CN110634278A - Communication method, device and control system - Google Patents
Communication method, device and control system Download PDFInfo
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- CN110634278A CN110634278A CN201910949346.9A CN201910949346A CN110634278A CN 110634278 A CN110634278 A CN 110634278A CN 201910949346 A CN201910949346 A CN 201910949346A CN 110634278 A CN110634278 A CN 110634278A
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Abstract
The application discloses a communication method, equipment and a control system. The method is used for realizing communication between a control end and X controlled ends, wherein the control end can comprise N wireless communication modules, and the working frequency ranges of different wireless communication modules are different; the controlled end can comprise M wireless communication modules, and the working frequencies of different wireless communication modules are different; the control end sends messages to X controlled ends through X wireless communication modules in the N wireless communication modules, the X communication modules correspond to the X controlled ends one by one, and each message contains an identification of a target controlled end so that the target controlled end responds to the message; and the control terminal monitors the message sent to the control terminal through the N wireless communication modules. The method is helpful for improving the operation efficiency.
Description
Technical Field
The present application relates to the field of control, and in particular, to a communication method, device, and control system.
Background
The unmanned aerial vehicle is called unmanned aerial vehicle for short, and the unmanned aerial vehicle is controlled by utilizing radio remote control equipment and a self-contained program control device. Unmanned aerial vehicle has advantages such as small, the cost is low, convenient to use, flexibility are good, obtains using in more and more fields, for example: aerial photography, rescue, show shows, etc. And the technical requirements of users on the unmanned aerial vehicle are higher and higher.
In order to improve the operating efficiency of the unmanned aerial vehicle and meet the requirements of users, how to control multiple unmanned aerial vehicles to operate by using one remote controller is being developed in the industry.
Disclosure of Invention
The embodiment of the application provides a communication method, equipment and a control system, which are used for realizing communication between a control end and at least two controlled ends.
In a first aspect, a communication method provided in this embodiment of the present application is used for a control end to communicate with X controlled ends, where X is an integer greater than or equal to 1, the control end includes N wireless communication modules, N is an integer greater than or equal to 2, and operating frequency bands of the N wireless communication modules are different, and the method includes:
the control end sends messages to the X controlled ends through X wireless communication modules in the N wireless communication modules, the X communication modules correspond to the X controlled ends one by one, and each message contains an identification of a target controlled end so that the target controlled end responds to the message;
and the control terminal monitors the message sent to the control terminal through the N wireless communication modules.
In a possible implementation manner, the sending, by the control end, a message to the X controlled ends through the X wireless communication modules respectively includes:
the control end polls the N wireless communication modules in sequence, and when polling an ith wireless communication module in the X wireless communication modules, the control end sends a message to a controlled end corresponding to the ith wireless communication module through the ith wireless communication module, wherein i is 1,2, … and X; or
And the control terminal polls the X wireless communication modules in sequence, and when the ith wireless communication module is polled, the control terminal sends a message to the controlled terminal corresponding to the ith wireless communication module through the ith wireless communication module, wherein i is 1,2, … and X.
In a possible implementation manner, the value of X is equal to the value of N.
In a possible implementation manner, the first controlled end and/or the second controlled end is one of the following devices: unmanned aerial vehicles, unmanned automobiles, unmanned boats, unmanned submarines, and robots.
In a second aspect, an embodiment of the present application provides a communication method, used for a controlled end to communicate with a control end, where the controlled end includes M wireless communication modules, M is an integer greater than or equal to 2, and operating frequency bands of the M wireless communication modules are different, and the method includes:
the controlled terminal monitors the messages sent by the control terminal through the M wireless communication modules;
if a message sent by the control terminal is monitored through a first wireless communication module in the M wireless communication modules and contains the identifier of the controlled terminal, the controlled terminal performs corresponding operation according to the message;
and the controlled end sends a response message to the control end through the first wireless communication module.
In one possible implementation manner, the control end is a remote controller;
the controlled end is one of the following devices: unmanned aerial vehicles, unmanned automobiles, unmanned boats, unmanned submarines, and robots.
In a third aspect, an embodiment of the present application provides a control end, including: the processor is respectively connected with the N wireless communication modules;
the N wireless communication modules are used for receiving and sending data;
the processor is configured to perform the communication method according to the first aspect.
