WO2021051375A1

WO2021051375A1 - Method for determining communication channel, and communication device and storage medium

Info

Publication number: WO2021051375A1
Application number: PCT/CN2019/106895
Authority: WO
Inventors: 张志鹏; 尹小俊; 陈文月
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-09-20
Filing date: 2019-09-20
Publication date: 2021-03-25
Also published as: CN112166639A

Abstract

Provided are a method for determining a communication channel, and a communication device and a storage medium. The method for determining a communication channel is applied to a communication device; said communication device comprises a first communication apparatus based on a Wi-Fi communication protocol and a second communication apparatus based on a different Wi-Fi communication protocol; said method comprises: obtaining configuration information of a configuration channel of the first communication apparatus; scanning a plurality of alternative channels of the second communication apparatus, and determining the interference strengths of said alternative channels, the alternative channel of the second communication apparatus comprising one or a plurality of configuration channels of the first communication apparatus; correcting the interference strength on the basis of the configuration information; according to the corrected interference strength, determining from the alternative channels a target channel to be occupied by the second communication apparatus. By means of the method, it is possible to avoid overlapping of the communication channel of the second communication apparatus with the communication channel of the first communication apparatus, reducing the interference between channels and improving communication quality.

Description

Method for determining communication channel, communication equipment and storage medium

Technical field

This application relates to the field of communication technologies, and in particular, to a method, communication device, and storage medium for determining a communication channel.

Background technique

Channel interference is a problem that has attracted much attention in the communication process. At present, WIFI technology has a wide application range, so there are many scenarios where communication based on WIFI protocol and communication based on other communication protocols coexist. For example, for some communication devices, it can communicate based on WIFI protocol or other protocols different from WIFI (such as some custom communication protocols), and the channels supported by the two communication protocols are in the ISM frequency band. There is a greater possibility of overlap, so it is easy to cause channel interference.

At present, in view of the channel interference problem caused by the coexistence of Wifi protocol communication and other protocol communication, some technologies adopt automatic frequency hopping technology, that is, one of the devices based on WIFI protocol communication or communication based on other protocols performs channel interference detection and detection. Avoid interference when it comes to interference. Because Wifi communication has the characteristics of strong signal and low duty cycle in close proximity, when the other party detects Wifi communication interference, there is a high probability that the existence of Wifi interference will not be found, and the channel cannot be switched if the interference is not found. To evade, which seriously affects the quality of communication. Some technologies use channel planning to divide the channels used by the two communication protocols into two non-overlapping parts. For example, they use different frequency bands. For example, the Wifi protocol uses the 5.8GHz frequency band, and other communication protocols use the 2.4G frequency band. The disadvantage of this method is that it is not flexible enough and the channel utilization rate is low.

Therefore, in order to avoid channel interference in the communication process as much as possible, and to improve channel utilization, it is necessary to improve the method of avoiding channel interference to improve communication quality.

Summary of the invention

In view of this, embodiments of the present invention provide a method for determining a communication channel, a communication device, and a storage medium.

According to a first aspect of the embodiments of the present invention, there is provided a method for determining a communication channel. The method is applied to a communication device. The communication device includes a first communication device based on a WI-FI communication protocol and a method based on a communication protocol other than WI-FI. The second communication device of the communication protocol, the method includes:

Acquiring configuration information of the configuration channel of the first communication device;

Scan multiple candidate channels of the second communication device to determine the interference strength of the candidate channel, wherein the candidate channel of the second communication device includes one or more of the first communication device Configure the channel;

Correcting the interference intensity based on the configuration information;

The target channel to be occupied by the second communication device is determined from the candidate channel according to the corrected interference intensity.

According to a second aspect of the embodiments of the present invention, a communication device is provided, the communication device including a memory, a processor, a first communication device based on a WI-FI communication protocol, and a second communication device based on a communication protocol different from the WI-FI An apparatus, wherein the memory is used to store a computer program executed on the processor, and the processor implements the computer program executed in the following steps when the processor executes the program:

Correcting the interference intensity based on the configuration information;

According to a third aspect of the embodiments of the present invention, there is provided a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method according to any one of the embodiments of the present invention is implemented.

Applying the solution of the embodiment of the present invention, in a scenario where communication based on the Wifi protocol and communication based on a communication protocol different from the Wifi protocol coexist, the configuration information of the configuration channel of the first communication device based on the Wifi protocol communication can be obtained first, and then based on the configuration information The interference intensity of each candidate channel of the second communication device communicating based on a communication protocol different from the Wifi protocol is corrected, and the to-be-occupied channel of the second communication device is selected from the candidate channels according to the corrected interference intensity. In this way, it is possible to avoid overlapping of the communication channel of the second communication device with the communication channel of the first communication device, reduce channel interference, and improve communication quality.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a schematic diagram of an application scenario provided in an exemplary embodiment of the present invention.

