Solar auxiliary charging flight communication control method for unmanned aerial vehicle under cloudy sunny conditions

Abstract

The invention discloses a solar-assisted charging flight communication control method for an unmanned aerial vehicle in cloudy sunny days. The method comprises the following steps: acquiring a target communication point, coordinates of the unmanned aerial vehicle, parameter information of the unmanned aerial vehicle, a direct sunlight area and wind speed and wind direction information; selecting a point having the shortest communication distance from the original hovering point in the direct sunlight area as a new unmanned aerial vehicle flight point; calculating total energy required by hovering communication of the UAV at the original hovering point until data transmission is completed; and calculating the total energy required by communication between the new flight point and the communication point until data transmission is completed, and selecting the flight point with relatively small total energy for flight and communication. Decisions can be made for communication of the unmanned aerial vehicle (UAV) at an original hovering point and flight communication in a direct sunlight area, and meanwhile, the influence of wind speed is considered, so that the unmanned aerial vehicle serves a communication point in a flight and communication mode with relatively low energy consumption.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle flight control, and particularly relates to a method for controlling flight communication of a unmanned aerial vehicle (UAV) solar-assisted charging under cloudy to sunny conditions. Background Art

[0002] With the continuous advancement of drone technology, its application areas are becoming increasingly extensive, including logistics distribution, disaster relief and agricultural plant protection. However, the power endurance of drones has always been a key factor restricting its development. Traditional charging methods, such as manual charging or fixed-point charging, have disadvantages such as low efficiency, high cost and susceptibility to environmental influences. Therefore, autonomous drone charging technology, especially solar charging technology, is of great significance. Solar charging technology uses solar panels to convert solar energy into electrical energy to power drones. This technology has the advantages of environmental protection, renewable and noise-free, and is particularly suitable for use outdoors or in remote areas. In recent years, with the continuous development of solar cell technology, its energy conversion efficiency has been continuously improved, providing a technical basis for solar charging of drones. At present, there is a lack of research on the flight control and communication methods of solar-assisted charging of drones in complex environments (cloudy and sunny) to solve the problem of whether drones fly to direct sunlight points for solar charging in cloudy and sunny weather, while considering the communication problem between UAVs and communication points. Summary of the invention

[0003] The purpose of the present invention is to provide a flight communication control method for solar-assisted charging of a UAV under cloudy to sunny conditions, which can make decisions on the communication of the UAV (UAV) at the original hovering point and the flight communication in the direct sunlight area, while considering the influence of wind speed, so that the UAV can serve the communication point with a flight and communication method with lower energy consumption.

[0004] The technical solution to achieve the purpose of the present invention is: A method for controlling flight communication of a UAV under cloudy to sunny conditions with solar-assisted charging comprises the following steps: S01: Obtain the target communication point and drone coordinates, drone parameter information, direct sunlight area, and wind speed and direction information; S02: Select the point in the direct sunlight area with the shortest communication distance from the original hovering point as the new UAV flight point; calculate the total energy required for the UAV to hover and communicate at the original hovering point until data transmission is completed; calculate the total energy required for the new flight point to communicate with the communication point until data transmission is completed, and select the flight point with smaller total energy for flight and communication. Calculate the energy required for the UAV to hover and communicate at the original hovering point and the UAV to fly and communicate within the direct sunlight range until data transmission is completed, so as to make decisions on the flight and communication methods of the UAV.

[0005] Preferably, obtaining the direct sunlight area information in step S01 includes identifying the direct sunlight area, fitting the shape of the direct sunlight area, and obtaining the direct sunlight area information and wind speed and wind direction information.

[0006] Preferably, in step S02, the coordinates of the drone target communication point are established as , the initial position of the drone is , is the cruising altitude of the drone. If the shape of the direct sunlight area is approximately a circular area, the coordinates of the center of the direct sunlight area are obtained as follows: , the radius is , get wind speed , The counterclockwise angle between the positive half axis and the wind speed direction .