In a fourth aspect, an embodiment of the present application provides a controlled end, including: the processor is connected with the memory and the M wireless communication modules respectively;
the M wireless communication modules are used for receiving and sending data;
the processor is configured to perform the communication method according to the second aspect.
In a fifth aspect, the present application provides a control system, including a control terminal according to the third aspect and at least two controlled terminals according to the fourth aspect.
In a sixth aspect, the present application provides a computer-readable storage medium storing computer instructions, which when executed on a computer, cause the computer to perform the functions of the method according to any one of the first or second aspects.
After the embodiment of the application is applied, one or more controlled terminals can be controlled through one control terminal, and the operation efficiency is improved. Because the control end can respectively send the request to each controlled end, different controlled ends can execute different operations. In addition, the wireless communication modules working in different frequency bands are used for communicating with different controlled terminals, so that the situation that the controlled terminals cannot control due to poor channel communication quality when only one channel is adopted for communication is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart illustrating a communication method according to an embodiment of the present application;
fig. 2 is a second flowchart of a communication method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control end according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a controlled end provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle provided in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail below. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without making any creative effort, shall fall within the protection scope of the present application.
Remote control, i.e. a technology for controlling a remote controlled end through a communication medium, a control end sends a control instruction to a controlled object in a wired or wireless transmission mode, so that the controlled end acts according to the requirements of the control end. The wireless remote control mainly uses radio waves or laser beams for signal transmission.
Along with the development of wireless remote control technology, in recent years, the market demand of wireless remote control equipment such as unmanned aerial vehicles, unmanned ships, unmanned submarines is increasing, and especially unmanned aerial vehicles can be applied to fields such as aerial photography, rescue, light show performance. Because the market demand of unmanned aerial vehicle, applied scene constantly increase, under some circumstances, the control mode of a remote controller control unmanned aerial vehicle can't satisfy the demand of user to the operating efficiency already.
The embodiment of the application provides a communication method, which is used for controlling one or more controlled terminals through one control terminal, so that the operation efficiency is improved.
In the embodiment of the application, a control end and X controlled ends are involved, and X is an integer greater than or equal to 1. The control end comprises N wireless communication modules, N is an integer greater than or equal to 2, and different wireless communication working frequency ranges are different.
Optionally, the controlled end may include one or more wireless communication modules, and an operating frequency band of at least one wireless communication module in the controlled end is consistent with an operating frequency band of a wireless communication module in the control end. Furthermore, the number of the wireless communication modules contained in the controlled end is equal to the number of the wireless communication modules contained in the control end, and the working frequency ranges of the wireless communication modules correspond to one another.
Referring to fig. 1, a flow chart of a communication method provided in the embodiment of the present application is schematically illustrated, and as shown in the drawing, the method may include the following steps:
The X communication modules correspond to the X controlled ends one by one, namely, the control end communicates with different controlled ends through different wireless communication modules.
The message sent by the controlled terminal to the X control terminals contains the identification of the target controlled terminal, so that the target controlled terminal responds to the message. For example, a wireless communication module 1 in the control end corresponds to a controlled end 1, a wireless communication module 2 corresponds to a controlled end 2, …, and a wireless communication module X corresponds to a controlled end X; the message sent by the control end to the controlled end 1 through the wireless communication module 1 contains the identifier of the controlled end 1, the message sent to the controlled end 2 through the wireless communication module 2 contains the identifier of the controlled end 2, …, and the message sent to the controlled end X through the wireless communication module X contains the identifier of the controlled end X.
After receiving the message sent by the control end, the controlled end can execute corresponding operation according to the message, and returns a response message to the control end to inform the control end whether the controlled end successfully completes the corresponding operation or reports the running data of the controlled end. Correspondingly, the response message returned by the controlled end also contains the identifier of the controlled end, so that after the control end receives the response message, the sender of the response message is determined to be the controlled end according to the identifier.
The N wireless communication modules of the control end are all in working states, so that a plurality of time intervals exist in the controlled end, and messages from a plurality of controlled ends can be received through different wireless communication modules, so that the operation efficiency is improved.
In some embodiments, the processor in the control end is in a serial operating mode, that is, the processor writes data to only one cache of the wireless communication module at a time, so that the wireless communication module transmits the data to the controlled end by radio waves. Although the processor is in a serial working mode, the polling speed of the processor is fast and does not influence the control response speed of each controlled end.
