Intelligent self-adaptive unmanned aerial vehicle remote controller solar shading method, system, equipment and medium

Abstract

The invention discloses a solar shading method, system and device for an intelligent self-adaptive unmanned aerial vehicle remote controller and a medium, and belongs to the technical field of power system maintenance auxiliary equipment.The method comprises the steps that geographical position information and incident illumination intensity of the remote controller in different directions are collected; calculating a geographic elevation angle and a measured elevation angle, and calculating a corrected elevation angle according to the geographic elevation angle and the measured elevation angle; constructing a comprehensive target optimization function, and solving to obtain an optimal control parameter; controlling the angle and transparency of the shading plate according to the target control parameters; according to the method, the orientation of the sun relative to the remote controller is obtained in real time according to the attitude and the illumination sensor, altitude angle fusion correction is carried out, a dynamic weighted optimization model with the shading effect and the charging efficiency as targets is constructed, and the optimal shading plate rotation angle and the electrochromic film transparency are solved; and high-precision cooperative control is realized through a servo motor and voltage driving, so that glare is inhibited under strong light, and the visibility of the screen is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of power system maintenance auxiliary equipment technology, specifically to a method, system, equipment, and medium for solar shading of an intelligent adaptive drone remote controller. Background Technology

[0002] With the deepening of smart grid construction, drones have been widely used in power transmission line inspection. Operators rely on drone remote controllers to view high-definition video transmissions in real time to assess equipment status and identify potential defects. However, power grid inspections are typically conducted outdoors, often in environments with strong sunlight, such as mountains, open fields, deserts, or snow-covered areas with high albedo. Direct sunlight can easily cause glare on the remote controller's display screen, resulting in loss of image detail or affecting operational safety. Therefore, developing an intelligent shading system that can effectively suppress glare from strong sunlight, ensure screen visibility, and utilize solar energy to extend operating time has become a key technological requirement for improving the efficiency and reliability of drone-based power grid inspections.

[0003] Currently, drone remote controller light shielding products on the market mainly include fixed light shields and manually adjustable light shields. While fixed light shields are inexpensive to manufacture, they cannot adapt to changes in lighting conditions. In low-light environments, they may excessively block light, affecting screen brightness; in strong light environments, their light-blocking effect is limited, and glare issues still exist. Manually adjustable light shields require frequent manual adjustments by the operator, affecting the continuity and safety of flight control, and their adjustment precision is limited. Furthermore, existing technologies lack the ability to learn user habits, failing to provide a personalized light-blocking experience, and also lack the ability to respond in real-time to changes in ambient light. Summary of the Invention

[0004] In view of the above-mentioned problems, the present invention is proposed.

[0005] Therefore, the technical problem solved by this invention is that current drone remote control light shielding products mainly include fixed light shields and manually adjustable light shields. Although fixed light shields have low manufacturing costs, they cannot adapt to changes in different lighting conditions. In low light environments, they may block light excessively, affecting screen brightness. In strong light environments, their light shielding effect is limited, and glare problems still exist. On the other hand, if the light shield is manually adjusted, the operator needs to make frequent manual adjustments, which affects the continuity and safety of flight control, and the adjustment accuracy is highly dependent on the operator's experience.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a method for solar shading of an intelligent adaptive drone remote controller, comprising the following steps, An attitude sensor and a light intensity sensor are deployed to collect geographical location information and incident light intensity from different directions of the remote control; The geographic elevation angle and the measured elevation angle are calculated based on the geographic elevation angle and the incident light intensity, and the corrected elevation angle is calculated based on the geographic elevation angle and the measured elevation angle. Construct a comprehensive objective optimization function and solve it to obtain the optimal control parameters; The angle and transparency of the light-shielding plate are controlled according to the target control parameters.

[0007] As a preferred embodiment of the solar shading method for an intelligent adaptive UAV remote controller according to the present invention, the step of arranging attitude sensors and light intensity sensors to collect geographical location information and incident light intensity from different directions of the remote controller includes: Light sensors are installed on the four edges of the light shield of the drone remote controller, and attitude sensors are installed on the mainboard of the drone remote controller. The latitude, solar declination angle, and solar hour angle of the observation point are collected by an attitude sensor, and the intensity of incident light from different directions is collected by a light sensor.

