[0079] When the plurality of aircrafts jointly towing a net reach the delivery address corresponding to the current delivery order, the plurality of aircrafts are controlled to adjust to a first hovering position, so that the relative distance between the net at the first hovering position and the throwing point of the delivery order satisfies the clearance environmental condition of the delivery address corresponding to the delivery order;

[0080] After obtaining the goods information of the to-be-collected item of the delivery order, within the range of the first hovering position, the plurality of aircrafts are controlled to adjust to a second hovering position, so that the opening size of the net at the second hovering position satisfies the goods data condition in the goods information;

[0081] After obtaining the cast object of the to-be-collected item, control the plurality of aerial vehicles to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the catching net at the third hovering position meets the cast posture condition of the cast object.

[0082] After obtaining the motion information of the to-be-collected item, control the plurality of aerial vehicles to adjust to a fourth hovering position, so that the catching net at the fourth hovering position captures the to-be-collected item.

[0083] Optionally, the computer program is executed by the processor to implement:

[0084] Determine the clearance environment condition that currently meets the cast operation according to one or more of the floor, the house type, and the structure of the delivery address;

[0085] Set a distance range of the relative distance according to the clearance environment condition, and control the hovering position of at least one of the plurality of aerial vehicles to be within the distance range.

[0086] Optionally, the computer program is executed by the processor to implement:

[0087] Determine the cargo data condition according to one or more of the relative distance, the cargo length-width-height data, and the cargo weight data in the cargo information;

[0088] Adjust the hovering position of at least one of the aerial vehicles so that the opening size meets the cargo data condition, and keep the hovering position of at least one of the aerial vehicles within the distance range.

[0089] Optionally, the computer program is executed by the processor to implement:

[0090] Determine the cast posture condition according to one or more of the object attribute, the cast action of the cast object, the cargo length-width-height data, and the cargo weight data;

[0091] Adjust the hovering position of at least one of the aerial vehicles so that the opening angle meets the cast posture condition, and keep the hovering position of at least one of the aerial vehicles within the distance range.

[0092] Determine the motion trajectory of the to-be-collected item according to the motion information;

[0093] Adjust one or more of the relative distance, the opening size, and the opening angle according to the motion trajectory, so that the catching net at the fourth hovering position captures the to-be-collected item.

[0094] It should be noted that the above device embodiments and method embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, and the technical features in the method embodiments are all applicable in the device embodiments, which will not be repeated here.

[0095] Based on the above embodiments, the application further proposes a computer readable storage medium, which stores a cast net catching program. When the cast net catching program is executed by a processor, the steps of the cast net catching method according to any one of the above embodiments are realized.

[0096] It should be noted that the above medium embodiments and method embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, and the technical features in the method embodiments are all applicable in the medium embodiments, which will not be repeated here.

[0097] It should be noted that in this document, the terms "comprise", "comprise", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the process, method, article or device that includes the element.

[0098] The above-mentioned embodiment numbers of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0099] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by software and necessary general hardware platform, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the application can be embodied in the form of software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner, or network equipment, etc.) execute the methods described in various embodiments of the application.

[0100] The embodiments of the application are described above in combination with the drawings, but the application is not limited to the above-mentioned specific embodiments, which are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the application without departing from the purpose of the application and the scope protected by the claims, which all belong to the protection of the application.

Claims

1. A method of collecting a cast net, characterized by, The method comprises: When a plurality of aircrafts jointly towing a catch net arrive at a delivery address corresponding to a current delivery order, control the plurality of aircrafts to adjust to a first hovering position, so that the relative distance between the catch net under the first hovering position and a throwing point of the delivery order meets the clearance environment condition of the delivery address corresponding to the delivery order; After obtaining the cargo information of the to-be-received item of the delivery order, control the plurality of aircrafts to adjust to a second hovering position within the range of the first hovering position, so that the opening size of the catch net under the second hovering position meets the cargo data condition in the cargo information; After obtaining the throwing object of the to-be-received item, control the plurality of aircrafts to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the catch net under the third hovering position meets the throwing posture condition of the throwing object; After obtaining the motion information of the to-be-received item, control the plurality of aircrafts to adjust to a fourth hovering position, so that the catch net under the fourth hovering position captures the to-be-received item.