For example, the control end may poll N wireless communication modules included therein, and when polling an ith wireless communication module of the X wireless communication modules, transmit a message to the controlled end corresponding to the ith wireless communication module through the ith wireless communication module, where i is 1,2, …, and X.
For another example, the control end may poll X wireless communication modules corresponding to X slave ends, and when polling the ith wireless communication module, transmit a message to the slave end corresponding to the ith wireless communication module through the ith wireless communication module, where i is 1,2, …, and X.
The polling duration set on each wireless communication module may be in milliseconds (ms) or may adopt other time units according to the processing speed of the processor, the control rate of each control terminal and other factors.
In other embodiments, the processor in the control end may also have the capability of parallel processing, for example, the processor may be a Field Programmable Gate Array (FPGA), and then the control end may write data into the caches of the multiple wireless communication modules at the same time, so as to send a message to multiple controlled ends through the multiple wireless communication modules, and further improve the operation efficiency.
And when receiving the message, the control end can simultaneously monitor the message sent by the controlled end through the N wireless communication modules. If a plurality of controlled terminals send messages to the control terminal at the same time, even if the processor in the control terminal can only work serially, the wireless communication module can firstly buffer the received signals, and when the processor polls the wireless communication module, the signals are transmitted to the processor, so that the processor can perform corresponding processing.
It should be understood that the above steps 101 and 102 are only used to indicate different operations executed by the control end, and do not indicate the sequence of the operations, for example, while the control end sends a message to the controlled end 3 through the wireless communication module 3, it may receive the message sent by the controlled end 1 through the wireless communication module 1.
In the above embodiment, if the maximum rate of each wireless communication module is R1 and R respectively2.…, Rn, the maximum wireless communication rate of the control end is
Through the embodiment, the control end can acquire the running data of one or more controlled ends at high frequency, and the working efficiency is improved. When the controlled end is unmanned equipment, the safety of the controlled end is also improved. If only one wireless communication module is used for communicating with a plurality of controlled terminals, once the communication of the wireless communication module is blocked, the control of all the controlled terminals is lost, and in the embodiment of the application, even if the communication quality of one wireless communication module is poor, other wireless communication modules are not affected, so that the situation that the controlled terminals are out of control can be reduced.
In an embodiment, the value of X is equal to the value of N. For example, the control end includes 5 wireless communication modules, and the control end and 5 controlled ends can communicate by applying the method. The control end polls 5 wireless communication modules, wherein the polling time of each wireless communication module is 1ms, namely the control end sends a message to the controlled end 1 through the wireless communication module 1 within 0-1 ms, and the message contains the identifier of the controlled end 1; sending a message to a controlled end 2 through a wireless communication module 2 within 1-2 ms, wherein the message contains an identifier of the controlled end 2; sending a message to the controlled terminal 3 through the wireless communication module 3 within 2-3 ms, wherein the message contains an identifier of the controlled terminal 3; sending a message to a controlled terminal 4 through a wireless communication module 4 within 3-4 ms, wherein the message contains an identifier of the controlled terminal 4; and sending a message to the controlled terminal 5 through the wireless communication module 5 within 4-5 ms, wherein the message contains the identifier of the controlled terminal 5. X is equal to N for the wireless communication module of control end obtains make full use of, has further improved the operating efficiency.
In a possible implementation manner, if the communication quality between the control end and a certain controlled end is not good, the control end may select another wireless communication module to communicate with the controlled end. For example, the working frequency band of the wireless communication module 1 corresponding to the controlled terminal 1 receives interference of factors such as environment, which causes communication between the control terminal and the controlled terminal 1 to be blocked, so that after the control terminal sends a message to the controlled terminal 1, a response message returned by the controlled terminal 1 is not received within a period of time. At this time, the control end may use the wireless communication module 2 or another wireless communication module to send a message to the controlled end 1 to resume control of the controlled end 1. When the control end selects to send a message to the controlled end 1 together with other wireless communication modules, the control end can select the wireless communication module with better communication quality to send the message to the controlled end, for example, the control end can select the wireless communication module with smaller delay to send the message to the controlled end 1; alternatively, other wireless communication modules may be selected according to a preset rule, for example, the control end may select the wireless communication module that can normally operate and has the smallest load currently to send a message to the controlled end 1.