[0008] As a preferred embodiment of the solar shading method for an intelligent adaptive drone remote controller according to the present invention, the steps of calculating the geographic elevation angle and the measured elevation angle based on geographic location information and incident light intensity, and calculating the corrected elevation angle based on the geographic elevation angle and the measured elevation angle include: Calculate the geographic coordinate elevation angle, geographic coordinate azimuth angle, and three-dimensional rotation matrix based on the latitude of the observation point, the solar declination angle, and the solar hour angle; Calculate the geographic direction vector based on the geographic coordinate elevation angle and geographic coordinate azimuth angle; The remote control direction vector and geographic elevation angle are calculated based on the geographic direction vector and the three-dimensional rotation matrix. Calculate the illuminance gradient in the vertical direction and measure the elevation angle based on the incident light intensity from different directions; The corrected elevation angle is calculated based on the geographic elevation angle and the measured elevation angle.

[0009] The beneficial effects of this preferred technical solution are as follows: by integrating the geographical elevation angle calculated by astronomical algorithms with the measured elevation angle derived from the actual measurements by the four-way illumination sensors, the elevation angle of the sun relative to the remote controller is weighted and corrected, overcoming the limitations of a single data source; when the GPS signal is good, it mainly relies on the high-precision astronomical calculation results; when the signal is blocked or the attitude sensor has errors, it relies more on local illumination sensing data that is not affected by satellites to improve the accuracy of sun orientation identification.

[0010] As a preferred embodiment of the solar shading method for an intelligent adaptive UAV remote controller according to the present invention, the step of constructing a comprehensive objective optimization function and solving it to obtain the optimal control parameters includes: Construct an objective function for the shading effect based on the transparency of the shading plate and the angle between the sunlight and the normal of the shading plate; Construct an objective function for charging effect based on the angle between sunlight and the normal to the solar panel; A comprehensive objective optimization function is constructed based on the objective functions of shading effect and charging effect, and the angle between sunlight and the normal of the shading plate and the angle between sunlight and the normal of the solar panel are converted into the rotation angle of the shading plate relative to the remote control. The target transparency of the light shield and the target rotation angle of the light shield relative to the remote control are obtained by solving the comprehensive objective optimization function through numerical optimization algorithm. The target transparency and target rotation angle are then output as the optimal control parameters.

[0011] The beneficial effects of this preferred technical solution are as follows: Based on the real-time acquisition of the sun's position relative to the remote controller by attitude and light sensors, and the elevation angle fusion correction, a dynamic weighted optimization model with the objectives of shading effect and charging efficiency is constructed to solve for the optimal rotation angle of the shading plate and the transparency of the electrochromic film.

[0012] As a preferred embodiment of the solar shading method for an intelligent adaptive drone remote controller according to the present invention, the step of controlling the angle and transparency of the shading plate according to the target control parameters includes: The target rotation angle of the light shield relative to the remote controller in the target control parameters is converted into a corresponding PWM pulse width signal to drive the light shield to rotate to the target rotation angle. The actual angle of the light shield relative to the remote control is collected, and the actual angle is adjusted by a PID controller; The target transparency of the light-shielding plate in the target control parameters is converted into a control voltage, which is then applied to the electrochromic film via a digital-to-analog converter to adjust the optical transparency to the target value.

[0013] The beneficial effects of this preferred technical solution are as follows: high-precision coordinated control is achieved through servo motor and voltage drive, thereby suppressing glare and ensuring screen visibility under strong light, avoiding excessive shading under weak light and taking into account efficient solar charging, and achieving a joint improvement in shading performance and energy utilization efficiency without the need for manual intervention.

[0014] As a preferred embodiment of the solar shading method for an intelligent adaptive drone remote controller described in this invention, the formula for constructing the objective function of the shading effect based on the transparency of the shading plate and the angle between the sunlight and the normal of the shading plate is as follows: ; in, Let the objective function be the shading effect. Direct sunlight illuminance To determine the transparency of the light-shielding panel, The angle between the sunlight and the normal to the sunshade; The formula for constructing the objective function of charging effect based on the angle between sunlight and the normal to the solar panel is as follows: ; in, Let the objective function be the charging effect. The photoelectric conversion efficiency of solar panels. The effective area of ​​the solar panel. Direct sunlight illuminance The angle between the sunlight and the normal to the solar panel; The formula for constructing a comprehensive objective optimization function based on the objective functions for shading effect and charging effect is as follows: ; in, For the comprehensive objective optimization function, This is the shading weighting coefficient. This is the charging weighting coefficient.

[0015] As a preferred embodiment of the solar shading method for an intelligent adaptive UAV remote controller described in this invention, the formula for converting the target rotation angle of the shading plate relative to the remote controller in the target control parameters into the corresponding PWM pulse width signal is as follows: ; in, For PWM pulse width, Rotate by the target angle; The formula for converting the target transparency of the light-shielding plate in the target control parameters into the control voltage is as follows: ; in, To control the voltage, The target transparency is a parameter in the target control parameters.

[0016] This invention provides an intelligent adaptive solar shading system for drone remote controllers.