Fig. 2 is a flowchart of a method for determining a communication channel provided in an exemplary embodiment of the present invention.

Fig. 3 is a schematic diagram of a communication channel number provided in an exemplary embodiment of the present invention.

Fig. 4 is a flowchart of a method for determining a communication channel provided in an exemplary embodiment of the present invention.

Fig. 5 is a schematic diagram of a communication device provided in an exemplary embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

At present, Wifi technology has applications in many fields, so many scenarios have scenarios where communication based on the Wifi protocol and other communication protocols other than the Wifi protocol coexist. For example, current communication devices such as unmanned robots (such as unmanned aerial vehicles, unmanned ground robots) can transmit data based on other communication protocols other than the Wifi protocol, and can also transmit data based on the Wifi protocol. The channels used by the protocol are all in the ISM frequency band, and the channels are prone to overlap each other, causing serious wireless interference and affecting the reliability and quality of communication.

In order to solve the problem of channel interference, some technologies adopt interference detection methods. For example, one of the communication devices based on two communication protocols performs channel interference detection. If interference is detected, it will avoid it when selecting channels. However, because Wifi communication has the characteristics of strong signal at close range and low duty cycle, there is a high probability that the existence of Wifi interference will not be found when performing channel interference detection. However, some custom video transmission protocols cannot trigger the Wifi's CCA (Clear Chanel Assessment) threshold due to their weak signal and high duty cycle characteristics. Therefore, there is a high probability that these custom-based video transmission protocols cannot be found. Interference caused by communication protocol communication. If the interference cannot be found, the channel switching cannot be performed to avoid, which seriously affects the communication quality. Other technologies directly plan the communication channel and divide the channels used by the two communication protocols into two non-overlapping parts. For example, the two use different frequency bands. For example, the Wifi protocol uses the 5.8GHz frequency band, and other communication protocols use 2.4. For G band, the disadvantage of this method is that it is not flexible enough and the channel utilization rate is low.

In order to effectively detect channel interference, improve communication quality, and improve channel utilization, an embodiment of the present invention provides a method for determining a communication channel. This method is suitable for scenarios where Wifi protocol communication and non-Wifi communication protocol coexist. When determining the non-Wifi protocol communication channel, the configuration information of the Wifi protocol channel can be obtained first, and then the non-Wifi communication protocol can be used according to the channel configuration information Correct the interference intensity of each candidate channel, and select the target channel to be occupied by the non-Wifi communication protocol based on the corrected interference intensity, so as to avoid overlapping with the Wifi protocol communication channel as much as possible, and select the channel with less interference intensity to improve communication quality.

The method for determining the communication channel provided by the embodiment of the present invention can be applied to a communication device. The communication device can be an unmanned robot (such as a drone or an unmanned ground robot). Wifi protocol is a device that communicates with other communication protocols. The communication device includes a first communication device and a second communication device, wherein the first communication device is used for communication based on the Wifi protocol, and the second communication device is used for communication based on another communication protocol different from the Wifi protocol. Fig. 1 is a schematic diagram of an application scenario of a method for determining a communication channel provided by an embodiment of the present invention. This application scenario includes multiple communication devices 11, the communication device 11 includes a first communication device 111 that communicates based on the Wifi protocol and a second communication device 112 that communicates based on a communication protocol different from the Wifi protocol, the first communication device of the communication device 111 is in communication connection with the routing device 12, and the communication devices communicate through Wifi. Each communication device 11 corresponds to a control terminal 13, and the communication device 11 and its corresponding control terminal 13 communicate through a communication protocol different from the Wifi protocol.

Specifically, a flowchart of a method for determining a communication channel provided by an embodiment of the present invention is shown in FIG. 2, and includes the following steps:

S202. Acquire configuration information of a configuration channel of the first communication device.

S204. Scan multiple candidate channels of the second communication device to determine the interference intensity of the candidate channel, where the candidate channel of the second communication device includes one or the other of the first communication device. Multiple configuration channels;

S206: Correct the interference intensity based on the configuration information.

S208: Determine a target channel to be occupied by the second communication device from the candidate channel according to the corrected interference intensity.