The communication method can be applied to a scene that one remote controller controls one or more unmanned aerial vehicles, or a scene that one remote controller controls one or more unmanned vehicles, unmanned ships, unmanned submarines, robots and the like.
After the communication method provided by the embodiment is applied, a plurality of controlled terminals can be controlled by one control terminal, and the operation efficiency is improved. Because the control end can respectively send the request to each controlled end, different controlled ends can execute different operations. In addition, the wireless communication modules working in different frequency bands are used for communicating with different controlled terminals, so that the situation that a plurality of controlled terminals cannot be controlled due to poor channel communication quality when only one channel is adopted for communication is avoided.
Based on the same technical concept, the embodiment of the application also provides communication for realizing the communication between the controlled end and the control end.
In the embodiments of the present application, the controlled end and the control end are referred to. The controlled end comprises M wireless communication modules, M is an integer greater than or equal to 2, and different wireless communication working frequency ranges are different. The number of the wireless communication modules included in the controlled end may be the same as or different from the number of the wireless communication modules included in the control end.
Optionally, in the M wireless communication modules that may be included in the controlled end, the operating frequency band of at least one wireless communication module is consistent with the operating frequency band of the wireless communication module in the control end. Furthermore, the number of the wireless communication modules contained in the controlled end is equal to the number of the wireless communication modules contained in the control end, and the working frequency ranges of the wireless communication modules correspond to one another.
Referring to fig. 2, a flow chart of a communication method provided in the embodiment of the present application is schematically illustrated, and as shown in the drawing, the method may include the following steps:
The controlled end may not know in advance which frequency band the control end transmits the message to the controlled end, and therefore, the controlled end may monitor through each wireless communication module to receive the message transmitted by the control end.
For example, the controlled end a includes a wireless communication module 1, a wireless communication module 2, and a wireless communication module 3, and the controlled end a monitors whether the control end sends a message on the wireless communication module 1, the wireless communication module 2, and the wireless communication module 3; monitoring a message sent by the control end through the wireless communication module 2 at a time t1, and if the identifier contained in the message is not the identifier of the controlled end A, ignoring the message by the controlled end A; at time t2, the wireless communication module 3 monitors a message sent by the control end, and the message includes an identifier of the controlled end a, and the controlled end a performs corresponding operations according to the request message, so that the wireless communication module 3 is the first wireless communication module.
The response message may include whether the controlled end successfully completes the corresponding operation according to the request message, and/or current operation data of the controlled end, so that the control end knows the current state of the controlled end, and then performs the subsequent operation.
In a possible implementation manner, the quality of communication between the controlled end and the control end through the first wireless communication module is poor, and the control end can also send a message to the controlled end through other wireless communication modules. For example, if the controlled terminal receives a message sent by the control terminal through the wireless communication module 1, and the message contains the identifier of the controlled terminal, a response message is replied to the control terminal through the wireless communication module 1; however, because the working frequency band of the wireless communication module 1 is interfered, if the control end does not receive the message sent by the controlled end within the preset time, the control end sends the message to the controlled end through the wireless communication module 2, wherein the message contains the identifier of the controlled end; the controlled end does not monitor the message sent by the control end through the wireless communication module 1, but monitors the message sent by the control end through the wireless communication module 2, and the message contains the identifier of the controlled end, so that the controlled end sends a response message to the control end through the wireless communication module 2.
The controlled end may be one of the following devices: unmanned aerial vehicles, unmanned ships, unmanned submarines, and robots.
Based on the same technical concept, an embodiment of the present application further provides a control end, as shown in fig. 3, the control end may include a processor 301 and N wireless communication modules 302 respectively connected to the processor 301, where the operating frequency bands of the N wireless communication modules 302 are different. The control end can communicate with X controlled ends, and X is an integer greater than or equal to 1.
Specifically, the processor 301 may be a general processing unit (CPU), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more ics for controlling the execution of programs according to the present disclosure. In some embodiments, a FLASH memory is provided in the processor chip and may be used to store applications or data.
And the wireless communication module 302 is used for receiving or sending data to realize communication with the controlled end.
