WO2020037664A1

WO2020037664A1 - Communication method, device and system for robot

Info

Publication number: WO2020037664A1
Application number: PCT/CN2018/102302
Authority: WO
Inventors: 钟晓航
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-08-24
Filing date: 2018-08-24
Publication date: 2020-02-27
Also published as: CN110870210A

Abstract

A communication method, device and system for a robot The communication method for a robot comprises: acquiring first data to be transmitted to a first target communication device in one or more second communication devices, the first data comprising an identifier of the first target communication device; and employing frequency hopping to transmit the first data on a preset frequency band resource. The present invention enhances interference resistance in communications with robots.

Description

Robot communication method, device and system

Technical field

The present application relates to the field of robotics, and in particular, to a method, device, and system for robot communication.

Background technique

With the continuous development of robot technology, the application of robots is becoming more and more extensive, and the demand for robot communication is also increasing.

In the prior art, robot communication is usually implemented based on a wireless fidelity (WiFi) network. For example, a RoboMasters chariot uses WiFi network communication. Specifically, a local area network is established through a WiFi network, and transmission control protocols / Internet protocols (Transmission Control Protocol / Internet Protocol, TCP / IP) are used to implement robot communication. Because the working frequency of the WiFi network is fixed, and the standard WiFi 2.4G uses the Industrial Scientific and Medical (ISM) frequency band for unauthorized use, in daily use scenarios, households in the ISM frequency band There are many devices, such as mobile phones, routers, etc., which will interfere with the WiFi network used for robot communication, resulting in problems that the robot communication is vulnerable to interference and has poor anti-interference.

Therefore, how to improve the anti-interference ability of robot communication has become an urgent problem to be solved.

Summary of the Invention

The embodiments of the present application provide a robot communication method, device and system, which are used to solve the problems that the robot communication in the prior art is susceptible to interference and has poor anti-interference performance.

In a first aspect, an embodiment of the present application provides a robot communication method, which is applied to a communication system. The communication system includes a first communication device and at least one second communication device. The method is executed by the first communication device. The method includes:

Acquiring first data to be sent to at least one first target communication device in the second communication device, where the first data includes an identifier of the first target communication device;

In the preset frequency band resource, the first data is sent in a frequency hopping manner.

In a second aspect, an embodiment of the present application provides a robot communication method, which is applied to a communication system. The communication system includes a first communication device and at least one second communication device, and the method is executed by the second communication device. The method includes:

In the preset frequency band resource, frequency-hopping is used to receive first data sent by the first communication device, where the first data includes an identifier of a first target communication device, and the identifier of the first target communication device Consistent with the identification of at least one of the second communication devices;

Performing subsequent processing on the first data according to the identifier of the first target communication device.

In a third aspect, an embodiment of the present application provides a robot communication method, which is applied to a communication system. The communication system includes a first communication device and at least one second communication device. The method includes:

Acquiring, by the first communication device, first data to be sent to a first target communication device in at least one of the second communication devices, where the first data includes an identifier of the first target communication device;

Sending, by the first communication device, the first data by using a frequency hopping method in a preset frequency band resource;

Receiving, by the second communication device in the preset frequency band resource, the first data sent by the first communication device;

The second communication device determines to perform subsequent processing on the first data according to the identifier of the first target communication device.

According to a fourth aspect, an embodiment of the present application provides a robot communication device, which is applied to a communication system. The communication system includes a first communication device and at least one second communication device, and the first communication device includes the robot communication device. The robot communication device includes:

A processor, configured to obtain first data to be sent to a first target communication device in at least one of the second communication devices, where the first data includes an identifier of the first target communication device;

The transmitter is configured to send the first data in a preset frequency band resource by using a frequency hopping method.

In a fifth aspect, an embodiment of the present application provides a robot communication device, which is applied to a communication system. The communication system includes a first communication device and at least one second communication device, and the second communication device includes the robot communication device. The robot communication device includes:

A receiver, configured to receive, in a preset frequency band resource, first data sent by the first communication device in a frequency hopping manner, where the first data includes an identifier of a first target communication device, wherein the first The identification of the target communication device is consistent with the identification of at least one of the second communication devices;

A processor, configured to perform subsequent processing on the first data according to the identifier of the first target communication device.