2. The cast net retrieval method of claim 1, wherein, The method comprises: Determine the clearance environment condition that meets the throwing operation according to one or more of the floor, house type and structure of the delivery address; Set the distance range of the relative distance according to the clearance environment condition, and control the hovering position of at least one of the plurality of aircrafts to be within the distance range.

3. The cast net retrieval method of claim 2, wherein, The method comprises: Determine the cargo data condition according to one or more of the relative distance, the cargo length-width-height data, and the cargo weight data in the cargo information; Adjust the hovering position of at least one of the aircrafts so that the opening size meets the cargo data condition, and keep the hovering position of at least one of the aircrafts within the distance range.

4. The cast net retrieval method of claim 3, wherein, The method comprises: Determine the throwing posture condition according to one or more of the object attribute, throwing action, cargo length-width-height data, and cargo weight data of the throwing object; Adjust the hovering position of at least one of the aircrafts so that the opening angle meets the throwing posture condition, and keep the hovering position of at least one of the aircrafts within the distance range.

5. The cast net retrieval method of claim 4, wherein, The fourth hovering position of the plurality of aircraft is adjusted to make the net under the fourth hovering position capture the to-be-received item. The motion trajectory of the to-be-received item is determined according to the motion information. The relative distance, the opening size, and the opening angle are adjusted according to the motion trajectory to make the net under the fourth hovering position capture the to-be-received item.

6. A cast net catch device characterized by The device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the computer program is executed by the processor, the following functions are implemented: When the plurality of aircrafts jointly dragging a net reach a delivery address corresponding to a current delivery order, the plurality of aircrafts are controlled to adjust to a first hovering position, so that the relative distance between the net under the first hovering position and a throwing point of the delivery order meets the clearance environment condition of the delivery address corresponding to the delivery order. After obtaining the cargo information of the to-be-received item of the delivery order, the plurality of aircrafts are controlled to adjust to a second hovering position within the range of the first hovering position, so that the opening size of the net under the second hovering position meets the cargo data condition in the cargo information. After obtaining the throwing object of the to-be-received item, the plurality of aircrafts are controlled to adjust to a third hovering position within the range of the first hovering position, so that the opening angle of the net under the third hovering position meets the throwing posture condition of the throwing object. After obtaining the motion information of the to-be-received item, the plurality of aircrafts are controlled to adjust to a fourth hovering position, so that the net under the fourth hovering position captures the to-be-received item.

7. The cast net catch scoop device of claim 6, wherein, The computer program is executed by the processor to implement the following functions: The clearance environment condition that meets the current throwing operation is determined according to one or more of the floor, the house type, and the structure of the delivery address. The distance range of the relative distance is set according to the clearance environment condition, and the hovering position of at least one of the plurality of aircrafts is controlled to be within the distance range.

8. The cast net catch scoop device of claim 7, wherein, The computer program is executed by the processor to implement the following functions: The cargo data condition is determined according to one or more of the relative distance, the cargo length-width-height data, and the cargo weight data in the cargo information. The hovering position of at least one of the aircrafts is adjusted so that the opening size meets the cargo data condition, and the hovering position of at least one of the aircrafts is kept within the distance range.

9. The cast net catch scoop device of claim 8, wherein, The computer program is executed by the processor to implement the following functions: The throwing posture condition is determined according to one or more of the object attribute, the throwing action of the throwing object, the cargo length-width-height data, and the cargo weight data. The hovering position of at least one of the aircrafts is adjusted so that the opening angle meets the throwing posture condition, and the hovering position of at least one of the aircrafts is kept within the distance range. The motion trajectory of the to-be-received item is determined according to the motion information. adjust one or more of the relative distance, the opening size, and the opening angle according to the movement trajectory, so that the fourth hovering position is under the capture of the net.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a cast net catch program, and the cast net catch program, when executed by the processor, implements the steps of the cast net catch method according to any one of claims 1 to 5.

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