Further, the control terminal may further include a memory 303. Memory 303 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that may store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that may store information and instructions. The memory 303 may be separate, such as off-chip memory, or may be integrated with the processor 301.
Specifically, the processor 301 is configured to perform:
sending messages to the X controlled terminals through X wireless communication modules in the N wireless communication modules 302, where the X communication modules correspond to the X controlled terminals one to one, and each message includes an identifier of a target controlled terminal, so that the target controlled terminal responds to the message;
the messages sent to the control end are monitored by the N wireless communication modules 302.
In a possible implementation manner, the sending, by the processor 301, messages to the X controlled terminals through the X wireless communication modules respectively includes:
sequentially polling the N wireless communication modules 302, and when polling an ith wireless communication module of the X wireless communication modules, sending a message to a controlled end corresponding to the ith wireless communication module through the ith wireless communication module, where i is 1,2, …, and X; or
And sequentially polling the X wireless communication modules, and when an ith wireless communication module is polled, sending a message to a controlled end corresponding to the ith wireless communication module through the ith wireless communication module, wherein i is 1,2, … and X.
In a possible implementation manner, the value of N is equal to the value of X.
In one possible implementation manner, the control end is a remote controller;
the controlled end comprises one of the following devices: unmanned aerial vehicles, unmanned automobiles, unmanned boats, unmanned submarines, and robots.
The control end provided by the embodiment of the application can control one or more controlled ends, and is beneficial to improving the operation efficiency. Because the control end can respectively send the request to each controlled end, different controlled ends can execute different operations. In addition, the wireless communication modules working in different frequency bands are used for communicating with different controlled terminals, so that the situation that the controlled terminals cannot control due to poor channel communication quality when only one channel is adopted for communication is avoided.
Based on the same technical concept, an embodiment of the present application further provides a controlled end, as shown in fig. 4, the controlled end may include a processor 401, and M wireless communication modules 402 respectively connected to the processor 401, where the M wireless communication modules have different operating frequency bands.
In particular, the processor 401 may be a general purpose CPU, microprocessor, ASIC, or one or more integrated circuits configured to control the execution of programs in accordance with the teachings of the present application. In some embodiments, a FLASH memory is provided in the processor chip and may be used to store applications or data.
And a wireless communication module 402, configured to receive or send data to implement communication with the control end.
And the wireless communication module 302 is used for receiving or sending data to realize communication with the controlled end.
Further, the control terminal may further include a memory 403. Memory 403 may be, but is not limited to, a ROM or other type of static storage device that may store static information and instructions, or a RAM or other type of dynamic storage device that may store information and instructions. The memory 403 may be separate, such as off-chip memory, or may be integrated with the processor 401.
Specifically, the processor 401 is configured to perform:
monitoring messages sent by the control terminal through the M wireless communication modules 402;
if the message sent by the control terminal is monitored by the first wireless communication module 4021 in the M wireless communication modules 402 and the message contains the identifier of the controlled terminal, performing corresponding operation according to the message;
a response message is sent to the control terminal through the first wireless communication module 4021.
In one possible implementation manner, the control end is a remote controller;
the controlled end is one of the following devices: unmanned aerial vehicles, unmanned automobiles, unmanned boats, unmanned submarines, and robots.
Take above-mentioned controlled end as unmanned aerial vehicle for example, this controlled end can also further include the screw. As shown in fig. 5, the drone may include a processor 501, a wireless communication module 502, a propeller 5041, a propeller 5042, a propeller 5043, and a propeller 5044, and further, may include a memory 503. In the figure, 4 propellers are taken as an example, and the corresponding number of propellers can be arranged according to actual requirements during application.
The control terminal provided by the embodiment of the application can monitor the message sent by the control terminal through the plurality of wireless communication modules, and is helpful for avoiding the situation that the controlled terminal is out of control due to poor channel communication quality when only one channel is adopted for communication.
Based on the same technical concept, the embodiment of the application also provides a control system, which comprises the control end and at least two controlled ends.
Optionally, the number of the wireless communication modules included in the control end and each controlled end is the same, and the working frequency band of each wireless communication module of the control end corresponds to the working frequency band of each wireless communication module of the controlled end one to one.