[0017] To address the aforementioned technical problems, the present invention further provides the following technical solution: an intelligent adaptive drone remote controller solar shading system, comprising: Data acquisition module: Collects geographical location information and incident light intensity from different directions of the remote control; First data calculation module: Calculates the geographic elevation angle and the measured elevation angle based on the geographic location information and the incident light intensity, and calculates the corrected elevation angle based on the geographic elevation angle and the measured elevation angle; The second data calculation module: constructs a comprehensive objective optimization function and solves it to obtain the optimal control parameters; Control execution module: Controls the angle and transparency of the light shield according to the target control parameters.

[0018] The present invention provides a computer device, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of the aforementioned intelligent adaptive drone remote controller solar shading method.

[0019] The present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of the aforementioned intelligent adaptive drone remote controller solar shading method.

[0020] The beneficial effects of this invention are as follows: This invention obtains the position of the sun relative to the remote controller in real time based on attitude and light sensors, and performs elevation angle fusion correction. It constructs a dynamic weighted optimization model with the goals of shading effect and charging efficiency, solves the optimal rotation angle of the shading plate and the transparency of the electrochromic film, and achieves high-precision coordinated control through servo motor and voltage drive. This suppresses glare and ensures screen visibility under strong light, avoids excessive shading under weak light, and takes into account efficient solar charging. It achieves a joint improvement in shading performance and energy utilization efficiency without human intervention. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating an overall method for solar shading of an intelligent adaptive drone remote controller, as provided in one embodiment of the present invention. Detailed Implementation

[0023] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0024] Example 1, referring to Figure 1 This is the first embodiment of the present invention, which provides a method for solar shading of an intelligent adaptive drone remote controller, comprising: S100: Equipped with attitude sensors and light intensity sensors to collect geographical location information and incident light intensity from different directions of the remote control; S200: Calculate the geographic elevation angle and the measured elevation angle based on the geographic elevation angle and the incident light intensity, and calculate the corrected elevation angle based on the geographic elevation angle and the measured elevation angle; S300: Construct a comprehensive objective optimization function and solve it to obtain the optimal control parameters; S400: Controls the angle and transparency of the light shield according to the target control parameters.

[0025] It should be noted that current drone remote controller sunshade products mainly include fixed sunshades and manually adjustable sunshades. While fixed sunshades are inexpensive to manufacture, they cannot adapt to changes in lighting conditions. In low-light environments, they may excessively block light, affecting screen brightness; in strong light environments, their sunshade effect is limited, and glare issues still exist. On the other hand, manually adjustable sunshades require frequent manual adjustments by the operator, affecting the continuity and safety of flight control, and the adjustment accuracy is highly dependent on the operator's experience. Therefore, automatic adjustment of the angle and transparency of the solar sunshade on the drone remote controller is crucial.

[0026] Therefore, to address the problems existing in the aforementioned drone remote controller shading products, a method for adaptive solar shading of drone remote controllers is constructed through steps S100-S400. This method obtains the sun's position relative to the remote controller in real time based on attitude and light sensors, performs elevation angle fusion correction, and constructs a dynamic weighted optimization model targeting both shading effect and charging efficiency. The optimal rotation angle of the shading plate and the transparency of the electrochromic film are then determined. High-precision coordinated control is achieved through servo motors and voltage drives, thereby suppressing glare and ensuring screen visibility under strong light, avoiding excessive shading under weak light, and balancing efficient solar charging. This achieves a combined improvement in shading performance and energy utilization efficiency without human intervention.

[0027] Example 2, refer to Figure 1 This is the second embodiment of the present invention, which provides a method for solar shading of an intelligent adaptive drone remote controller.

[0028] In this embodiment of the application, step S100, which involves arranging an attitude sensor and a light intensity sensor to collect geographical location information and incident light intensity from different directions of the remote controller, includes the following steps A1-A2: A1: Install light sensors on the four edges of the drone remote controller's light shield, and install attitude sensors on the drone remote controller's motherboard. In this embodiment, a silicon photodiode type light sensor is embedded at the front, rear, left, and right edges of the light shield of the drone remote controller. The photosensitive surfaces of the four light sensors all face outward and are used to measure the light intensity information from the corresponding direction. An attitude sensor is integrated on the main board of the drone remote controller. The attitude sensor includes a six-axis inertial measurement unit and a three-axis magnetometer to acquire the geographical location and attitude information of the remote controller in real time. A2: The latitude, solar declination angle, and solar hour angle of the observation point are collected by the attitude sensor, and the intensity of incident light from different directions is collected by the light sensor.