According to a sixth aspect, an embodiment of the present application provides a robot communication system, including: a first communication device and at least one second communication device;

The present application provides a robot communication method, device, and system. A first communication device acquires first data to be sent to a first target communication device in at least one second communication device, where the first data includes the first target communication device. And the first data is transmitted by frequency hopping in a preset frequency band resource, which realizes that the first communication device needs to send data to the first target communication device, and broadcasts the data by frequency hopping, which realizes the During the communication process, the first communication device sends data by frequency hopping. Because frequency hopping can improve the anti-jamming performance, the anti-jamming performance of the robot communication is improved.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to explain the technical solutions in the embodiments of the present application or the prior art more clearly, the drawings used in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without paying creative labor.

1A-1C are schematic diagrams of application scenarios of a robot communication method provided by the present application;

2 is a flowchart of Embodiment 1 of a robot communication method provided by the present application;

3 is a flowchart of a second embodiment of a robot communication method provided by the present application;

4A is a flowchart of a third embodiment of a robot communication method provided by this application;

4B-4C are schematic diagrams of a third embodiment of a robot communication method provided by the present application;

5A is a flowchart of a fourth embodiment of a robot communication method provided by the present application;

5B is a schematic diagram of a fourth embodiment of a robot communication method provided by the present application;

6 is a schematic structural diagram of a first embodiment of a robot communication device provided by the present application;

FIG. 7 is a schematic structural diagram of a second embodiment of a robot communication device provided by the present application.

detailed description

In order to make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments These are part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

1A-1C are schematic diagrams of application scenarios of a robot communication method provided by the present application. As shown in FIG. 1A, the application provides a robot communication method that can be applied to a communication system, and the communication system may include a first communication device 11 and at least one second communication device 12. The first communication device 11 and the at least one second communication device 12 are communicatively connected. Among them, the first communication device 11 can send data, and any one of the at least one second communication device 12 can receive the data sent by the first communication device 11, that is, the first communication device 11 can serve as a transmitting end. Any one of the second communication devices 12 may serve as a receiving end. It should be noted that in FIG. 1, the communication system includes two second communication devices as an example.

Optionally, as shown in FIG. 1B, any one of the at least one second communication device 12 may send data. When the second communication device 12 is used as a transmitting end, at least one second communication device 12 may send data. The second communication device other than the second communication device 12 and the first communication device 11 can receive the data sent by the second communication device 12, that is, the first communication device 11 can also be used as a receiving end. The second communication device 12 may also serve as a transmitting end.

Optionally, the first communication device 12 may be configured as a master in a communication system, and at least one second communication device 12 may be configured as a slave in a communication system; or, the first communication device 12 may be configured as a communication system Among the slaves, any one of the at least one second communication device 12 may be set as a master in the communication system. It should be noted that when the communication system includes a master and a slave, the slave can be synchronized with the master.

Alternatively, the first communication device 11 may be provided on the robot, and the second communication device may be provided on the robot or on a device where the referee system for the robot game is located; or the first communication device 11 may be provided on the robot. The second communication device 12 may be provided on the robot in the equipment where the referee system of the robot game is located. Optionally, the robot may include, for example, a chariot robot, a sweeping robot, and the like.

It should be noted that the communication device (specifically, the first communication device or the second communication device) is provided on the robot, which may or may not include the communication device; the communication device is provided on the equipment where the referee system for the robot game is located. In particular, the device may or may not include a communication device.

Further optionally, based on FIG. 1B, a first communication device is provided on the device 1 where the referee system for the robot game is located, and two second communication devices are respectively provided on the robot 1 and the robot 2, and the first A communication device is separately provided from the device 1, and a second communication device is separately provided from the robot 1 and the robot 2 as an example. An application scenario of the embodiment of the present application may be shown in FIG. 1C.

Optionally, the communication system may further include: a first user equipment (User Equipment), and an application program (App) of the first user equipment is used to control the first communication device 11.

Optionally, the communication system may further include: a second user equipment, and an application program of the second user equipment is used to control the second communication device 12. Further optionally, different second user equipments corresponding to different second communication devices 12 are different.

Optionally, the communication system may be a robot communication system.

The embodiments of the present application will be described in detail below with reference to the drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

FIG. 2 is a flowchart of Embodiment 1 of a robot communication method provided by the present application. The method in this embodiment may be executed by a first communication device. As shown in FIG. 2, the method in this embodiment may include:

Step 201: Obtain first data to be sent to a first target communication device in at least one second communication device.