[0007] Preferably, in step S02, the UAV adjusts its position in the direct sunlight area in real time during flight, so that the UAV always dynamically selects the point on the moving circle closest to the coordinate origin for communication.

[0008] Preferably, the method for adjusting the position of the drone in the direct sunlight area in real time flight includes: At the moment , the location of the drone Should also meet

[0009]

[0010] in, The moment when the drone starts to adjust its position in real time in the direct sunlight area, For time interval number; Order Solve the above equations together to obtain the UAV at time The location is and ; For each , the simultaneous equations yield two solutions and as well as and , select the point closer to the communication point as the new flight point coordinate of the drone and .

[0011] The present invention also discloses a UAV solar-assisted charging flight communication control system under cloudy to sunny conditions, comprising a processor, wherein the UAV solar-assisted charging flight communication control method under cloudy to sunny conditions is built into the processor.

[0012] The invention further discloses an unmanned aerial vehicle, comprising the unmanned aerial vehicle solar-assisted charging flight communication control system under cloudy to sunny conditions.

[0013] The present invention further discloses a computer storage medium on which a computer program is stored. When the computer program is executed, the above-mentioned UAV solar-assisted charging flight communication control method under cloudy to sunny conditions is implemented.

[0014] Compared with the prior art, the present invention has the following significant advantages: The method of the present invention is applicable to cloudy and sunny weather scenes, where there is a partial area of ​​the sky near the UAV hovering point that is not blocked by clouds. The UAV can fly to the unblocked area to hover and charge using the solar panels it carries.

[0015] A method for adjusting the position of a UAV in real-time flight in a direct sunlight area is proposed. This method can dynamically adjust the position of the UAV in the direct sunlight area so that the position satisfies both that the UAV is just at the edge of the direct sunlight area and the distance between the UAV and the communication point is the shortest.

[0016] Decisions are made on the communication of the UAV at the original hovering point and the flight communication in the direct sunlight area, and the influence of wind speed is considered, so that the UAV can serve the communication point with a flight and communication method with less energy consumption. The decision factors include the UAV data transmission volume, the location and radius of the cavity, the photoelectric conversion efficiency of the solar panel, the area of ​​the solar panel, the intensity of solar radiation, and the wind speed and wind direction. The UAV can serve the communication point with a flight and communication method with less energy consumption. Provide a unique and efficient solution. Physically conform to the scenario of real application and can be effectively applied to engineering practice. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of the UAV solar-assisted charging flight communication control method under cloudy to sunny conditions of this embodiment; Figure 2 This is a scene diagram of the UAV solar-assisted charging flight communication control method under cloudy to sunny conditions of this embodiment. DETAILED DESCRIPTION

[0018] Embodiment 1: like Figure 1 As shown, a method for controlling the flight communication of a UAV solar-assisted charging under cloudy to sunny conditions comprises the following steps: S01: Obtain the target communication point and drone coordinates, drone parameter information, direct sunlight area, and wind speed and direction information; S02: Select the point in the direct sunlight area with the shortest communication distance from the original hovering point as the new UAV flight point; calculate the total energy required for the UAV to hover and communicate at the original hovering point until the data transmission is completed; calculate the total energy required for the new flight point to communicate with the communication point until the data transmission is completed, and select the flight point with the smaller total energy for flight and communication.

[0019] Combination Figure 2 As shown, the design scheme of the present invention is further specifically analyzed and described.

[0020] In the network described in the scheme of the present invention, the amount of data transmitted by the UAV and the ground target point in the downlink is The cruising altitude of the drone is After transmitting data, the drone needs to return to its landing point for wired charging. Set the coordinates of the target communication point as the origin of the three-dimensional coordinate system, that is, , so the initial position information of the drone is Since traditional drones are usually powered by batteries and have limited flight time, installing solar panels on drones can enable the UAV to continuously absorb solar energy and convert it into electrical energy during flight, charging the drone's battery, thereby significantly extending the drone's flight time.