[0029] In this embodiment, the pitch angle, roll angle, and yaw angle of the remote controller are measured by the six-axis inertial measurement unit and the three-axis magnetometer in the attitude sensor. Then, the latitude of the observation point, the solar declination angle corresponding to the current date, and the solar hour angle corresponding to the current local solar time are obtained by combining the GPS module built into the remote controller. The incident light intensity in each direction is synchronously output by four light sensors arranged at the front, back, left, and right edges of the drone remote controller's light shield.

[0030] In one alternative implementation, the acquisition of geographical location information and incident light intensity from different directions of the remote controller can also be achieved through panoramic vision and inertial-assisted positioning. A miniature fisheye lens and image sensor are integrated on the top of the remote controller to form a monocular panoramic vision module, which captures a 360° sky light distribution image. The position of the sun is identified and its azimuth and elevation angles are estimated through image processing algorithms. At the same time, a six-axis IMU is used to measure the attitude of the remote controller and assist the panoramic vision module in motion deblurring and inter-frame attitude compensation.

[0031] In another optional implementation, the acquisition of geographical location information and incident light intensity from different directions of the remote controller can also be achieved through dual-mode positioning and adaptive light sensing. A primary and secondary dual-mode positioning strategy is adopted. The primary positioning is provided by a GNSS module with high-precision latitude and longitude. The secondary positioning is achieved by the remote controller scanning surrounding hotspots or base stations via Wi-Fi or Bluetooth and combining the indoor positioning database for position correction. The light sensing adopts two orthogonally mounted linear photoelectric sensor arrays, each of which includes 3 units. The direction of the main light is calculated through differential output, and then the azimuth and elevation angles are determined based on the direction of the main light.

[0032] In this embodiment of the application, step S200, which calculates the geographic elevation angle and the measured elevation angle based on the geographic location information and the incident light intensity, and calculates the corrected elevation angle based on the geographic elevation angle and the measured elevation angle, includes the following steps B1-B5: B1: Calculate the geographic coordinate elevation angle, geographic coordinate azimuth angle, and three-dimensional rotation matrix based on the latitude of the observation point, the solar declination angle, and the solar hour angle; In this embodiment of the application, the formula for calculating the geographic coordinate elevation angle is: ; in, The elevation angle is the geographic coordinate. The latitude of the observation point. The solar declination angle, Solar hour angle; The formula for calculating the azimuth of geographic coordinates is: ; in, The azimuth of the geographic coordinates. The solar declination angle, Solar hour angle, The elevation angle is the geographic coordinate. The expression for the three-dimensional rotation matrix is: ; in, It is a three-dimensional rotation matrix. This is the basic rotation matrix along the Z-axis. This is the fundamental rotation matrix along the Y-axis. This is the fundamental rotation matrix along the X-axis. Yaw angle The pitch angle, The roll angle is calculated by transforming the direction vector of the sun in the geographic coordinate system to the remote controller's body coordinate system, which provides a basis for subsequent calculations of the sun's relative altitude angle. B2: Calculate the geographic direction vector based on the geographic coordinate elevation angle and geographic coordinate azimuth angle; In this embodiment of the application, the formula for calculating the geographic direction vector is: ; ; ; ; in, This is the geographic direction vector, specifically the direction vector of the sun in the geographic coordinate system. This represents the component of the geographic direction vector along the x-axis. This represents the component of the geographic direction vector along the y-axis. This represents the component of the geographic direction vector along the z-axis. The azimuth of the geographic coordinates. This refers to the geographic coordinate elevation angle; by calculating the geographic direction vector, abstract angle data is transformed into a specific three-dimensional spatial vector. B3: Calculate the remote control direction vector and geographic elevation angle based on the geographic direction vector and the three-dimensional rotation matrix; In this embodiment of the application, the formula for calculating the remote control direction vector is: ; in, The direction vector of the remote control is the direction vector of the sun relative to the remote control. It is a three-dimensional rotation matrix; , , These are the components of the remote control's direction vector on the x, y, and z axes, respectively; The expression for the geographic elevation angle is: ; in, For geographical elevation angle, This represents the z-component of the remote control direction vector. It should be noted that by calculating the remote control direction vector, the abstract geographic coordinate system information is transformed into body coordinate system information directly related to the physical structure of the remote control, which can determine the position of the sun relative to the remote control, and thus determine the geographic elevation angle through the component on the z-axis of the remote control direction vector; In one alternative implementation, the geographic elevation angle can also be calculated through image visual recognition. A wide-angle camera is integrated on the top of the remote control to capture images containing the sky area in real time. The brightest point in the image is identified by the image processing algorithm as the position of the sun. Then, the pixel coordinates are back-projected into a three-dimensional spatial direction vector by combining parameters such as the camera's focal length, principal point, and installation tilt angle. The Z-axis component of this vector in the remote control's body coordinate system is the sine value of the geographic elevation angle. The geographic elevation angle is then obtained by solving the inverse function.

