Method, system, device and storage medium for planning trajectory and landing point of opening and throwing

Abstract

The present application relates to a method, system, device and storage medium for planning a trajectory and a landing point for opening a cover and throwing out a projectile, wherein the method comprises: calculating the initial opening velocity of the front sealing cover of the storage and transportation box based on the opening pressure of the cover of the storage and transportation box; establishing a throwing trajectory equation of the front sealing cover based on the initial opening velocity of the front sealing cover, the height of the mouth of the storage and transportation box from the ground and the launching posture of the front sealing cover, and calculating and planning the throwing trajectory and the landing point range of the front sealing cover. The throwing trajectory and the landing point range of the front sealing cover can be calculated and planned, so as to facilitate the arrangement and layout of the positions of multiple storage and transportation boxes, avoid the throwing trajectory after the front sealing cover is opened from interfering with the flight trajectory of the aircraft of the adjacent storage and transportation boxes, avoid the throwing object after the front sealing cover is opened from falling too close or too far to damage the ground equipment, and improve the safety and reliability of the storage and transportation box launching system.

Description

Technical Field

[0001] The present application relates to the field of storage, transportation and box launching, and in particular to a method, system, device and storage medium for planning the trajectory and landing point of opening and throwing out. Background Art

[0002] As the name implies, the storage and transportation launch box can be used for storage and transportation of aircraft at ordinary times, and can be used to launch aircraft. The advantages of using a storage and transportation launch box type launch device are: since the aircraft is well protected in the box, the inspection and maintenance procedures are reduced, the service life of the aircraft is extended, and the reliability of the aircraft is improved.

[0003] With the emergence of storage and transportation boxes of different calibers and specifications, the application of shock wave opening type front sealing covers of storage and transportation boxes is becoming more and more widespread. When used in conjunction with different launch platforms, it is necessary to avoid the ejection trajectory after the front sealing cover is opened from interfering with the flight trajectory of the aircraft in the adjacent storage and transportation boxes, and to avoid the ejected objects after the front sealing cover is opened from falling too close or too far to damage ground equipment.

[0004] In the related art, the ejection trajectory and landing point after the front sealing cover is opened are not generally planned, which restricts the matching of the shock wave opening of the storage and transportation box. There is a possibility that the ejection trajectory after the front sealing cover is opened will interfere with the flight trajectory of the aircraft of the adjacent storage and transportation box. The landing point of the ejected objects after the front sealing cover is opened is too close or too far, which may damage the ground equipment and reduce the safety and reliability of the storage and transportation box launching system. Summary of the invention

[0005] The present application provides a method, system, device and storage medium for planning the trajectory and landing point of throwing out after opening the cover, which can calculate and plan the throwing trajectory and landing point range of the front sealing cover, so as to facilitate the arrangement and layout of the positions of multiple storage and transportation boxes, avoid the throwing trajectory after the front sealing cover is opened from interfering with the flight trajectory of the aircraft of the adjacent storage and transportation boxes, avoid the throwing object after the front sealing cover is opened from landing too close or too far to damage the ground equipment, and improve the safety and reliability of the storage and transportation box launching system.

[0006] In a first aspect, an embodiment of the present application provides a method for planning a trajectory and a landing point of a lid opening and throwing, and the method for planning a trajectory and a landing point of a lid opening and throwing comprises:

[0007] Based on the opening pressure of the storage and transportation box cover, the initial opening speed of the front sealing cover of the storage and transportation box is calculated;

[0008] Based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground and the launching posture of the front sealing cover, the throwing trajectory equation of the front sealing cover is established, and the throwing trajectory and landing point range of the front sealing cover are calculated and planned.

[0009] In combination with the first aspect, in one embodiment, before calculating the initial opening speed of the front sealing cover of the storage and transportation box based on the opening pressure of the storage and transportation box, the method includes:

[0010] The opening pressure of the front sealing cover is calculated through fluid mechanics simulation.