In this step, the first data includes an identifier of the first target communication device, and the identifier of the first target communication device may be used to identify the first data as data sent to the first target communication device. The specific manner of identifying the first communication device is not limited in this application. For example, the identification of the first target communication device may be a device number of the first target communication device. The first data may specifically be any data that needs to be sent to the first target communication device, and may be, for example, video data, picture data, voice data, and the like.

It should be noted that when the number of the second communication devices is multiple, the first target communication device may specifically be any one of the second communication devices.

Step 202: In the preset frequency band resource, send the first data in a frequency hopping manner.

In this step, specifically, the first data may be broadcasted by the first communication device in the communication system, that is, all the second communication devices in the communication system may receive the first data. Because the first data includes the identifier of the first target communication device, it can indicate to which communication device the first data is sent to all the second communication devices.

Optionally, the preset frequency band resource may be a frequency band resource with continuous frequency or a frequency band resource with discontinuous frequency, which is not limited in this application. Optionally, the preset frequency band resource may be a narrowband resource or a non-narrowband resource. When the preset frequency band resource is a narrowband resource, the communication system in which the first communication device and the second communication device are located can be implemented, which causes interference to other communication systems only on fewer frequency band resources, thereby reducing other communication systems. Impact.

It should be noted that the specific content of the frequency hopping method is not limited in this application. Specifically, both the first communication device and the second communication device can learn the same frequency hopping sequence, and the first communication device can send the first data according to the frequency hopping sequence. Accordingly, the second communication device can send the first data according to the frequency hopping sequence. To receive the first data. For example, assuming that the preset frequency band resource includes three carriers, namely carrier 1, carrier 2, and carrier 3, the first communication device sends data using frequency hopping. Specifically, the data can be sent on carrier 1 in the 3i + 1 time period. , 3i + 2 time period sends data on carrier 2 and 3i + 3 time period sends data on carrier 3, i is equal to 0,1,2, ...

In this embodiment, the first communication device is used to obtain first data to be sent to a first target communication device in at least one second communication device. The first data includes an identifier of the first target communication device, and is in a preset frequency band. In the resource, the first data is transmitted by frequency hopping, which realizes that the first communication device needs to send data to the first target communication device, and broadcasts the data by frequency hopping. Frequency-hopping transmission of data, because frequency-hopping can improve the anti-jamming performance, so the anti-jamming performance of robot communication is improved.

FIG. 3 is a flowchart of Embodiment 2 of a robot communication method provided by the present application. The method in this embodiment may be executed by a second communication device. As shown in FIG. 3, the method in this embodiment may include:

Step 301: In a preset frequency band resource, use frequency hopping to receive first data sent by a first communication device.

In this step, the first data includes the identifier of the first target communication device. For related descriptions of the preset frequency band resource, the first data, and the identifier of the first target communication device, reference may be made to the related description of the embodiment shown in FIG. 2, and details are not described herein again.

Since the first data is data sent to at least a first target communication device in the first communication device, the identification of the first target communication device is consistent with the identification of one of the at least one second communication device. Optionally, the identity of the first target communication device and the identity of one of the at least one second communication device may specifically include: the identity of the first target communication device and the identity of the one of the at least one second communication device are the same .

Consistent with the first communication device transmitting in the frequency hopping manner in step 202, the second communication device receiving the data transmitted by the first communication device in the same frequency hopping manner as the first communication device. For example, assuming that the first communication device can send data in the frequency hopping manner of carrier 3i + 1 time period on carrier 1, 3i + 2 time period on carrier 2, and 3i + 3 time period on carrier 3. The two communication devices can receive data in the frequency hopping manner of the 3i + 1 time period on the carrier 1, the 3i + 2 time period on the carrier 2, and the 3i + 3 time period on the carrier 3.

It should be noted that, in order to enable data sent by the first communication device to be accurately received by the second communication device, the first communication device and the second communication device may be synchronized.

It should be noted that each second communication device in the at least one second communication device may execute the method provided in this embodiment.

Step 302: Perform subsequent processing on the first data according to the identifier of the first target communication device.