[0033] In another alternative implementation, the geographic elevation angle can also be calculated by looking up a time azimuth mapping table. A mapping table of solar azimuth and elevation angles for different latitudes and months is established in advance. The table records the solar azimuth and its corresponding elevation angle every minute of the day. The azimuth of the sun in the remote controller coordinate system is estimated by the light sensor array. Then, the corresponding mapping table is selected according to the current date and geographic location. The corresponding solar elevation angle is derived by looking up the table and interpolation.

[0034] B4: Calculate the illuminance gradient in the vertical direction and measure the elevation angle based on the incident light intensity from different directions; In this embodiment of the application, the formula for calculating the illuminance gradient in the vertical direction is: ; in, The illuminance gradient is in the vertical direction. , , , are the incident light intensities in their respective directions collected by the light sensors at the front, rear, left, and right edge positions respectively; the four scattered incident light intensities are fused into an illuminance gradient in the vertical direction with a clear physical meaning; The formula for calculating the measured altitude angle based on the incident light intensity in different directions and the illuminance gradient in the vertical direction is: ; where, is the measured altitude angle, is the illuminance gradient in the vertical direction, , , , are the incident light intensities in their respective directions collected by the light sensors at the front, rear, left, and right edge positions respectively; by using the geometric relationship between the difference in the light intensities received by the front-rear and left-right sensors and the total light intensity when the solar altitude angle changes, the mapping from the light sensor signal to the spatial attitude angle is realized; B5: Calculate the corrected altitude angle based on the geographical altitude angle and the measured altitude angle.

[0035] In the embodiment of the present application, the formula for calculating the corrected altitude angle is: ; where, is the corrected altitude angle, is the measured altitude angle, is the geographical altitude angle, is the correction coefficient, which is determined according to the GPS signal strength. The stronger the GPS signal strength, the smaller the value of k; It should be noted that a more accurate corrected altitude angle is obtained by weighted averaging the geographical altitude angle calculated by the astronomical algorithm and the measured altitude angle deduced from the incident light intensities actually measured by the four light sensors; the weight coefficient is adjusted according to the current GPS signal strength, which can adapt to different environments and make the corrected altitude angle not depend on the calculation of a single data source, ensuring the accuracy of the data.

[0036] In an optional embodiment, the corrected altitude angle can also be realized by the intersection selection of confidence intervals. A confidence interval determined by the GNSS accuracy, such as ±3°, is given to the geographical altitude angle, and a confidence interval determined by the sensor noise and calibration error, such as ±5°, is given to the measured altitude angle. If there is an intersection between the two intervals, the midpoint of the intersection is taken as the corrected altitude angle. If there is no intersection, an exception judgment is triggered, and the geographical altitude angle is preferentially used as the corrected altitude angle.

[0037] In another alternative embodiment, the corrected altitude angle can also be calculated through a machine learning model. Before leaving the factory or at the initial stage of use, a machine learning model is trained with a large amount of outdoor measured data. The input features include attitude information such as geographic altitude angle, measured altitude angle, GPS accuracy, light intensity, and attitude angle change rate, and the output feature is the corrected altitude angle. During actual operation, real-time attitude information is collected and input into the machine learning model, and the corrected altitude angle can be obtained through inference of the machine learning model.