[0011] In combination with the first aspect, in one embodiment, the method of establishing a throwing trajectory equation of the front sealing cover based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground, and the launching posture of the front sealing cover, and calculating and planning the throwing trajectory and landing point range of the front sealing cover includes:

[0012] Based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box mouth from the ground, the launching posture of the front sealing cover and the difference range between the maximum and minimum tangential wind speed, the throwing trajectory equation of the front sealing cover is established, and the throwing trajectory and landing point range of the front sealing cover are calculated and planned.

[0013] In combination with the first aspect, in one embodiment, the method of establishing a throwing trajectory equation of the front sealing cover based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground, and the launching posture of the front sealing cover, and calculating and planning the throwing trajectory and landing point range of the front sealing cover includes:

[0014] Determine the launching posture of the edge flap at the upper end based on the initial angle between the ejection direction of the edge flap at the upper end of the front sealing cover and the mounting plane of the front sealing cover;

[0015] Based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground, and the initial angle between the throwing direction of the upper edge flap and the installation plane of the front sealing cover, the throwing trajectory equation f1 of the upper edge flap is established, and the throwing trajectory and landing point of the upper edge flap are calculated and planned.

[0016] In combination with the first aspect, in one embodiment, the method of establishing a throwing trajectory equation of the front sealing cover based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground, and the launching posture of the front sealing cover, and calculating and planning the throwing trajectory and landing point range of the front sealing cover includes:

[0017] Determine the launching posture of the edge flap at the lower end based on the initial angle between the ejection direction of the edge flap at the lower end of the front sealing cover and the mounting plane of the front sealing cover;

[0018] Based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground, and the initial angle between the throwing direction of the lower edge flap and the installation plane of the front sealing cover, the throwing trajectory equation f2 of the lower edge flap is established, and the throwing trajectory and landing point of the lower edge flap are calculated and planned.

[0019] In a second aspect, an embodiment of the present application provides a system for planning a trajectory and a landing point for opening a lid and throwing it out, and the system for planning a trajectory and a landing point for opening a lid and throwing it out comprises:

[0020] A front sealing cover opening initial velocity calculation module, which is used to calculate the front sealing cover opening initial velocity of the storage and transportation box based on the opening pressure of the storage and transportation box;

[0021] The throwing trajectory equation calculation module is used to establish the throwing trajectory equation of the front sealing cover based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground and the launching posture of the front sealing cover, and calculate and plan the throwing trajectory and landing point range of the front sealing cover.

[0022] In conjunction with the second aspect, in one embodiment, the cover opening and throwing trajectory and landing point planning system further includes:

[0023] The front sealing cover opening pressure calculation module is used to calculate the opening pressure of the front sealing cover through fluid mechanics simulation.

[0024] In conjunction with the second aspect, in one embodiment, the cover opening and throwing trajectory and landing point planning system further includes:

[0025] The module for calculating the trajectory equation of the upper edge flap body ejection is used to determine the launch posture of the upper edge flap body based on the initial angle between the ejection direction of the edge flap body at the upper end of the front sealing cover and the mounting plane of the front sealing cover; based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box mouth from the ground and the initial angle between the ejection direction of the edge flap body at the upper end and the mounting plane of the front sealing cover, establish the ejection trajectory equation f1 of the upper edge flap body, calculate and plan the ejection trajectory and landing point of the upper edge flap body.

[0026] In the third aspect, an embodiment of the present application provides a device for planning a trajectory and landing point of an open lid throwing object, the device comprising a processor, a memory, and a program for planning a trajectory and landing point of an open lid throwing object stored in the memory and executable by the processor, wherein when the program for planning a trajectory and landing point of an open lid throwing object is executed by the processor, the steps of the method for planning a trajectory and landing point of an open lid throwing object as described in some embodiments are implemented.

[0027] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a lid-opening and throwing trajectory and landing point planning program is stored. When the lid-opening and throwing trajectory and landing point planning program is executed by a processor, the steps of the lid-opening and throwing trajectory and landing point planning method described in some embodiments are implemented.