The communication protocol different from the Wifi protocol in the embodiment of the present invention may be a custom communication protocol, such as a custom image transmission protocol (such as the SDR protocol, etc.). In some embodiments, the communication protocol different from the Wifi protocol The protocol can be other standard protocols, such as Bluetooth communication protocol. Since the frequency band used by the communication protocol different from the Wifi protocol and the frequency band used by the Wifi protocol are both the ISM frequency band, the communication channels of the two protocols overlap to a certain extent. In order to avoid channel interference, when determining the target channel to be occupied by the second communication device for communication based on a communication protocol different from the Wifi protocol, the configuration information of the configuration channel of the first communication device can be obtained first, where the configuration channel of the first communication device It is a channel that needs to be occupied when communicating based on the Wifi protocol. The configuration channel can be configured by the user through the routing device, or it can be automatically configured by the routing device according to the actual application scenario. For example, according to the Wifi protocol, Wifi can use two bandwidths of 20MHz/40MHz in the 2.4G band, and three bandwidths of 20MHz/40MHz/80MHz in the 5.8G band. Suppose that the channel frequency band configured for Wifi communication is 5.8G and the bandwidth is 80MHz. At this time, the number of the channel used for communication can be 149-161, so the configured channel is the channel numbered 149-161.

The configuration information can be related information used to describe the configuration channel, such as the frequency band where the configuration channel is located, the number of the configuration channel, the channel bandwidth, the main channel number, and the auxiliary channel number. The main channel is the priority for each Wifi communication. Occupied channel. As shown in Figure 3, taking the 5.8 frequency band and 80M bandwidth mode as an example, the configuration information may include the following information:

Frequency band of the channel: 5.8G frequency band;

Channel bandwidth: 80M;

Channel number 149-161;

The main 20M channel number is 149;

The auxiliary 20M channel number is 153;

The main 40M channel number is 149-153;

The auxiliary 40M channel number is 157-161.

Of course, because in practical applications, when determining the channel bandwidth and the number of the primary channel, the number of the secondary channel can naturally also be determined. For example, if the number of the main 20M channel is determined to be 149 (of course, the number of the main channel can be configured according to actual needs, and is not limited to 149), then the numbers of the auxiliary 20M channel, the main 40M channel, and the auxiliary 40M channel can also be determined naturally. Therefore, in some embodiments, the configuration information may be the channel bandwidth and the main channel number, and the channel occupied by the Wifi communication can be determined according to the channel bandwidth and the main channel number.

After obtaining the configuration information of the configuration channel of the first communication device, the interference intensity of all candidate channels of the second communication device can be scanned. Wherein, the candidate channel of the second communication device is a channel defined in the communication protocol different from the Wifi protocol that can support the protocol. For example, the communication protocol different from the Wifi protocol defines that the channels supported by the protocol are part or all of the channels in the 5.8G frequency band or the 2.4 frequency band, and these channels supported by the protocol are all candidate channels. Wherein, the candidate channel partially overlaps or completely overlaps the configuration channel of Wifi communication, and the candidate channel includes one or more configuration channels of the first communication device. For example, in one embodiment, the candidate channel may be any channel in the 2.4G frequency band and the 5.8G frequency band, and the Wifi configuration channel is the 5.8G frequency band channel, which is numbered 149-161. In one embodiment, both the candidate channel and the Wifi configuration channel may be channels numbered 149-161 in the 5.8G frequency band channel.

In some embodiments, the candidate channel of the second communication device may include one or more of the primary channel of the first communication device, the secondary 20M channel, and the secondary 40M channel. For example, the channel supported by the second communication device may overlap only with the main channel of the first communication device, or only overlap with the secondary 20M channel or the secondary 40M channel, or overlap with the primary channel, the secondary 20M channel, and the secondary 40M channel.

After the configuration information of the first communication device is acquired and the interference intensity of the candidate channel of the second communication device is detected by scanning, the interference strength of the candidate channel may be corrected according to the configuration information of the first communication device. Correcting the interference intensity of the candidate channel can try to avoid the second communication device from using the channel already occupied by the first communication device, thereby avoiding mutual interference and affecting the communication quality. In some embodiments, when correcting the interference intensity of the candidate channel, the use priority of the candidate channel may be determined according to the configuration information of the configuration channel of the first communication device, and then the use priority of the candidate channel may be determined according to the use priority. The interference intensity is corrected. Wherein, the priority of use can be set according to the occupancy of the candidate channel by the first communication device. For example, the more frequently the channel is used by the first communication device, the lower the priority of use for the second communication device. In this way, it is possible to avoid conflict between the two channels and cause interference. Of course, if the first communication device uses less or does not use a channel, for the second communication device, its use priority may be higher.

In some embodiments, if the candidate channels of the second communication device include channels outside the bandwidth of the first communication device, and the channels outside the bandwidth may be one or more channels, the priority of the use of the channels outside the bandwidth is highest. For example, if the Wifi configuration mode of the first communication device is 5.8G, 80M bandwidth mode, the channel occupied by the first communication device is the channel numbered 149-161 in the 5.8G frequency band, and the alternate channel of the second communication device is All channels in the 5.8G frequency band and 2.4G frequency band, at this time, all channels in the 2.4G frequency band and the 5.8G frequency band except for the channels numbered 149-161 are all channels outside the bandwidth of the first communication device. In the case of priority, the priority of these channels can be set to the highest.