[0021] The acquisition of the direct sunlight area information includes identifying the direct sunlight area, fitting the shape of the direct sunlight area, and acquiring the direct sunlight area information. The detection can be performed by known methods, such as: 1) Image processing based methods Principle: Use cameras or satellite images to capture images of the ground or sky, and distinguish between direct sunlight areas and shadow areas by analyzing the brightness, color and texture features in the image.

[0022] step: (1) Obtain image data.

[0023] (2) Use image segmentation algorithms (such as threshold segmentation and edge detection) to separate high-brightness areas.

[0024] (3) Combine color space (such as HSV) to analyze the characteristics of areas with direct sunlight.

[0025] 2) Detection methods based on machine learning How it works: Use historical data and machine learning algorithms (such as convolutional neural networks (CNNs)) to train models to identify areas of direct sunlight.

[0026] step: (1) Collect a large amount of labeled images or sensor data.

[0027] (2) Train the machine learning model.

[0028] (3) Use the model to make predictions on real-time data.

[0029] In most cases, the direct sunlight area can be approximated as a circle. If the direct sunlight point is of other shapes, the point with the shortest communication distance from the original hovering point within the model range of the area can still be used as the new drone flight point. , select the UAV at the original hovering point The total energy required for hovering communication and dynamic new flight points to communicate with the communication point until the data transmission is completed, and the flight and communication methods with lower energy are still selected to serve the communication point.

[0030] Since the irregular direct sunlight area cannot be established using an accurate mathematical model, the present invention assumes that the direct sunlight area in cloudy to sunny weather is a circular area in order to obtain a closed solution. However, this method can be applied to other direct sunlight area shapes for processing, and it is only necessary to find the point within the area with the shortest communication distance from the original hovering point as the new drone hovering point.

[0031] In the present invention, since the light intensity in the direct sunlight range is consistent, if there are multiple direct sunlight ranges in cloudy to sunny weather, it is only necessary to calculate the energy consumption of the UAV hovering or flying communication mode for each direct sunlight range and then compare them. This method is a conventional comparison method, so it is feasible by default in the present invention.

[0032] In this embodiment, the weather studied is cloudy and sunny, that is, there are a lot of clouds in the sky, blocking the direction of the sun's direct exposure to the UAV's hovering position, so the UAV cannot convert solar energy into electrical energy. However, there is an area in the three-dimensional coordinate system that is not blocked by clouds, and the sun can shine directly through this hole. The following is an example of this area being approximately a circular area, and the coordinates of the center of the circle are , the radius is . Considering the influence of wind in the air, assume that the wind speed is , The counterclockwise angle between the positive semi-axis and the wind speed direction is .

[0033] This method is suitable for cloudy and sunny weather scenarios. There is a part of the sky near the original hovering point of the UAV that is not blocked by clouds. The UAV can fly to the unblocked area to communicate and use the solar panels it carries to charge. Since the UAV also communicates with the communication point during the flight, the channel gain between the UAV and the communication point will change. The flight time can be discretely divided into The time interval is due to is small enough, so it can be assumed that the channel gain between the UAV and the communication point is constant in each time interval.

[0034] Decisions are made on two flight and communication modes: the UAV at the original hovering point and the UAV dynamic flight. The decision factors include the UAV data transmission volume, the location and radius of the cavity, the photoelectric conversion efficiency of the solar panel, the area of ​​the solar panel, the intensity of solar radiation, wind speed and wind direction, etc.

[0035] The output power of a solar panel is expressed as:

[0036] in, is the photoelectric conversion efficiency of the solar panel; The area of ​​solar panels carried by the UAV; is the solar radiation intensity.