In this step, since any one of the at least one second communication device described above can execute the method provided in this embodiment, and the first communication device can broadcast the first data in the communication system, For each second communication device in a second communication device, the first data may be data sent by the first communication device to itself, or may not be data sent by the first communication device to itself. Therefore, each second communication device may perform subsequent processing on the first data according to the identifier of the communication device included in the first data, that is, the identifier of the first target communication device. The subsequent processing may include, for example, decoding processing and check processing.

In this embodiment, the first data sent by the first communication device is received in a frequency band hopping manner in a preset frequency band resource. The first data includes an identifier of the first target communication device, and according to the identifier of the first target communication device, The subsequent processing of the first data realizes that the first target communication device successfully receives and processes the data sent by the first communication device through frequency hopping, and realizes the frequency hopping reception of the data sent by the first communication device during the robot communication process. Because frequency hopping can improve anti-jamming performance, the anti-jamming performance of robot communication is improved.

FIG. 4A is a flowchart of a third embodiment of a robot communication method provided by the present application. Based on the embodiments shown in FIG. 2 and FIG. 3, this embodiment mainly describes an interaction process in which a first communication device sends first data to a second communication device. As shown in FIG. 4A, the method in this embodiment may include:

Step 401: The first communication device acquires first data to be sent to a first target communication device in at least one second communication device.

In this step, the first data includes the identifier of the first target communication device. Optionally, the first communication device may obtain the first data from a device other than the first communication device, other equipment, or its own memory. Further optionally, step 401 may specifically include: receiving first data sent by the first user equipment to be sent to a first target communication device in at least one second communication device, and an App of the first user equipment is used to control the first communication Device.

Step 402: The first communication device sends the first data in a preset frequency band resource by using a frequency hopping method.

In this step, optionally, the first communication device may send data only in a specific time period, and not send data in a time period other than the specific time period. Further optionally, step 402 may specifically include: within a first transmission duration range from the first transmission time, sending the first data by using a frequency hopping method in a preset frequency band resource, where the first transmission time is the first communication device as The starting moment of the sender.

When the communication system includes a master and a slave, the slave can be synchronized with the master, and the communication system is based on the time of the master. Therefore, when the first communication device is the master, optionally, the first communication device can directly define the first The sending time, for example, defines the first, 11, 21, ... seconds as the first sending time.

Since the slave needs to take the time of the master as a reference, when the first communication device is a slave, the first communication device can determine the first sending time according to the time of the master. Optionally, the first communication device may determine the first sending time according to the target time of receiving the data from the host. Optionally, the target time may be a start time or a deadline time. For example, the next time of the cut-off time may be used as the first transmission time. Alternatively, the starting time can be added to the receiving time period to obtain the first sending time.

Further optionally, as shown in FIG. 4B, the first communication device may use the time after the first transmission interval starting at the target time as the first transmission time.

When the first communication device is a slave, before the first communication device can determine the first transmission time according to the time of the host, the first communication device can be synchronized with the host. Optionally, the first communication device may synchronize with the host in the following manner: The first communication device listens on each channel until data is received from the host. It should be noted that when the first communication device receives data of the first frame from the host, it may indicate that the first communication device is synchronized with the host.

It should be noted that the first sending duration can be set in advance or can be configured by other devices or other devices, which is not limited in this application.

Step 403: The second communication device receives the first data sent by the first communication device in the preset frequency band resource.

In this step, optionally, corresponding to step 402, the second communication device may receive the data of the first communication device only in a specific time period during which the first communication device sends data, and in other time periods except the specific time period No data is received from the first communication device. Further optionally, step 403 may specifically include: receiving first data of the first communication device in a preset frequency band resource within a first reception duration range from the first reception time, and the first reception time is the second communication device As the starting moment of the receiving end.

Similarly, when the second communication device is a host, optionally, the second communication device may directly define the first receiving time, for example, define the 3rd, 13th, 23rd, ... seconds as the first receiving time. When the second communication device is a slave, the second communication device may determine the first transmission time according to the target time when the data from the host is received.

Further optionally, as shown in FIG. 4C, the second communication device may use the time after the first receiving interval starting at the target time as the first receiving time.

It can be understood that, as shown in FIG. 1B, when a second communication device serves as a receiving end, the second communication device can receive the first data sent by the first communication device, and optionally, can also receive other second communication. Data sent by the device. Therefore, optionally, the first reception duration range beginning at the first reception time may include the first transmission duration range beginning at the first transmission time, and the first reception duration may be longer than the first transmission duration. Further optionally, the first reception duration may be N times the first transmission duration, and N may be equal to the total number of the first communication device and the second communication device minus one.