In some embodiments, if the candidate channel of the second communication device includes the main channel of the first communication device, the main channel may be the main 20M channel or the main 40M channel of the first communication device. The main channel of is the channel most frequently used by the first communication device, so the second communication device tries to avoid occupying these channels, so the use priority of the main channel can be set to the lowest. For example, the Wifi configuration mode of the first communication device is 5.8G, 80M bandwidth mode, where the main 20M channel number is 149, and the channel occupied by the first communication device is the channel numbered 149-161 in the 5.8G frequency band. The candidate channels of the second communication device are all channels in the 5.8G and 2.4G frequency bands. At this time, when setting the priority of the candidate channels, in order to avoid conflicts with the channels of the first communication device as much as possible, you can set the main 20M The priority of the channel is set to the channel with the lowest priority among all candidate channels.

In some embodiments, if the candidate channels of the second communication device include the secondary 40M channel and the secondary 20M channel of the first communication device, the priority of the secondary 40M channel is higher than the priority of the secondary 20M channel . Take the Wifi configuration mode of the first communication device as 5.8G and 80M bandwidth mode as an example. Assuming that the number of the primary 20M channel is 149, the secondary 20M channel is 151, the primary 40M channel is 149-151, and the secondary 40M channel is 151-153. , And the alternate channels of the second communication device are all channels in the 5.8G frequency band and 2.4G frequency band. Since the frequency of use of the secondary 20M channel is higher than that of the secondary 40M channel, at this time, when setting the use priority of the candidate channel, the use priority of the secondary 40M channel may be higher than that of the secondary 20M channel.

After the use priority of each candidate channel is determined, the interference intensity of the candidate channel can be corrected according to the use priority of the candidate channel. In some embodiments, the compensation interference intensity of each channel may be determined according to the priority of use of the candidate channel, and then the compensation interference intensity is used to correct the interference intensity of the candidate channel. Among them, the intensity of compensation interference is negatively related to the priority of use of the candidate channel, that is, the higher the priority of use, the lower the intensity of compensation interference. The interference intensity of the candidate channel is corrected according to the priority of the use of the candidate channel, so that the channel that the first communication device uses frequently after the correction can have a greater interference strength, so that the second communication device can be selected for communication according to the interference strength. The channel that is frequently used by the first communication device can be avoided as much as possible when the target channel is selected, thereby reducing channel interference. For example, in some embodiments, the candidate channels of the second communication device include all channels occupied by the first communication device and channels outside its bandwidth, and all candidate channels of the second communication device are prioritized. The priority order of each candidate channel is as follows: channels outside the bandwidth> secondary 40MHz channel> secondary 20MHz channel> primary 20MHz channel. When correcting the candidate channels, the compensation interference intensity of each candidate channel can be determined as C0, C1, C2, C3, where C0<C1<C2<C3, for example, C0, C1, C2, and C3 are respectively 0dB, 10dB, 20DB, 30dB. Of course, the specific value of the compensation intensity can be set based on experience, which is not limited in the present invention. After correcting the interference intensity of the candidate channel by using the compensation interference intensity, the target channel used by the second communication device for communication is selected according to the interference intensity. Of course, determining the compensation interference intensity according to the use priority of the candidate channel to correct the interference intensity of each candidate channel is only an embodiment of the present invention, and the present invention is not limited to this manner. For example, in some embodiments, a correction coefficient may be set according to the priority of use of the candidate channel, and then the correction coefficient may be used to correct the interference intensity of the candidate channel. For example, for a channel frequently used by the first communication device, the interference intensity can be multiplied by a correction coefficient greater than one, and the more frequently it is used, the greater the correction coefficient. For the channel outside the bandwidth of the first communication device, it can be multiplied by a correction coefficient equal to 1 or less than 1, so that the final interference intensity obtained is smaller. In a word, the present invention can adopt various methods to correct the interference intensity. Its ultimate purpose is to make the interference intensity of the frequently used channel of the first communication device after the correction, the channel interference intensity is as large as possible, and try to avoid the second communication. The device goes to occupy this channel, causing channel interference.

In some embodiments, when the compensation interference intensity of the candidate channel is determined according to the use priority of each candidate channel, and then the compensation interference intensity is used to correct the interference channel of each channel, the channel outside the bandwidth of the first communication device , The compensation interference intensity can be set to 0dB. Of course, the above is only an illustrative example, and the compensation interference intensity can be flexibly set according to actual needs and experience. By correcting the interference intensity of the candidate channel of the second communication device according to the configuration information of the first communication device, it is possible to avoid that the channel duty ratio of the first communication device is low, and its interference is not detected during the channel interference detection. The channel makes the two communication methods use the same channel, causing the problem of channel interference.