The control system provided by the embodiment of the application can realize that one control end controls one or more controlled ends, and is beneficial to improving the operation efficiency. Because the control end can respectively send the request to each controlled end, different controlled ends can execute different operations. In addition, the wireless communication modules working in different frequency bands are used for communicating with different controlled terminals, so that the situation that the controlled terminals cannot control due to poor channel communication quality when only one channel is adopted for communication is avoided.
Based on the same technical concept, embodiments of the present application further provide a computer-readable storage medium, where computer instructions are stored, and when the instructions are executed on a computer, the computer is caused to execute the control-side function or the controlled-side function in the communication method.
It should be noted that the terms "first", "second", and the like in the description of the embodiments of the present application are used for distinguishing and not to indicate or imply relative importance or precedence. Further, in the description of the present application, the meaning of "a plurality" means at least two unless otherwise specified.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A communication method is characterized in that the method is used for a control end to communicate with X controlled ends, X is an integer greater than or equal to 1, the control end comprises N wireless communication modules, N is an integer greater than or equal to 2, and the N wireless communication modules have different working frequency bands;
the method comprises the following steps:
the control end sends messages to the X controlled ends through X wireless communication modules in the N wireless communication modules, the X communication modules correspond to the X controlled ends one by one, and each message contains an identification of a target controlled end so that the target controlled end responds to the message;
and the control terminal monitors the message sent to the control terminal through the N wireless communication modules.
2. The method according to claim 1, wherein the control end sends messages to the X controlled ends through the X wireless communication modules, respectively, and includes:
and the control terminal polls the N wireless communication modules in sequence, and when polling an ith wireless communication module in the X wireless communication modules, the control terminal sends a message to a controlled terminal corresponding to the ith wireless communication module through the ith wireless communication module, wherein i is 1,2, … and X.
3. The method according to claim 1, wherein the control end polls the X wireless communication modules in sequence, and when polling reaches an ith wireless communication module, the control end sends a message to a controlled end corresponding to the ith wireless communication module through the ith wireless communication module, where i is 1,2, …, and X.
4. The method of claim 1, wherein N ═ X.
5. The method of claim 1, wherein the control end is a remote controller;
the controlled end comprises one of the following devices: unmanned aerial vehicles, unmanned automobiles, unmanned boats, unmanned submarines, and robots.
6. A communication method is used for a controlled end and a control end to communicate, the controlled end comprises M wireless communication modules, M is an integer greater than or equal to 2, the working frequency bands of the M wireless communication modules are different, and the method comprises the following steps:
the controlled terminal monitors the messages sent by the control terminal through the M wireless communication modules;
if a message sent by the control terminal is monitored through a first wireless communication module in the M wireless communication modules and contains the identifier of the controlled terminal, the controlled terminal performs corresponding operation according to the message;
and the controlled end sends a response message to the control end through the first wireless communication module.
7. The method of claim 6, wherein the control end is a remote controller;
the controlled end is one of the following devices: unmanned aerial vehicles, unmanned automobiles, unmanned boats, unmanned submarines, and robots.
8. A control terminal, comprising: the processor is respectively connected with the N wireless communication modules;
the N wireless communication modules are used for receiving and sending data;
the processor is configured to invoke and execute the computer program in the memory to perform the method of any of claims 1-5.
9. A controlled end, comprising: the processor is respectively connected with the M wireless communication modules;
the M wireless communication modules are used for receiving and sending data;
the processor is configured to perform the method of claim 6 or 7.
10. A control system comprising a control terminal according to claim 8 and at least one controlled terminal according to claim 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910949346.9A CN110634278A (en) | 2019-10-08 | 2019-10-08 | Communication method, device and control system |
| CN202010940702.3A CN111986467B (en) | 2019-10-08 | 2020-09-09 | Frequency increasing control method, control end, controlled end and control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910949346.9A CN110634278A (en) | 2019-10-08 | 2019-10-08 | Communication method, device and control system |
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| CN110634278A true CN110634278A (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910949346.9A Pending CN110634278A (en) | 2019-10-08 | 2019-10-08 | Communication method, device and control system |
| CN202010940702.3A Active CN111986467B (en) | 2019-10-08 | 2020-09-09 | Frequency increasing control method, control end, controlled end and control system |
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| CN111986467A (en) | 2020-11-24 |
| CN111986467B (en) | 2021-09-24 |
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