[0038] In the embodiment of the present application, constructing the comprehensive objective optimization function in step S300 and solving it to obtain the optimal control parameters includes the following steps C1 - C4: C1: Construct a shading effect objective function based on the transparency of the light-shielding plate and the angle between the sun rays and the normal of the light-shielding plate; In the embodiment of the present application, the shading effect objective function is jointly determined by the environmental direct solar irradiance, the transparency of the light-shielding plate, and the angle between the sun rays and the normal of the light-shielding plate. The formula for constructing the shading effect objective function is: ; Where, is the shading effect objective function, is the direct solar irradiance, is the transparency of the light-shielding plate, is the angle between the sun rays and the normal of the light-shielding plate; C2: Construct a charging effect objective function based on the angle between the sun rays and the normal of the solar panel; In the embodiment of the present application, the charging effect objective function is jointly determined by the direct solar irradiance, the photoelectric conversion efficiency of the solar panel, the effective area of the solar panel, and the angle between the sun rays and the normal of the solar panel. The formula for constructing the charging effect objective function is: ; Where, is the charging effect objective function, is the photoelectric conversion efficiency of the solar panel, is the effective area of the solar panel, is the direct solar irradiance, is the angle between the sun rays and the normal of the solar panel; C3: Construct a comprehensive objective optimization function based on the shading effect objective function and the charging effect objective function, and convert the angle between the sun rays and the normal of the light-shielding plate and the angle between the sun rays and the normal of the solar panel into the rotation angle of the light-shielding plate relative to the remote control; In the embodiment of the present application, the formula for constructing the comprehensive objective optimization function based on the shading effect objective function and the charging effect objective function is: ; Where, For the comprehensive objective optimization function, This is the shading weighting coefficient. This is the charging weighting coefficient; and ; It should be noted that the values ​​of the shading weight coefficient and the charging weight coefficient are adjusted according to the real-time ambient light intensity and the remaining battery power. For example, when the remaining battery power is greater than 70%, the shading weight coefficient is set to 0.8 and the charging weight coefficient is set to 0.2. When the remaining battery power is less than 30%, the shading weight coefficient is set to 0.2 and the charging weight coefficient is set to 0.8. In other cases, both the shading weight coefficient and the charging weight coefficient are set to 0.5. The formula for converting the angle between sunlight and the normal to the sunshade into the angle of rotation of the sunshade relative to the remote control is as follows: ; in, The angle between the sunlight and the normal to the sunshade. To correct the elevation angle, The angle of rotation of the sunshade relative to the remote control; The formula for converting the angle between sunlight and the solar panel's normal into the angle of rotation of the sunshade relative to the remote control is as follows: ; in, The angle between the sunlight and the normal to the solar panel. To correct the elevation angle, The angle of rotation of the sunshade relative to the remote control; In this embodiment, the solar panel and the shading plate are integrated together, and it is assumed that the solar panel and the shading plate are on the same plane. Therefore, the angle between the sunlight and the normal to the solar panel is... The angle between the sunlight and the normal of the sunshade Since they are the same size, the angles between the sunlight and the normal of the shaded panel and the angles between the sunlight and the normal of the solar panel can both be adopted. This means that by substituting the comprehensive objective optimization function, the comprehensive objective optimization function is transformed into a function of the rotation angle of the light shield relative to the remote control and the transparency of the light shield; C4: Solve the comprehensive objective optimization function through numerical optimization algorithm to obtain the target transparency of the light shield and the target rotation angle of the light shield relative to the remote control, and output the target transparency and target rotation angle as the optimal control parameters.

[0039] In the embodiment of the present application, the numerical optimization algorithm adopts the gradient descent method. Taking the current rotation angle and the transparency of the light shielding plate as the initial values, the partial derivatives of the objective function with respect to the two variables are calculated, the parameters are updated along the negative direction of the gradient according to the preset learning rate, and after each update, they are constrained within the physically feasible range. Iteration is continuously carried out until the change amount or the gradient norm of the comprehensive objective optimization function is less than the set threshold or the maximum number of iterations is reached. The finally converged rotation angle and the transparency of the light shielding plate are the target rotation angle and the target transparency, and the target transparency and the target rotation angle are output as the optimal control parameters; In an alternative embodiment, the solution of the comprehensive objective optimization function can also be realized by a genetic algorithm. The angles and transparencies of the light shielding plate are encoded as chromosome individuals, and a population containing 30 individuals is initialized. Each generation generates a new generation of population through selection, crossover and mutation operations. After 20 generations of iteration, the population will converge to an approximate optimal solution of the comprehensive objective function.

[0040] In another alternative embodiment, the solution of the comprehensive objective optimization function can also be realized by a grid search algorithm. A coarse-grained grid is constructed within the physically feasible domain. For example, a point is taken for every 1° of the light shielding plate angle and a point is taken for every 0.1 of the transparency. The values of the comprehensive objective function corresponding to each grid point are calculated by traversal. After finding the coarse optimal solution that minimizes the value of the comprehensive objective function, a fine-grained secondary search is carried out in its neighborhood to determine the optimal control parameters.

[0041] In the embodiment of the present application, constructing the comprehensive objective optimization function in step S400 and solving it to obtain the optimal control parameters include the following steps D1 - D3: D1: Convert the target rotation angle of the light shielding plate relative to the remote controller in the target control parameters into the corresponding PWM pulse width signal to drive the light shielding plate to rotate to the target rotation angle; In the embodiment of the present application, the formula for converting the target rotation angle of the light shielding plate relative to the remote controller in the target control parameters into the corresponding PWM pulse width signal is: ; Among them, is the PWM pulse width, is the target rotation angle; The period of the PWM pulse width signal is fixed at 20 milliseconds, and the pulse width adopts the pulse width calculated according to the target control parameters. The digital servo is rotated by the PWM pulse width signal to drive the light shielding plate to rotate around the hinge axis, so that the light shielding plate tends to the target rotation angle; D2: Collect the actual angle of the light shielding plate relative to the remote controller, and adjust the actual angle through a PID controller; In the embodiment of the present application, the formula for the PID controller to output the corrected PWM pulse width signal according to the actual angle is: ; in, The control output of the PID controller. The difference between the target rotation angle and the actual angle. This is the proportionality coefficient. The integral coefficient is... These are the differential coefficients; It should be noted that the PID controller achieves fast response through the proportional term, eliminates steady-state error through the integral term, and suppresses oscillation through the derivative term, which together generate a corrected PWM pulse width signal to suppress overshoot and oscillation, improve stability, and control the error between the actual angle and the target rotation angle within the set range. D3: Convert the target transparency of the light-shielding plate in the target control parameters into a control voltage, and apply it to the electrochromic film via a digital-to-analog converter to adjust the optical transparency to the target value.