After the interference intensity of each candidate channel is corrected, the target channel to be occupied by the second communication device can be selected from the candidate channels according to the corrected interference intensity. In some embodiments, it is possible to first determine whether the channel with the smallest interference intensity after correction is an out-of-bandwidth channel of the first communication device, and if so, directly select the channel with the smallest interference intensity after correction as the second communication device to be waited for. Occupied target channel.

In some embodiments, if the channel with the smallest interference intensity after correction is a channel within the bandwidth of the first communication device, that is, the first communication device is also using the channel, there may be a utilization rate of the channel with the smallest interference intensity after correction. The situation is already relatively high. At this time, if the second communication device still directly selects this channel, there may be serious channel interference. Therefore, the channel load parameter of the first communication device can be acquired first, where the channel load parameter is used to indicate the utilization status of the configured channel by the first communication device. For example, the channel load parameter can be the channel bandwidth of the first communication device. The maximum occupancy rate, of course, may also be another parameter that characterizes the utilization rate status of the configured channel by the first communication device. After the channel load parameter of the first communication device is determined, the load parameter may be compared with the preset channel load parameter threshold of the candidate channel with the least interference intensity after the correction, and if the channel load parameter is less than or equal to the corrected channel load parameter For the channel load parameter threshold corresponding to the candidate channel with the smallest interference intensity, the modified candidate channel with the smallest interference intensity is determined as the target channel to be occupied by the second communication device. If it is greater than, the candidate channel with the smallest interference intensity after correction is not used for the time being, but the communication of the second communication device can be delayed to avoid channel interference and respond to the communication quality.

In some embodiments, the channel load parameter may be determined according to the amount of data transmitted by the first communication device and the maximum amount of data transmitted by the configured channel. Taking the application scenario shown in Figure 1 as an example, suppose the communication device is an unmanned robot, and there are N unmanned robots connected to the routing device, and each unmanned robot is connected to the routing device through the first communication device. In order to determine the amount of data transmitted by the first communication device, you can first determine the number of unmanned robots connected to the Wifi hotspot of the routing device as N, and then determine that the bandwidth occupied by the data transmitted between each unmanned robot is M1 , The maximum amount of data transmitted by the first communication device can be M1*N*(N-1), and then divide the data amount by the maximum amount of data that can be transmitted by the configuration channel of the first communication device (determined according to the maximum bandwidth) The load parameter can be obtained.

In some embodiments, if the candidate channel is a channel within the bandwidth of the first communication device, a channel load parameter threshold can be set for each candidate channel in advance. When the interference intensity of the candidate channel is the smallest after correction, The load parameter of the channel can be compared with the preset load parameter threshold. When the load parameter of the candidate channel is less than or equal to the load parameter threshold, the candidate channel with the least interference intensity is used as the second communication device to be occupied. Target channel. Among them, the load parameter threshold can be set based on experience, and the load parameter thresholds are different for different candidate channels. For example, in some embodiments, for different candidate channels, the corresponding load parameter thresholds can be set to different values. For example, if the channel bandwidth of the first communication device is 40 MHz, the one with the least interference intensity after correction can be set to different values. If the selected channel is the secondary 20MHz channel, the load parameter is ≤0.5*α; if the channel bandwidth of the first communication device is 80MHz, and the candidate channel with the smallest interference intensity after the correction is the secondary 40MHz channel, the load parameter is ≤0.5*α; If the channel bandwidth of the first communication device is 80 MHz, and the candidate channel with the smallest interference intensity after the correction is the secondary 20 MHz channel, then the load parameter ≤ 0.25*α. Among them, α is a constant less than 1, which can be set according to specific application scenarios.

Through the method for determining the channel provided by the present invention, the interference intensity of each candidate channel of the second communication device communicating based on a communication protocol different from the Wifi protocol can be corrected according to the channel configuration information of the first communication device based on Wifi communication , In order to avoid using the same channel for the two communications, causing channel interference. In this way, it is possible to overcome the use of directly scanning the candidate channel of the second communication device, and determining the channel to be occupied by the detected interference intensity. Due to the low duty cycle of Wifi communication, scanning cannot be performed during interference monitoring. The interference to Wifi communication causes the determined channel to overlap with the channel used by Wifi, and it is impossible to accurately select the best communication channel. Through the method provided by the embodiment of the present invention, it is possible to avoid selecting the frequently occupied channel of the first communication device for communication as much as possible, so as to minimize interference.

In order to further explain the method for determining the communication channel provided by the embodiment of the present invention, a specific embodiment is used for explanation below in conjunction with FIG. 4.

The application scenario of this embodiment is shown in Figure 1. The communication device is an unmanned control robot, and multiple unmanned control robots are connected to the routing device. The unmanned control robot includes a first communication device based on Wifi protocol communication. The robots communicate through the first communication device. The unmanned robot also includes a second communication device based on a custom wireless image transmission protocol. The unmanned robot and its corresponding control equipment communicate through the second communication device. Communication. Among them, the channels supported by the custom wireless image transmission protocol are all channels in the 5.8G frequency band and 2.4G frequency band. That is, the candidate channels of the second communication device are all channels in the 5.8G frequency band and the 2.4G frequency band.