Similarly, when the second communication device is a slave, optionally, the second communication device may synchronize with the host in the following manner: the second communication device listens on each channel until data is received from the host.

It should be noted that the first receiving duration may be set in advance, or may be configured by other devices or other equipment, which is not limited in this application.

Step 404: The second communication device determines to perform subsequent processing on the first data according to the identifier of the first target communication device.

In this step, specifically, when the identifier of the first target communication device included in the first data is consistent with the identifier of the second communication device, the first data may be considered as data sent to itself; when the first data includes When the identifier of the first target communication device is not consistent with the identifier of the second communication device, the first data may be considered as data sent to itself. Optionally, step 404 may specifically include: when the identifier of the first target communication device included in the first data is consistent with the identifier of the second communication device, subsequent processing of forwarding the first data; when the first data includes When the identifier of the first target communication device and the identifier of the second communication device are not consistent, the subsequent processing of discarding the first data is performed.

Further optionally, the subsequent processing for the first communication device to forward the first data includes forwarding the first data to the second user equipment, and the application program of the second user equipment is used to control the second communication device.

In this embodiment, the first data to be sent to the first target communication device in the at least one second communication device is obtained by the first communication device, and the first data is transmitted in a preset frequency band resource by frequency hopping, and the second The communication device receives the first data sent by the first communication device in the preset frequency band resource, and determines the subsequent processing of the first data according to the identifier of the first target communication device, thereby realizing that the first communication device needs to send to the first data device. Data of a target communication device is transmitted by frequency hopping, and is successfully received and processed by the first target communication device, thereby realizing frequency hopping transmission of data from the first communication device to the first target communication device during the robot communication process. Because frequency hopping can improve the anti-jamming, the anti-jamming of the robot communication is improved.

FIG. 5A is a flowchart of Embodiment 4 of a robot communication method provided by the present application. Based on the foregoing embodiment, this embodiment mainly describes an interaction process in which the second communication device sends the second data to the first communication device. As shown in FIG. 5A, the method in this embodiment may include:

Step 501: The second communication device acquires second data to be sent to a second target communication device in the communication system.

In this step, the second data includes an identifier of the second target communication device, and the identifier of the second target communication device may be used to identify that the second data is data sent to the second target communication device. The specific manner of identifying the second target communication device is not limited in this application. For example, the identification of the second target communication device may be a device number of the second target communication device. The second data may specifically be any data that needs to be sent to the second target communication device, and may be, for example, video data, picture data, voice data, and the like.

Optionally, the second communication device may obtain the first data from another device than the second communication device, other equipment, or its own memory. Further optionally, step 501 may specifically include: receiving second data sent by the second user equipment to be sent to a second target communication device in the communication system, and an App of the second user equipment is used to control the second communication device.

It should be noted that the second communication device that performs

steps

501 and 502 may specifically be any one of the at least one second communication device. When the number of the second communication devices is one, the second target communication device may specifically be the first communication device. When the number of the second communication devices is multiple, the second target communication device may specifically be the first communication device, and among the plurality of second communication devices, other devices than the second communication device that sends the second data Any communication device.

Step 502: The second communication device sends the second data in a preset frequency band resource by using a frequency hopping method.

In this step, specifically, the second data may be broadcasted by the second communication device in the communication system, that is, all communication devices in the communication system except the second communication device that sends the second data (including the first The communication device may further include a second communication device. Each of the communication devices may receive the second data. Because of the identification of the second target communication device in the second data, it can be indicated to which communication device the second data is sent to all communication devices except the second communication device that sent the second data.

Optionally, the second communication device may send data only in a specific time period, and not send data in a time period other than the specific time period. Further optionally, step 502 may specifically include: sending second data in a frequency band hopping manner in a preset frequency band resource within a second sending duration range from the second sending time, and the second sending time is for the second communication device as The starting moment of the sender.

Similarly, when the second communication device is a host, optionally, the second communication device may directly define the second transmission time. When the second communication device is a slave, optionally, the second communication device may determine the second sending time according to the target time when the data from the host is received.

Further optionally, the second communication device may use the time after the second transmission interval starting at the target time as the second transmission time.