[0028] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0029] Based on the opening pressure of the storage and transportation box cover, the initial opening velocity of the front sealing cover is calculated; and based on the initial opening velocity of the front sealing cover and the height of the storage and transportation box mouth from the ground, the throwing trajectory equation of the front sealing cover is established, and the throwing trajectory and landing point range of the front sealing cover are calculated and planned, so as to facilitate the arrangement and layout of the positions of multiple storage and transportation boxes, avoid the throwing trajectory after the front sealing cover is opened from interfering with the flight trajectory of the aircraft of the adjacent storage and transportation boxes, avoid the throwing object after the front sealing cover is opened from landing too close or too far to damage the ground equipment, and improve the safety and reliability of the storage and transportation box launching system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 A flow chart of a method for planning a trajectory and a landing point for throwing out a cover;

[0032] Figure 2 It is a schematic diagram of the top view of the storage and transportation box opening;

[0033] Figure 3 It is a schematic diagram of the side view structure of the box opening for storage and transportation;

[0034] Figure 4 for Figure 3 A schematic diagram of a top view structure;

[0035] Figure 5 Schematic diagram of the hardware structure of the equipment for planning the trajectory and landing point of opening and throwing.

[0036] In the figure: 1, storage and transportation box; 2, front sealing cover; 21, edge petal body; 22, center petal body; S1, upper edge petal body ejection trajectory; S2, lower edge petal body ejection trajectory. DETAILED DESCRIPTION

[0037] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0038] The embodiments of the present application provide a method, system, device and storage medium for planning the trajectory and landing point of throwing out after opening the cover, which calculate and plan the throwing trajectory and landing point range of the front sealing cover, thereby facilitating the arrangement and layout of the positions of multiple storage and transportation boxes, avoiding the throwing trajectory after the front sealing cover is opened from interfering with the flight trajectory of the aircraft of the adjacent storage and transportation boxes, and avoiding the throwing object after the front sealing cover is opened from landing too close or too far to damage the ground equipment, thereby improving the safety and reliability of the storage and transportation box launching system.

[0039] like Figure 1 As shown, in the first aspect, an embodiment of the present application provides a method for planning a trajectory and a landing point of a cover-opening and throwing out object, and the method for planning a trajectory and a landing point of a cover-opening and throwing out object comprises:

[0040] S100: Calculating the initial opening speed of the front sealing cover 2 of the storage and transportation box 1 based on the opening pressure of the storage and transportation box 1;

[0041] S200: Based on the initial opening velocity of the front sealing cover 2, the height of the mouth of the storage and transportation box 1 from the ground and the launching posture of the front sealing cover 2, the throwing trajectory equation of the front sealing cover 2 is established, and the throwing trajectory and landing point range of the front sealing cover 2 are calculated and planned.

[0042] In the present embodiment, based on the opening pressure of the storage and transportation box 1, the initial opening velocity of the front sealing cover 2 is calculated; and based on the initial opening velocity of the front sealing cover 2 and the height of the mouth of the storage and transportation box 1 from the ground, the throwing trajectory equation of the front sealing cover 2 is established, and the throwing trajectory and landing point range of the front sealing cover 2 are calculated and planned, so as to facilitate the arrangement and layout of the positions of multiple storage and transportation boxes 1, avoid the throwing trajectory after the front sealing cover 2 is opened from interfering with the flight trajectory of the aircraft of the adjacent storage and transportation boxes 1, avoid the throwing object after the front sealing cover 2 is opened from landing too close or too far to damage the ground equipment, and improve the safety and reliability of the launching system of the storage and transportation box 1.

[0043] In combination with the first aspect, in one embodiment, before calculating the initial opening speed of the front sealing cover 2 of the storage and transportation box 1 based on the opening pressure of the storage and transportation box 1, the method includes:

[0044] The opening pressure of the front sealing cover 2 is calculated by fluid mechanics simulation.

[0045] In this embodiment, the opening pressure of the front sealing cover 2 can be calculated by fluid mechanics simulation.