When determining the communication channel of the second communication device, the configuration information of the first communication device, that is, the channel of the Wifi communication may be acquired first, and the configuration information includes the number and channel bandwidth of the main 20M signal of the Wifi (S401). Assuming that according to the channel configuration information of Wifi communication, it can be determined that the Wifi channel is in the 5.8G frequency band, 80M bandwidth mode, and its main 20M channel number is 149, then it can be known that its secondary 20M channel number is 153, and the main 40M channel is numbered 149-153. The auxiliary 40M channel number is 157-161. Then, according to the configuration information of the Wifi channel, the priority of the candidate channel of the second communication device can be set (S402). Among them, the 2.4G frequency band and the 5.8G frequency band are not occupied except for the channels numbered 149-161. Therefore, these The channels are collectively referred to as Wifi bandwidth external channels. The following principles can be followed when setting the priority: Wifi bandwidth external channel> secondary 40MHz channel> secondary 20MHz channel> primary 20MHz channel. Then, all candidate channels can be scanned to determine the interference strength of each candidate channel (S403). It should be pointed out that step 403 may be before steps 401 and 402 or after step 402, and the present invention is not limited. Then determine a compensation interference intensity for each candidate channel according to the priority of the candidate channel (S404), so as to use the compensation interference intensity to correct the interference intensity of the candidate channel obtained by scanning (S405), where the magnitude of the compensation interference intensity Negatively related to priority. Assuming that the compensation interference intensity of the above channel is C0dB, C1dB, C2dB, C3dB, then C0<C1<C2<C3, for example, 0, 10dB, 20dB, 30dB can be compensated respectively, and then the second communication device is performed according to the corrected interference intensity Channel selection.

Select the channel with the smallest interference intensity from the corrected interference intensity, and judge whether the channel is a Wifi bandwidth external channel (S406), if the channel with the smallest interference intensity is a Wifi bandwidth external channel, directly use this channel as the second communication The communication channel of the device (S407). If the channel with the least interference intensity is the channel within the Wifi bandwidth, the maximum bandwidth occupancy rate of the WiFi channel can be obtained first. The maximum bandwidth occupancy rate of the WiFi channel can be based on the number of unmanned robots connected to WiFi and the number of unmanned robots. The amount of data to be transmitted between and the bandwidth of the Wifi channel are determined (S408). After determining the maximum bandwidth occupancy rate in each Wifi bandwidth, the communication channel of the second communication device can be determined according to the following rules:

The maximum bandwidth of Wifi is 40MHz, and the auxiliary 20MHz can only be used when R<0.5*α;

The maximum bandwidth of Wifi is 80MHz, and the auxiliary 40MHz can only be used when R<0.5*α;

The maximum bandwidth of Wifi is 80MHz, and the auxiliary 20MHz can only be used when R<0.25α;

Among them, α<1 is a constant, and its value can be determined based on experience.

That is, it is determined whether the maximum bandwidth occupancy rate of the candidate channel with the least interference intensity after correction is less than or corresponds to the preset threshold of the candidate channel (S409), and when it is less than or equal to, the candidate channel with the least interference intensity after correction is selected as the candidate channel If the communication channel of the second communication device (S410) is greater than that, the modified candidate channel with the smallest interference intensity is not selected, but the communication of the second communication device is delayed (S411).

The various technical features in the above embodiments can be combined arbitrarily, as long as there is no conflict or contradiction between the combinations of features, but due to space limitations, they are not described one by one. Therefore, the various technical features in the above embodiments can be combined arbitrarily. It also belongs to the scope of the disclosure of the present invention.

An embodiment of the present invention also provides a communication device. As shown in FIG. 5, the communication device includes a memory 502, a processor 504, a first communication device 506 based on a WI-FI communication protocol, and a communication protocol other than WI-FI. The second communication device 508 of and a computer program stored on the memory and executable on the processor, and the processor implements the following steps when the processor executes the program:

Correcting the interference intensity based on the configuration information;

In an embodiment, the configuration information includes: the channel bandwidth and the main channel number of the first communication device.

In an embodiment, the candidate channel includes one or more of the primary channel, the secondary 40M channel, and the secondary 20M channel of the first communication device.

In an embodiment, the processor corrects the interference intensity based on the configuration information, which is specifically configured to:

Setting a usage priority for each candidate channel of the second communication device based on the configuration information;

The interference intensity of each candidate channel is corrected based on the use priority of each candidate channel.

In an embodiment, the use priority of the bandwidth out-of-band channel of the first communication device is the highest.