[0042] In this embodiment of the application, the formula for converting the target transparency of the light-shielding plate in the target control parameters into the control voltage is as follows: ; in, To control the voltage, For target transparency in the target control parameters; The control voltage, obtained through the control voltage calculation formula, is used to generate an analog voltage signal by a 12-bit digital-to-analog converter. After being buffered by a voltage follower, the signal is applied to the two electrodes of the electrochromic film to drive the electrochromic film to react and adjust the optical transparency to the target transparency in the optimal control parameters.

[0043] Through a complete closed-loop control process, the system achieves coordinated control of the drone remote controller's shading and charging functions. It utilizes multi-sensor fusion technology to accurately calculate the sun's position and then constructs a comprehensive objective function that dynamically balances shading effectiveness and charging efficiency. The optimal target transparency and target rotation angle are then solved through numerical optimization algorithms. Finally, through the actuators of servo motors and electrochromic films, the abstract optimization results are transformed into concrete physical actions. This solves the problems of poor adaptability and cumbersome operation of traditional shading devices. Moreover, it maximizes solar energy utilization while ensuring screen visibility, providing reliable technical support for the safe operation of drones in complex outdoor environments for extended periods.

[0044] Example 3, referring to Figure 1 This is a third embodiment of the present invention, which provides an intelligent adaptive drone remote controller solar shading system, comprising: Data acquisition module: Collects geographical location information and incident light intensity from different directions of the remote control; First data calculation module: Calculates the geographic elevation angle and the measured elevation angle based on the geographic location information and the incident light intensity, and calculates the corrected elevation angle based on the geographic elevation angle and the measured elevation angle; The second data calculation module: constructs a comprehensive objective optimization function and solves it to obtain the optimal control parameters; Control execution module: Controls the angle and transparency of the light shield according to the target control parameters.

[0045] Example 4, the fourth embodiment of the present invention, differs from the previous three embodiments in that: if the function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0046] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0047] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0048] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0049] Example 5, refer to Figure 1 This is the fifth embodiment of the present invention, which provides a method for solar shading of an intelligent adaptive drone remote controller. The solar shading plate assembly adopts a three-layer composite structure, including an outer layer, a middle layer, and an inner layer. The outer layer is an electrochromic thin film made of tungsten oxide material with a thickness of 0.3 mm. The middle layer is a flexible thin-film solar cell made of copper indium gallium selenide material with a thickness of 0.5 mm and a photoelectric conversion efficiency of 18%. The inner layer is a carbon fiber support substrate with a thickness of 1 mm. The shading plate is 12 cm long and 8 cm wide, and is connected to the upper edge of the remote controller display screen through a hinge mechanism. The hinge axis is parallel to the long side of the shading plate. A servo motor drives the hinge axis to rotate through a gear reduction mechanism, so that the shading plate rotates around the hinge axis, and the angle adjustment range is 0~90°.

[0050] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for solar shading of an intelligent adaptive unmanned aerial vehicle (UAV) remote controller, characterized in that, include, An attitude sensor and a light intensity sensor are deployed to collect the geographical location information and incident light intensity from different directions of the remote control; The geographic elevation angle and the measured elevation angle are calculated based on the geographic elevation angle and the incident light intensity, and the corrected elevation angle is calculated based on the geographic elevation angle and the measured elevation angle. Construct a comprehensive objective optimization function and solve it to obtain the optimal control parameters; The angle and transparency of the light-shielding plate are controlled according to the target control parameters.

2. The method for solar shading of an intelligent adaptive UAV remote controller as described in claim 1, characterized in that, The steps for deploying attitude sensors and light intensity sensors to collect geographical location information and incident light intensity from different directions of the remote controller include: Light sensors are installed on the four edges of the light shield of the drone remote controller, and attitude sensors are installed on the mainboard of the drone remote controller. The latitude, solar declination angle, and solar hour angle of the observation point are collected by an attitude sensor, and the intensity of incident light from different directions is collected by a light sensor.