[0046] In combination with the first aspect, in one embodiment, based on the initial opening velocity of the front sealing cover 2, the height of the mouth of the storage and transportation box 1 from the ground, and the launching posture of the front sealing cover 2, the throwing trajectory equation of the front sealing cover 2 is established, and the throwing trajectory and landing point range of the front sealing cover 2 are calculated and planned, including:

[0047] Based on the initial opening velocity of the front sealing cover 2, the height of the mouth of the storage and transportation box 1 from the ground, the launching posture of the front sealing cover 2 and the difference range between the maximum and minimum tangential wind speeds, the throwing trajectory equation of the front sealing cover 2 is established, and the throwing trajectory and landing point range of the front sealing cover 2 are calculated and planned.

[0048] In this embodiment, the deceleration effect caused by the tangential wind force can be considered, the influence of the maximum and minimum tangential wind speeds can be calculated, and substituted into the throwing trajectory equation to calculate and plan the throwing trajectory and landing point range of the front sealing cover 2.

[0049] In combination with the first aspect, in one embodiment, based on the initial opening velocity of the front sealing cover 2, the height of the mouth of the storage and transportation box 1 from the ground, and the launching posture of the front sealing cover 2, the throwing trajectory equation of the front sealing cover 2 is established, and the throwing trajectory and landing point range of the front sealing cover 2 are calculated and planned, including:

[0050] Determine the launching posture of the edge flap 21 at the upper end based on the initial angle between the ejection direction of the edge flap 21 at the upper end of the front sealing cover 2 and the mounting plane of the front sealing cover 2;

[0051] Based on the initial opening velocity of the front sealing cover 2, the height of the mouth of the storage and transportation box 1 from the ground, and the initial angle between the throwing direction of the upper edge flap 21 and the mounting plane of the front sealing cover 2, the throwing trajectory equation f1 of the upper edge flap 21 is established, and the throwing trajectory and landing point range of the upper edge flap 21 are calculated and planned.

[0052] In this embodiment, Figure 2 and Figure 3 As shown, the edge flap 21 at the upper end of the front sealing cover 2 is thrown upward, and its throwing trajectory is Figure 3 In S1, the initial angle with respect to the mounting plane of the front sealing cover 2 is defined as a positive value, thereby determining the launching posture of the edge flap body 21 at the upper end. The throwing trajectory and the landing point range of the edge flap body 21 at the upper end of the front sealing cover 2 can be calculated and planned.

[0053] In combination with the first aspect, in one embodiment, based on the initial opening velocity of the front sealing cover 2, the height of the mouth of the storage and transportation box 1 from the ground, and the launching posture of the front sealing cover 2, the throwing trajectory equation of the front sealing cover 2 is established, and the throwing trajectory and landing point range of the front sealing cover 2 are calculated and planned, including:

[0054] Determine the launching posture of the edge flap 21 at the lower end based on the initial angle between the ejection direction of the edge flap 21 at the lower end of the front sealing cover 2 and the mounting plane of the front sealing cover 2;

[0055] Based on the initial opening velocity of the front sealing cover 2, the height of the mouth of the storage and transportation box 1 from the ground, and the initial angle between the throwing direction of the edge flap 21 at the lower end and the mounting plane of the front sealing cover 2, the throwing trajectory equation f2 of the edge flap 21 at the lower end is established, and the throwing trajectory and landing point range of the edge flap 21 at the lower end are calculated and planned.

[0056] In this embodiment, similarly Figure 2 and Figure 3 As shown, the edge flap 21 at the lower end of the front sealing cover 2 is thrown downward, and its throwing trajectory is Figure 3 In S2, the initial angle with respect to the installation plane of the front sealing cover 2 is defined as a negative value, thereby determining the launching posture of the edge flap body 21 at the lower end. The throwing trajectory and landing point range of the edge flap body 21 at the lower end of the front sealing cover 2 can be calculated and planned.