In an embodiment, if the candidate channel includes the main channel of the first communication device, the use priority of the main channel is the lowest.

In an embodiment, if the candidate channel further includes the secondary 40M channel and the secondary 20M channel of the first communication device, the priority of the secondary 40M channel is higher than the priority of the secondary 20M channel.

In an embodiment, when the processor corrects the interference intensity of each candidate channel based on the use priority of each candidate channel, it is specifically configured to:

Determine the compensation interference intensity of each candidate channel based on the use priority of each candidate channel, wherein the use priority is negatively related to the compensation interference intensity;

The compensation interference intensity is used to correct the interference intensity of each candidate channel.

In an embodiment, if the candidate channel is an out-of-bandwidth channel of the first communication device, the compensation interference intensity is 0 dB.

In an embodiment, when the processor determines the target channel to be occupied by the second communication device according to the corrected interference intensity, it is specifically configured to:

Judging whether the channel with the smallest interference intensity after correction is an out-of-bandwidth channel of the first communication device;

If so, the channel with the smallest interference intensity after correction is selected as the target channel to be occupied by the second communication device.

In an embodiment, if the channel with the smallest interference intensity after correction is the channel within the bandwidth of the first communication device, the processor is further configured to:

Acquiring the channel load parameter of the first communication device, where the channel load parameter is used to indicate the usage rate status of the configuration channel by the first communication device;

When the processor determines the candidate channel with the smallest interference intensity after correction as the target channel to be occupied by the second communication device, it is specifically configured to:

When the channel load parameter is less than or equal to the channel load parameter threshold corresponding to the candidate channel with the smallest interference intensity after the correction, the candidate channel with the smallest interference intensity after the correction is determined as the second communication device to be Occupied target channel.

In an embodiment, the load parameter is determined according to the amount of data transmitted by the first communication device and the maximum amount of data transmitted by the configuration channel.

In one embodiment, the communication device is an unmanned robot, wherein the first communication device is used to communicate with the routing device, and the second communication device is used to communicate with the control terminal of the unmanned robot, wherein, The routing device communicates with other unmanned robots.

The embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any one of the embodiments of this description is implemented. For specific implementation details, please refer to the above The embodiments in the method for determining the communication channel will not be repeated here.

The present invention may be in the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program codes. Computer usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. Information can be computer readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "including", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The methods and devices provided by the embodiments of the present invention are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. The core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a limitation of the present invention .

Claims

A method for determining a communication channel, characterized in that the method is applied to a communication device, and the communication device includes a first communication device based on a WI-FI communication protocol and a second communication device based on a different WI-FI communication protocol , The method includes:

Acquiring configuration information of the configuration channel of the first communication device;

Scan multiple candidate channels of the second communication device to determine the interference strength of the candidate channel, wherein the candidate channel of the second communication device includes one or more of the first communication device Configure the channel;

Correcting the interference intensity based on the configuration information;

The target channel to be occupied by the second communication device is determined from the candidate channel according to the corrected interference intensity.
The method according to claim 1, wherein the configuration information comprises: a channel bandwidth and a main channel number of the first communication device.
The method according to claim 1, wherein the candidate channel includes one or more of a primary channel, a secondary 40M channel, and a secondary 20M channel of the first communication device.
The method according to any one of claims 1-3, wherein the correcting the interference intensity based on the configuration information comprises:

Setting a usage priority for each candidate channel of the second communication device based on the configuration information;

The interference intensity of each candidate channel is corrected based on the use priority of each candidate channel.
The method according to claim 4, wherein the use priority of the bandwidth out-of-band channel of the first communication device is the highest.
The method according to any one of claims 4-5, wherein if the candidate channel includes the main channel of the first communication device, the use priority of the main channel is the lowest.
The method according to any one of claims 4-6, wherein if the candidate channel further includes the secondary 40M channel and the secondary 20M channel of the first communication device, the priority of the secondary 40M channel is higher The priority of the secondary 20M channel.
The method according to claim 4, wherein the correcting the interference intensity of each of the candidate channels based on the use priority of each of the candidate channels comprises:

Determine the compensation interference intensity of each candidate channel based on the use priority of each candidate channel, wherein the use priority is negatively related to the compensation interference intensity;

The compensation interference intensity is used to correct the interference intensity of each candidate channel.
8. The method according to claim 8, wherein if the candidate channel is an out-of-bandwidth channel of the first communication device, the compensation interference intensity is 0 dB.
The method according to any one of claims 1-9, wherein determining the target channel to be occupied by the second communication device according to the corrected interference intensity comprises:

Judging whether the channel with the smallest interference intensity after correction is an out-of-bandwidth channel of the first communication device;