[0037] Since the UAV can choose to communicate at the original hovering point during hovering communication with the communication point, or can choose to fly to the direct sunlight range to perform solar charging and hovering communication at the same time, the above two hovering and communication methods are analyzed separately below: 1. UAV communicates at the original hovering point: The energy consumed by the UAV during communication at the original hovering point until the data is transmitted can be divided into hovering energy consumption and communication energy consumption, where the hovering energy consumption is:

[0038] in, For the quality of the drone, is the local gravitational acceleration; is the air density; and are the rotor area and the number of rotors respectively; is the hovering time of the UAV above the communication point.

[0039] The UAV hovers The channel gain between the communication point and the communication point can be expressed as:

[0040] Among them, Indicates the channel gain at a distance of 1 meter.

[0041] Therefore, the data transmission rate between UAV and communication point can be expressed as:

[0042] in, is the signal bandwidth; is the receiver noise; is the maximum transmit power of UAV communication (known).

[0043] The data transmission volume between UAV and communication point can be expressed as:

[0044] The energy consumption of UAV communicating at the original hovering point is:

[0045] Therefore, the total energy consumed by the UAV to hover above the communication point and communicate until the data transmission is completed is:

[0046] At the same time, in the scenario of the present invention, the direct sunlight area will move with the wind, so it is necessary to consider whether the direct sunlight area will perform solar charging on the drone at the original hovering point during the communication of the drone at the hovering point, as detailed as follows: 1. If and or When the direct sunlight area does not pass over the hovering point of the UAV, the energy charged by solar energy in this scenario is:

[0047] 2. If and and and When the direct sunlight area does not pass over the drone's hovering point, there is

[0048] 3. If and and and When the direct sunlight area passes above the drone's hovering point, any point on the boundary of the direct sunlight area satisfy:

[0049] make , the time when the boundary of the direct sunlight area passes through the hovering point of the drone for the first and second time can be obtained respectively:

[0050]

[0051] 1) If Sometimes, there is

[0052] 2) If Sometimes, there is

[0053] 3) If Sometimes, there is

[0054] 4. If and and and When the direct sunlight area passes above the drone's hovering point, the time when the boundary of the direct sunlight area passes through the drone's hovering point for the first and second time can be obtained respectively:

[0055]

[0056] 1) If Sometimes, there is

[0057] 2) If Sometimes, there is

[0058] 3) If Sometimes, there is

[0059] 5. If and and and When the direct sunlight area does not pass over the drone's hovering point, there is

[0060] 6. If and When , the direct sunlight area will pass above the drone's hovering point, but at this time, the boundary of the direct sunlight area only passes through the drone's hovering point once, and the time is:

[0061] 1) If Sometimes, there is

[0062] 2) If Sometimes, there is

[0063] 7. If and When , the direct sunlight area will pass above the drone's hovering point, but at this time the boundary of the direct sunlight area only passes through the drone's hovering point once, and the time is:

[0064] 1) If Sometimes, there is

[0065] 2) If Sometimes, there is

[0066] like and , assuming that the direct sunlight area is stationary, the motion equation of the UAV hovering point in the direct sunlight area as the reference system satisfies:

[0067] Simultaneously calculate any point on the boundary of the direct sunlight area The equation that satisfies the boundary point of the direct sunlight area when it passes through the UAV hovering point under the influence of wind speed satisfies:

[0068] 8. If and and and When , the direct sunlight area will not pass over the drone's hovering point,

[0069] 9. If and and and When , the horizontal coordinates of the two boundary points of the direct sunlight area when passing through the UAV hovering point under the influence of wind speed are:

[0070]

[0071] The ordinates of the two boundary points are

[0072]

[0073] Using the dot product property of vectors, we can get: 1) If , the direct sunlight area will not pass over the drone's hovering point,

[0074] 2) If , the direct sunlight area will pass above the hovering point of the drone, and the time when the boundary of the direct sunlight area passes through the hovering point of the drone for the first and second time can be obtained respectively:

[0075] and

[0076] (1) If Sometimes, there is

[0077] (2) If Sometimes, there is

[0078] (3) If Sometimes, there is

[0079] 10. If and and hour: 1) If , the direct sunlight area will pass above the drone's hovering point, and the boundary of the direct sunlight area can be obtained only once. The time of the drone's hovering point is:

[0080] (1) If Sometimes, there is

[0081] (2) If Sometimes, there is

[0082] 2) If , the direct sunlight area will pass above the hovering point of the drone, and the boundary of the direct sunlight area can be obtained only once. The time of the drone's hovering point is

[0083] (1) If Sometimes, there is

[0084] (2) If Sometimes, there is

[0085] Combining the above 1 to 10 situations, the total energy of the UAV hovering above the communication point and communicating until the data transmission is completed is:

[0086] in, There are different forms of expression depending on the scene.

[0087] 2. The UAV flies into the direct sunlight range to perform solar charging and flight communication at the same time: Not only will new flight energy be generated when the UAV is far away from the communication point, but the communication channel gain will also be reduced. Therefore, in the scenario of the direct sunlight area that can move with the wind studied by the present invention, although the UAV can hover at any point within the circle of the direct sunlight area to obtain solar energy charging and communicate, since the direct sunlight area is moving, the duration for the UAV to obtain solar energy is limited and the communication channel gain is not optimal. In order to improve energy efficiency, the present invention proposes a method for adjusting the position of a UAV in real-time flight in a direct sunlight area, so that the UAV always dynamically selects the point closest to the coordinate origin of the moving circle for communication, and the method is as follows: At the moment , the location of the drone Should also meet

[0088] and

[0089] in When the drone starts to adjust its position in real time in the direct sunlight area, it will Solving the above equations together, we can obtain the UAV at time The location is and It is worth noting that for each , the simultaneous equations will have two solutions and as well as and , a point closer to the communication point should be selected as the new flight point coordinate of the drone and . And because is small enough, so it can be assumed that the channel gain between the drone and the communication point is constant in each time interval, and the drone can move at a speed of Arrive at the new flight point faster.

[0090] Therefore, assuming that the ground speed of the UAV is (known), The counterclockwise angle between the positive half axis and the ground speed direction of the UAV is .

[0091] 1. If , indicating that at the initial moment, the original hovering point of the UAV was in the direct sunlight area. Therefore, there are two possibilities for the direct sunlight area to move with the wind: A. The UAV hovers at the original hovering point and transmits data, and the transmission is completed before the direct sunlight area leaves the original hovering point; B. The UAV hovers at the original hovering point and transmits data, and the transmission is not completed before the direct sunlight area leaves the original hovering point. It should be noted that situation A is the same as part of the scenario in (I), and will not be repeated here. It is only necessary to convert the time condition into the data transmission amount condition (the two are equivalent).

[0092] 1) If , then the flight time of the direct sunlight area away from the original hovering point is:

[0093] During this period, the data transmission volume between UAV and communication point can be expressed as:

[0094] For case B, that is When the proposed method of adjusting the position of a UAV in real-time flight in a direct sunlight area is used, : Drones in The data transfer volume during this period is:

[0095] in, .

[0096] Therefore, when When , the following formula is satisfied:

[0097] This indicates that the drone and the communication point are Complete data transfer at all times.

[0098] Therefore, the total energy required for UAV to communicate in this scenario until data transmission is completed is:

[0099] 2) If , then the flight time of the direct sunlight area away from the original hovering point is:

[0100] During this period, the data transmission volume between UAV and communication point can be expressed as:

[0101] For case B, that is Similarly, a method for adjusting the position of an unmanned aerial vehicle in real-time flight in a direct sunlight area proposed by the present invention is as follows:

[0102] 3) If and , the horizontal coordinates of the two boundary points of the direct sunlight area when it passes through the UAV hovering point under the influence of wind speed are:

[0103]

[0104] in, .