[0057] In summary, if Figure 2 As shown, the embodiment of the present application provides a storage and shipping box 1 and its front sealing cover 2, the cross-sectional shape of which is a rectangle, and the storage and shipping box 1 is composed of a frame, a petal body and a surface layer. There are five petals in total, one of which is a central petal body 22 that is circular, and the other four edge petals 21 divide the rectangular cross and are symmetrical in shape (one of the petals is bonded to the central petal body 22), and the five petals and the frame are assembled as a whole. The four peripheral edge petals 21 are reinforced with an arched keel structure inside, and the arched structure is X-shaped after the petals are assembled. The surface layer is bonded and cured to the upper surface of the petal body and the frame, and its thickness gradually increases from the center to the edge, and the center thickness matches the shock wave opening pressure.

[0058] During launch, the front sealing cover 2 is affected by the shock wave and is forced forward. Since the petal body and the frame are only connected by assembly, the surface layer bears the force first. At this time, the surface layer thickness of the central petal body 22 is the thinnest, so it breaks and opens first. Its circular shape evenly transmits the breaking force to the remaining four petals on the edge. The surface layers on the remaining four petals on the edge gradually break and open from the center to the edge along the cross-shaped dividing direction. The time difference of breaking and opening generates a flipping torque, which makes the surrounding four petals flip outward along the X-shape of the keel structure, and its rotation base point is the outer end point of the X-shape.

[0059] The opening pressure of the front sealing cover 2 is calculated by fluid mechanics simulation, and its initial opening velocity V0 can be calculated. According to the launch position, the height H of the mouth of the storage and transportation box 1 from the ground can be obtained. According to the structure of the front sealing cover 2, the surrounding four petals are flipped outward along the X-shape of the keel structure. The initial angle between the throwing direction of the two edge petals 21 at the upper end and the installation plane of the front sealing cover 2 is +45°, and the initial angle between the throwing direction of the two edge petals 21 at the lower end and the installation plane of the front sealing cover 2 is -45°. Establish the throwing trajectory equation of the upper edge petal 21 of the front sealing cover 2 and the ejection trajectory equation of the lower edge petal Where H is the height of the mouth of the storage and transportation box 1 from the ground, and V0 is the initial opening speed V0 of the front sealing cover 2. Considering the deceleration effect caused by the tangential wind force, △g is the influence range of the maximum and minimum tangential wind speeds, which can be expressed as △V g , g is the acceleration due to gravity.

[0060] The initial opening speed V0 of the front sealing cover 2 can be calculated by the following formula:

[0061] V0=P0St / m

[0062] Among them, P0 is the opening pressure of the front sealing cover 2, S is the rectangular cross-sectional area of ​​the storage and transportation box 1, t is the opening time of the storage and transportation box 1, and m is the mass of the front sealing cover 2.

[0063] The two symmetrical edge flaps 21 at the upper end are thrown out at the same distance, and the left and right directions are perpendicular to each other. Therefore, the trajectory equations of the two symmetrical edge flaps 21 at the upper end are consistent; the two symmetrical edge flaps at the lower end are thrown out at the same distance, and the left and right directions are perpendicular to each other. Therefore, the trajectory equations of the two symmetrical edge flaps 21 at the lower end are consistent.

[0064] like Figure 4 As shown in the figure, considering the deceleration effect caused by the tangential wind force, the influence range of the maximum and minimum wind speeds △g is calculated, and the range of the landing point can be obtained by substituting it into the throwing trajectory equations f1 and f2, where area 1 is Figure 1 The landing point range of the edge petal 21 on the upper left side of the middle, area 2 is Figure 1 Area 3 is the landing point range of the edge flap 21 on the upper right, area 4 is the landing point range of the edge flap 21 on the lower left, and area 4 is the landing point range of the edge flap 21 on the lower right. The trajectory and landing point range of the shock wave cover opening can be obtained.