If so, the channel with the smallest interference intensity after correction is selected as the target channel to be occupied by the second communication device.
The method according to claim 10, wherein if the channel with the smallest interference intensity after correction is a channel within the bandwidth of the first communication device, the method further comprises:

Acquiring the channel load parameter of the first communication device, where the channel load parameter is used to indicate the usage rate status of the configuration channel by the first communication device;

The determining the candidate channel with the smallest interference intensity after the correction as the target channel to be occupied by the second communication device includes:

When the channel load parameter is less than or equal to the channel load parameter threshold corresponding to the candidate channel with the smallest interference intensity after the correction, the candidate channel with the smallest interference intensity after the correction is determined as the second communication device to be Occupied target channel.
The method according to claim 11, wherein the load parameter is determined according to the amount of data transmitted by the first communication device and the maximum amount of data transmitted by the configuration channel.
The method according to any one of claims 1-12, wherein the communication device is an unmanned robot, wherein the first communication device is used for communicating with a routing device, and the second communication device is used for The control terminal of the unmanned robot is in communication connection, wherein the routing device is in communication connection with other unmanned robots.
A communication device, characterized in that, the communication device includes a memory, a processor, a first communication device based on WI-FI protocol communication, a second communication device based on a communication protocol different from the WI-FI protocol, and all The computer program executed by the processor, wherein,

The memory is used to store a computer program executed on the processor,

When the processor executes the computer program, the following steps are implemented:

Acquiring configuration information of the configuration channel of the first communication device;

Scan multiple candidate channels of the second communication device to determine the interference strength of the candidate channel, wherein the candidate channel of the second communication device includes one or more of the first communication device Configure the channel;

Correcting the interference intensity based on the configuration information;

The target channel to be occupied by the second communication device is determined from the candidate channel according to the corrected interference intensity.
The communication device according to claim 14, wherein the configuration information includes: a channel bandwidth and a main channel number of the first communication device.
The communication device according to claim 14, wherein the candidate channel comprises one or more of a main channel, a secondary 40M channel, and a secondary 20M channel of the first communication device.
The communication device according to any one of claims 14-16, wherein when the processor corrects the interference intensity based on the configuration information, it is specifically configured to:

Setting a usage priority for each candidate channel of the second communication device based on the configuration information;

The interference intensity of each candidate channel is corrected based on the use priority of each candidate channel.
The communication device according to claim 17, wherein the use priority of the bandwidth out-of-band channel of the first communication device is the highest.
The communication device according to any one of claims 17-18, wherein if the candidate channel includes the main channel of the first communication device, the use priority of the main channel is the lowest.
The communication device according to any one of claims 17-19, wherein if the candidate channel further includes the secondary 40M channel and the secondary 20M channel of the first communication device, the priority of the secondary 40M channel Higher than the priority of the secondary 20M channel.
The communication device according to claim 17, wherein the processor corrects the interference intensity of each candidate channel based on the use priority of each candidate channel, and is specifically configured to:

Determine the compensation interference intensity of each candidate channel based on the use priority of each candidate channel, wherein the use priority is negatively related to the compensation interference intensity;

The compensation interference intensity is used to correct the interference intensity of each candidate channel.
The communication device according to claim 21, wherein if the candidate channel is an out-of-bandwidth channel of the first communication device, the compensation interference intensity is 0 dB.
The communication device according to any one of claims 14-22, wherein the processor determines the target channel to be occupied by the second communication device according to the corrected interference intensity, which is specifically configured to:

Judging whether the channel with the smallest interference intensity after correction is an out-of-bandwidth channel of the first communication device;

If so, the channel with the smallest interference intensity after correction is selected as the target channel to be occupied by the second communication device.
22. The communication device according to claim 23, wherein if the channel with the smallest interference intensity after correction is a channel within the bandwidth of the first communication device, the processor is further configured to:

Acquiring the channel load parameter of the first communication device, where the channel load parameter is used to indicate the usage rate status of the configuration channel by the first communication device;

When the processor determines the candidate channel with the smallest interference intensity after correction as the target channel to be occupied by the second communication device, it is specifically configured to:

When the channel load parameter is less than or equal to the channel load parameter threshold corresponding to the candidate channel with the smallest interference intensity after the correction, the candidate channel with the smallest interference intensity after the correction is determined as the second communication device to be Occupied target channel.
The communication device according to claim 24, wherein the load parameter is determined according to the amount of data transmitted by the first communication device and the maximum amount of data transmitted by the configuration channel.
The communication device according to any one of claims 14-25, wherein the communication device is an unmanned robot, wherein the first communication device is used to communicate with the routing device, and the second communication device is used Communication connection with the control terminal of the unmanned robot, wherein the routing device is in communication connection with other unmanned robots.
A computer-readable storage medium, characterized in that a computer program is stored thereon, and when the computer program is executed by a processor, the method according to any one of claims 1 to 13 is implemented.