[0105] The ordinates of the two boundary points are:

[0106]

[0107] Using the dot product property of vectors, we can get: (1) If , then the flight time of the direct sunlight area away from the original hovering point is:

[0108] During this period, the data transmission volume between UAV and communication point can be expressed as:

[0109] For case B, that is Similarly, a method for adjusting the position of a drone in real-time flight in a direct sunlight area proposed by the present invention can be used, which includes:

[0110] (2) If , then the flight time of the direct sunlight area away from the original hovering point is:

[0111] During this period, the data transmission volume between UAV and communication point can be expressed as:

[0112] For case B, that is Similarly, the method for adjusting the position of a drone in real-time flight in a direct sunlight area proposed by the present invention can be used.

[0113] 2. If , indicating that at the initial moment, the original hovering point of the UAV is not in the direct sunlight area. The UAV first needs to fly to the initial point in the direct sunlight area. Simultaneous solar charging and flight communication, detailed description as follows: The center of the drone and the direct sunlight area is at time The positions at and In order to ensure that , the drone is just at the edge of the direct sunlight area to obtain solar energy and the distance between the drone and the communication point is the shortest, and the following formula must be satisfied at the same time:

[0114] and

[0115] Solving the above equations separately, we can get the time (Choose the smaller moment as the solution , and order ) and the UAV’s ground speed angle .

[0116] Therefore, the UAV flies to the initial point in the direct sunlight area. The coordinates of At the same time, the coordinates of the center of the direct sunlight area are .

[0117] Since the UAV is flying to the point There are a total of time interval.

[0118] Therefore, drones are The data transmission rate for a time interval is:

[0119] in, .

[0120] The drone is flying to the point The total amount of data communicated with the communication point along the way is:

[0121] 1) If In this scenario, the UAV has completed data transmission before it flies to the area under direct sunlight. Therefore, in the present invention, the UAV performs energy calculation according to the scheme in (a) in which the UAV communicates at the original hovering point.

[0122] 2) If Since the direct sunlight area moves with the wind, the initial point of the drone at the edge of the direct sunlight area exist At the subsequent moments, it is no longer possible for the drone to be at the edge of the direct sunlight area and for the drone to be at the shortest distance from the communication point.

[0123] Since the direct sunlight area moves with the wind, there are two possibilities as follows: C. the direct sunlight area does not pass through the original hovering point; F. the direct sunlight area passes through the original hovering point.

[0124] (1) For situation C, the method for adjusting the position of a drone in real time during flight in a direct sunlight area proposed by the present invention can be similarly adopted, including:

[0125] in, All must be met

[0126] (2) For situation F, the method of adjusting the position of a drone in real time in direct sunlight can be adopted. At the time, the drone The time interval is at the original hovering point, which means that the original hovering point is just at the edge of the direct sunlight area.

[0127] Therefore, there are two possibilities for the direct sunlight area to move with the wind: F1. The drone hovers at the original hovering point and transmits data, and the transmission is completed before the direct sunlight area leaves the original hovering point; F2. The drone hovers at the original hovering point and transmits data, and the transmission is not completed before the direct sunlight area leaves the original hovering point.

[0128] (a) If and , combined with the following three formulas:

[0129]

[0130]

[0131] The flight time of the area in direct sunlight leaving the original hovering point is:

[0132] For F1, there are:

[0133] in

[0134] For situation F2, after the drone leaves the original hovering point in the direct sunlight area, the method for adjusting the position of the drone in real-time flight in the direct sunlight area proposed by the present invention is still used. In particular, when the method is applied in situation F2, .have:

[0135] in .

[0136] (b) If or , the flight time of the direct sunlight area leaving the original hovering point is:

[0137] For F1, there are:

[0138] in

[0139] For situation F2, after the drone leaves the original hovering point in the direct sunlight area, the method for adjusting the position of the drone in real-time flight in the direct sunlight area proposed by the present invention is still used. In particular, when the method is applied in situation F2, .have:

[0140] in .