[0065] In the second aspect, an embodiment of the present application provides a system for planning a trajectory and landing point for opening a cover and throwing the object, and the system comprises: a module for calculating the initial opening velocity of the front sealing cover 2, which is used to calculate the initial opening velocity of the front sealing cover 2 of the storage and transportation box 1 based on the opening pressure of the storage and transportation box 1; a module for calculating the throwing trajectory equation, which is used to establish the throwing trajectory equation of the front sealing cover 2 based on the initial opening velocity of the front sealing cover 2, the height of the mouth of the storage and transportation box 1 from the ground and the launching posture of the front sealing cover 2, and calculate and plan the throwing trajectory and landing point range of the front sealing cover 2.

[0066] In combination with the second aspect, in one embodiment, the cover opening trajectory and landing point planning system also includes: a front sealing cover 2 opening pressure calculation module, and the front sealing cover 2 opening pressure calculation module is used to calculate the opening pressure of the front sealing cover 2 through fluid mechanics simulation.

[0067] In combination with the second aspect, in one embodiment, the opening cover throwing trajectory and landing point planning system also includes: an upper edge flap 21 throwing trajectory equation calculation module, the upper edge flap 21 throwing trajectory equation calculation module is used to determine the launch posture of the upper edge flap 21 based on the initial angle between the throwing direction of the edge flap 21 at the upper end of the front sealing cover 2 and the mounting plane of the front sealing cover 2; based on the initial opening speed of the front sealing cover 2, the height of the mouth of the storage and transportation box 1 from the ground and the initial angle between the throwing direction of the upper edge flap 21 and the mounting plane of the front sealing cover 2, establish the throwing trajectory equation f1 of the upper edge flap 21, calculate and plan the throwing trajectory and landing point range of the upper edge flap 21.

[0068] Among them, the functional implementation of each module in the above-mentioned lid opening and throwing trajectory and landing point planning system corresponds to the various steps in the above-mentioned lid opening and throwing trajectory and landing point planning method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0069] In a third aspect, an embodiment of the present application provides a device for planning the trajectory and landing point of throwing out the lid when opening the lid. The device for planning the trajectory and landing point of throwing out the lid when opening the lid can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0070] Reference Figure 5 , Figure 5 Schematic diagram of the hardware structure of the device for planning the trajectory and landing point of the lid opening and throwing involved in the embodiment of the present application. In the embodiment of the present application, the device for planning the trajectory and landing point of the lid opening and throwing may include a processor, a memory, a communication interface and a communication bus.

[0071] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0072] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, which are used to interconnect the components inside the device for planning the trajectory and landing point of the lid opening and throwing, and an interface for interconnecting the device for planning the trajectory and landing point of the lid opening and throwing with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0073] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0074] The processor may be a general-purpose processor, which may call the lid-opening throwing trajectory and landing point planning program stored in the memory, and execute the lid-opening throwing trajectory and landing point planning method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the lid-opening throwing trajectory and landing point planning program is called may refer to the various embodiments of the lid-opening throwing trajectory and landing point planning method of the present application, which will not be repeated here.

[0075] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0076] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0077] The readable storage medium of the present application stores a lid opening and throwing trajectory and landing point planning program, wherein when the lid opening and throwing trajectory and landing point planning program is executed by the processor, the steps of the lid opening and throwing trajectory and landing point planning method described above are implemented. The method implemented when the lid opening and throwing trajectory and landing point planning program is executed can refer to the various embodiments of the lid opening and throwing trajectory and landing point planning method of the present application, and will not be repeated here.

[0078] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0079] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0080] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0081] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for planning the trajectory and landing point of opening and throwing a cover, characterized in that: The method for planning the trajectory and landing point of opening and throwing out the cover comprises: Based on the opening pressure of the storage and transportation box cover, the initial opening speed of the front sealing cover of the storage and transportation box is calculated; Determine the launching posture of the edge flap at the lower end based on the initial angle between the ejection direction of the edge flap at the lower end of the front sealing cover and the mounting plane of the front sealing cover; Based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground, and the initial angle between the throwing direction of the lower edge flap and the installation plane of the front sealing cover, the throwing trajectory equation f2 of the lower edge flap is established, and the throwing trajectory and landing point of the lower edge flap are calculated and planned.