3. The method for solar shading of an intelligent adaptive UAV remote controller as described in claim 2, characterized in that, The steps for calculating the geographic elevation angle and the measured elevation angle based on geographic location information and incident light intensity, and then calculating the corrected elevation angle based on the geographic elevation angle and the measured elevation angle, include: Calculate the geographic coordinate elevation angle, geographic coordinate azimuth angle, and three-dimensional rotation matrix based on the latitude of the observation point, the solar declination angle, and the solar hour angle; Calculate the geographic direction vector based on the geographic coordinate elevation angle and geographic coordinate azimuth angle; The remote control direction vector and geographic elevation angle are calculated based on the geographic direction vector and the three-dimensional rotation matrix. Calculate the illuminance gradient in the vertical direction and measure the elevation angle based on the incident light intensity from different directions; The corrected elevation angle is calculated based on the geographic elevation angle and the measured elevation angle.

4. The method for solar shading of an intelligent adaptive UAV remote controller as described in claim 3, characterized in that, The steps for constructing a comprehensive objective optimization function and solving it to obtain the optimal control parameters include: Construct an objective function for the shading effect based on the transparency of the shading plate and the angle between the sunlight and the normal of the shading plate; Construct an objective function for charging effect based on the angle between sunlight and the normal to the solar panel; A comprehensive objective optimization function is constructed based on the objective functions of shading effect and charging effect, and the angle between sunlight and the normal of the shading plate and the angle between sunlight and the normal of the solar panel are converted into the rotation angle of the shading plate relative to the remote control. The target transparency of the light shield and the target rotation angle of the light shield relative to the remote control are obtained by solving the comprehensive objective optimization function through numerical optimization algorithm. The target transparency and target rotation angle are then output as the optimal control parameters.

5. The solar shading method for an intelligent adaptive UAV remote controller as described in claim 4, characterized in that, The steps for controlling the angle and transparency of the light-shielding plate according to the target control parameters include: The target rotation angle of the light shield relative to the remote controller in the target control parameters is converted into a corresponding PWM pulse width signal to drive the light shield to rotate to the target rotation angle. The actual angle of the light shield relative to the remote control is collected, and the actual angle is adjusted by a PID controller; The target transparency of the light-shielding plate in the target control parameters is converted into a control voltage, which is then applied to the electrochromic film via a digital-to-analog converter to adjust the optical transparency to the target value.

6. The solar shading method for an intelligent adaptive UAV remote controller as described in claim 4, characterized in that, The formula for constructing the objective function of the shading effect based on the transparency of the shading plate and the angle between the sunlight and the normal of the shading plate is as follows: ； in, Let the objective function be the shading effect. Direct sunlight illuminance To determine the transparency of the light-shielding panel, The angle between the sunlight and the normal to the sunshade; The formula for constructing the objective function of charging effect based on the angle between sunlight and the normal of the solar panel is as follows: ； in, Let the objective function be the charging effect. The photoelectric conversion efficiency of solar panels. The effective area of ​​the solar panel. Direct sunlight illuminance The angle between the sunlight and the normal to the solar panel; The formula for constructing a comprehensive objective optimization function based on the objective functions for shading effect and charging effect is as follows: ； in, For the comprehensive objective optimization function, This is the shading weighting coefficient. This is the charging weighting coefficient.

7. The method for solar shading of an intelligent adaptive UAV remote controller as described in claim 5, characterized in that, The formula for converting the target rotation angle of the light shield relative to the remote control in the target control parameters into the corresponding PWM pulse width signal is as follows: ； in, For PWM pulse width, Rotate by the target angle; The formula for converting the target transparency of the light-shielding plate in the target control parameters into the control voltage is as follows: ； in, To control the voltage, The target transparency is a parameter in the target control parameters.

8. A smart adaptive drone remote controller solar shading system, employing the smart adaptive drone remote controller solar shading method as described in any one of claims 1 to 7, characterized in that, include: Data acquisition module: Collects geographical location information and incident light intensity from different directions of the remote control; First data calculation module: Calculates the geographic elevation angle and the measured elevation angle based on the geographic location information and the incident light intensity, and calculates the corrected elevation angle based on the geographic elevation angle and the measured elevation angle; The second data calculation module: constructs a comprehensive objective optimization function and solves it to obtain the optimal control parameters; Control execution module: Controls the angle and transparency of the light shield according to the target control parameters.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the solar shading method for an intelligent adaptive unmanned aerial vehicle remote controller according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the solar shading method for an intelligent adaptive unmanned aerial vehicle remote controller according to any one of claims 1 to 7.

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