[0141] For the UAV communication methods in (i) and (ii), a flight and communication method is selected that minimizes the total energy consumed by the UAV until data transmission is completed.

[0142] In another embodiment, a UAV solar-assisted charging flight communication control system under cloudy to sunny conditions includes a processor having the above-mentioned UAV solar-assisted charging flight communication control method under cloudy to sunny conditions built into the processor.

[0143] In another embodiment, a UAV includes the above-mentioned solar-assisted charging flight communication control system for the UAV under cloudy to sunny conditions.

[0144] In another embodiment, a computer storage medium stores a computer program thereon, and when the computer program is executed, the above-mentioned UAV solar-assisted charging flight communication control method under cloudy to sunny conditions is implemented.

[0145] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention shall be equivalent replacement modes and shall be included in the protection scope of the present invention.

Claims

1. A method for controlling the flight communication of a UAV under cloudy to sunny conditions with solar-assisted charging, characterized in that: The following steps are involved: S01: Obtain the target communication point and drone coordinates, drone parameter information, direct sunlight area, and wind speed and direction information; S02: Select the point in the direct sunlight area with the shortest communication distance from the original hovering point as the new UAV flight point; calculate the total energy required for the UAV to hover and communicate at the original hovering point until the data transmission is completed; Calculate the total energy required for the new flight point to communicate with the communication point until data transmission is completed, and select the flight point with smaller total energy for flight and communication.

2. The method for controlling the flight communication of a UAV under cloudy to sunny conditions according to claim 1 is characterized in that: The acquisition of the direct sunlight area information in step S01 includes identifying the direct sunlight area, fitting the shape of the direct sunlight area, and acquiring the direct sunlight area information and wind speed and wind direction information.

3. The method for controlling the flight communication of a UAV under cloudy to sunny conditions according to claim 1, characterized in that: In step S02, the coordinates of the drone target communication point are established as , the initial position of the drone is , is the cruising altitude of the drone. If the shape of the direct sunlight area is approximately a circular area, the coordinates of the center of the direct sunlight area are obtained as follows: , the radius is , get wind speed , The counterclockwise angle between the positive half axis and the wind speed direction .

4. The method for controlling the flight communication of a UAV under cloudy to sunny conditions according to claim 3 is characterized in that: In step S02, the drone adjusts its position in the direct sunlight area in real time during flight, so that the drone always dynamically selects the point closest to the moving circle and the coordinate origin for communication.

5. The method for controlling the flight communication of a UAV under cloudy to sunny conditions according to claim 4 is characterized in that: Methods for real-time adjustment of the drone's position in direct sunlight areas include: At the moment , the location of the drone Should also meet ， ， in, The moment when the drone starts to adjust its position in real time in the direct sunlight area, For time interval number; Order Solve the above equations together to obtain the UAV at time The location is and ; For each , the simultaneous equations yield two solutions and as well as and , select the point closer to the communication point as the new flight point coordinate of the drone and .