2. The method for planning the trajectory and landing point of the cover opening and throwing as claimed in claim 1, characterized in that: Before calculating the initial opening speed of the front sealing cover of the storage and transportation box based on the opening pressure of the storage and transportation box, it includes: The opening pressure of the front sealing cover is calculated through fluid mechanics simulation.

3. The method for planning the trajectory and landing point of the cover opening and throwing as claimed in claim 1, characterized in that: The method of establishing the throwing trajectory equation of the front sealing cover based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground, and the launching posture of the front sealing cover, and calculating and planning the throwing trajectory and landing point range of the front sealing cover includes: Based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box mouth from the ground, the launching posture of the front sealing cover and the difference range between the maximum and minimum tangential wind speed, the throwing trajectory equation of the front sealing cover is established, and the throwing trajectory and landing point range of the front sealing cover are calculated and planned.

4. The method for planning the trajectory and landing point of the cover opening and throwing as claimed in claim 1, characterized in that: The method of establishing the throwing trajectory equation of the front sealing cover based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground, and the launching posture of the front sealing cover, and calculating and planning the throwing trajectory and landing point range of the front sealing cover includes: Determine the launching posture of the edge flap at the upper end based on the initial angle between the ejection direction of the edge flap at the upper end of the front sealing cover and the mounting plane of the front sealing cover; Based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground, and the initial angle between the throwing direction of the upper edge flap and the installation plane of the front sealing cover, the throwing trajectory equation f1 of the upper edge flap is established, and the throwing trajectory and landing point of the upper edge flap are calculated and planned.

5. A system for planning the trajectory and landing point of lid opening and throwing, characterized in that: The lid opening and throwing trajectory and landing point planning system includes: A front sealing cover opening initial velocity calculation module, which is used to calculate the front sealing cover opening initial velocity of the storage and transportation box based on the opening pressure of the storage and transportation box; A throwing trajectory equation calculation module, wherein the throwing trajectory equation calculation module is used to determine the launching posture of the edge flap at the lower end based on the throwing direction of the edge flap at the lower end of the front sealing cover and the initial angle between the front sealing cover mounting plane; based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box opening from the ground and the throwing direction of the edge flap at the lower end and the initial angle between the front sealing cover mounting plane, a throwing trajectory equation f2 of the edge flap at the lower end is established, and the throwing trajectory and landing point of the edge flap at the lower end are calculated and planned.

6. The system for planning the trajectory and landing point of the lid opening and throwing as claimed in claim 5, characterized in that: The cover opening and throwing trajectory and landing point planning system also includes: The front sealing cover opening pressure calculation module is used to calculate the opening pressure of the front sealing cover through fluid mechanics simulation.

7. The system for planning the trajectory and landing point of the lid opening and throwing as claimed in claim 5, characterized in that: The cover opening and throwing trajectory and landing point planning system also includes: The module for calculating the trajectory equation of the upper edge flap body ejection is used to determine the launch posture of the upper edge flap body based on the initial angle between the ejection direction of the edge flap body at the upper end of the front sealing cover and the mounting plane of the front sealing cover; based on the initial opening velocity of the front sealing cover, the height of the storage and transportation box mouth from the ground and the initial angle between the ejection direction of the edge flap body at the upper end and the mounting plane of the front sealing cover, establish the ejection trajectory equation f1 of the upper edge flap body, calculate and plan the ejection trajectory and landing point of the upper edge flap body.

8. A device for planning the trajectory and landing point of a lid opening and throwing, characterized in that: The lid-opening and throwing trajectory and landing point planning device includes a processor, a memory, and a lid-opening and throwing trajectory and landing point planning program stored in the memory and executable by the processor, wherein when the lid-opening and throwing trajectory and landing point planning program is executed by the processor, the steps of the lid-opening and throwing trajectory and landing point planning method as described in any one of claims 1 to 4 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a lid-opening and throwing trajectory and landing point planning program, wherein when the lid-opening and throwing trajectory and landing point planning program is executed by the processor, the steps of the lid-opening and throwing trajectory and landing point planning method as described in any one of claims 1 to 4 are implemented.

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