6. The method for controlling the flight communication of a UAV under cloudy to sunny conditions according to claim 3 is characterized in that: In step S02, the total energy required for the drone to hover and communicate at the original hovering point until the data transmission is completed is calculated. The methods include: According to the coordinates of the center of the circle , the radius is , The counterclockwise angle between the positive half axis and the wind speed direction Divide different scenes; Calculate the total energy under different scenarios ,include: Scenario 1: If 1) and or ; 2) and and and ; 3) and and and ; 4) and and and When the total energy for: ， in, For drone quality, is the maximum transmission power of UAV communication, is the total data volume of the UAV and ground target points, is the local gravitational acceleration, is the air density, and are the rotor area and the number of rotors respectively, is the signal bandwidth; is the receiver noise, is the channel gain between the original hovering point and the communication point when the UAV is hovering, ; Scenario 2: If and and and hour: 1) If When the total energy for: ， in, The hovering time of the UAV over the communication point for data transmission; 2) If When the total energy for: ， in, is the photoelectric conversion efficiency of the solar panel, is the area of ​​solar panels carried by the drone, is the solar radiation intensity; 3) If When the total energy for: ， in, , are the time when the boundary of the direct sunlight area passes through the drone’s hovering point for the first and second time, respectively. and ; Scenario 3: If and and and hour: 1) If When the total energy for: ， 2) If When the total energy for: ， 3) If When the total energy for: ， in, and ; Scenario 4: If and hour: 1) If When the total energy for: ， 2) If When the total energy for: ， in, ; Scenario 5: If and hour: 1) If When the total energy for: ， 2) If When the total energy for: ， in, ; Scenario 6: If and and and hour: 1) If , total energy for: ， in, , are the horizontal and vertical coordinates of the first boundary point when the direct sunlight area passes through the drone hovering point under the influence of wind speed, , ; 2) If hour: (1) If When the total energy for: ， (2) If When the total energy for: ， (3) If When the total energy for: ， in, , are the horizontal and vertical coordinates of the second boundary point when the direct sunlight area passes through the drone hovering point under the influence of wind speed, , ; Scene 7: If and and hour: 1) If hour: (1) If When the total energy for: ， (2) If When the total energy for: ， in, ; 2) If hour: (1) If When the total energy for: ， (2) If When the total energy for: ， in, .

7. The method for controlling the flight communication of a UAV under cloudy to sunny conditions according to claim 4, characterized in that: In step S02, the total energy required for the new flight point to communicate with the communication point until the data transmission is completed is calculated. The methods include: According to the coordinates of the center of the circle , the radius is , The counterclockwise angle between the positive half axis and the wind speed direction Divide different scenes; Calculate the total energy under different scenarios ,include: Scenario 1: If : 1) If ,and hour: ， in, For drone quality, is the maximum transmission power of UAV communication, is the total data volume of the UAV and ground target points, is the local gravitational acceleration, is the air density, and are the rotor area and the number of rotors respectively, is the signal bandwidth; is the receiver noise, is the channel gain between the original hovering point and the communication point when the UAV is hovering, is the photoelectric conversion efficiency of the solar panel, is the area of ​​solar panels carried by the drone, is the solar radiation intensity; 2) If ,and hour: ， Among them, the flight time of the area in direct sunlight away from the original hovering point ; For time The time interval between the drone and the communication point to complete the data transmission number; 3) If ,and hour: ， 4) If ,and hour: ， 5) If and and and hour: ， in, , are the horizontal and vertical coordinates of the first and second possible boundary points of the direct sunlight area when it passes through the original hovering point of the UAV under the influence of wind speed; 6) If and and and hour: ， 7) If and and and hour: ， 8) If and and and hour: ， Scenario 2: If : 1) If the drone flies to the initial point in the direct sunlight area The total amount of data communicated with the communication point on the way and All meet hour: ， 2) If and and and and hour: ， For drones in time Then the time interval just at the edge of the direct sunlight area number; For time After that, the drone will adjust its position in real time while flying in the direct sunlight area. The amount of data transmitted per time interval; The data transmission rate of the UAV between the original communication point and the communication point; It is the flight time of leaving the original hovering point in the direct sunlight area; 3) If and and and and hour: ， 4) If and or and and hour: ， 5) If and or and and hour: 。 8. A UAV solar-assisted charging flight communication control system under cloudy to sunny conditions, characterized in that: The invention comprises a processor, wherein the processor is equipped with the flight communication control method for solar-assisted charging of a UAV under cloudy to sunny conditions as described in any one of claims 1 to 7.

9. A drone, characterized in that: Including the UAV solar-assisted charging flight communication control system under cloudy to sunny conditions as described in claim 8.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method for controlling the flight communication of the solar-assisted charging of the unmanned aerial vehicle under cloudy to sunny conditions as described in any one of claims 1 to 7 is implemented.

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