Similarly, when the second communication device is a slave, before the second communication device can determine the first sending time according to the time of the host, optionally, the second communication device can be synchronized with the host in the following manner: the second communication device Listen on each channel until data is received from the host.

In the above communication system, the first communication device and at least one second communication device may transmit data in a time-division multiplexed manner in a preset frequency band resource. Optionally, the intersection of the first transmission duration range from the first transmission time and the second transmission duration range from the second transmission time may be an empty set.

It should be noted that, for specific descriptions of the preset frequency band resources and the frequency hopping manner, reference may be made to the embodiment shown in FIG. 2, and details are not described herein again.

It should be noted that the frequency hopping sequence used when the second communication device sends the second data may be the same as or different from the frequency hopping sequence used when the first communication device sends the first data. Be limited.

It should be noted that the second sending duration can be set in advance or can be configured by other devices or other devices, which is not limited in this application.

Step 503: The first communication device receives the second data sent by the second communication device in the preset frequency band resource.

In this step, since the second data is data sent to the second target communication device in the communication system, the identifier of the second target communication device communicates with all other communication systems except the second communication device that sends the second data. The identification of one of the devices is the same. Optionally, the identity of the second target communication device and the identity of one of all other communication devices may specifically include: the identity of the second target communication device is the same as the identity of one of all other communication devices.

Consistent with the second communication device transmitting in the frequency hopping manner in step 502, the first communication device receives data sent by the second communication device in the same frequency hopping manner as the second communication device.

It should be noted that, in order to enable data sent by the second communication device to be accurately received by the first communication device, the first communication device and the second communication device may be synchronized.

Optionally, corresponding to step 502, the first communication device may receive the data of the second communication device only in a specific time period during which the second communication device sends data, and may not receive the second communication time in a period other than the specific time period. Communication device data. Further optionally, step 503 may specifically include: receiving second data of the second communication device in a preset frequency band resource within a second reception duration range from the second reception time, and the second reception time is the first communication device As the starting moment of the receiving end.

Similarly, when the first communication device is a host, optionally, the first communication device may directly define the first receiving time. When the first communication device is a slave, optionally, the first communication device may determine the second transmission time according to a target time when the data from the host is received.

It can be understood that when the first communication device can receive all data sent by the second communication device, the second reception duration range that starts at the second reception time may include all second communication time ranges that start at the second transmission time of all the second communication devices. The sending duration range. The second receiving duration may be longer than the second sending duration. Further optionally, the second reception duration may be N times the second transmission duration, and N may be equal to the total number of the first communication device and the second communication device minus one.

The communication system includes three communication devices, namely communication device 1, communication device 2 and communication device 3, and communication device 1 is the first communication device, communication device 2 and communication device 3 are the second communication device, and the communication device 1 is the host and the target time is the start time as an example. The relationship between the communication device and the receiving time, sending time, receiving time, and sending time can be shown in FIG. 5B, where T1 and T2 can both indicate the sending interval, T1 'and T2 'can each indicate a receiving interval. It should be noted that in FIG. 5B, the time delay between the transmitting end and the receiving end is ignored as an example. The transmission time of the communication device 1 may be the same as the start time of the data received by the communication device 2 and the communication device 3 from the communication device 1. . The first communication device may use the time after the first transmission interval starting from the target time as the first transmission time.

Similarly, when the first communication device is a slave, optionally, the first communication device may synchronize with the host in the following manner: The first communication device listens on each channel until data is received from the host.

It should be noted that the second receiving duration may be set in advance, or may be configured by other devices or other equipment, which is not limited in this application.

Step 504: The first communication device performs subsequent processing on the second data according to the identifier of the second target communication device.

In this step, the second data sent by the second communication device may or may not be data sent to the first communication device. Therefore, the first communication device may perform subsequent processing on the second data according to the identifier of the communication device included in the second data, that is, the identifier of the second target communication device. The subsequent processing may include, for example, decoding processing and check processing.

Optionally, when the identifier of the second target communication device included in the second data is consistent with the identifier of the first communication device, the second data may be considered as data sent to itself; when the second data included in the second data is When the identifier of the target communication device is inconsistent with the identifier of the first communication device, it may be considered that the second data is not data sent to itself. Optionally, step 504 may specifically include: when the identifier of the second target communication device included in the second data is consistent with the identifier of the first communication device, subsequent processing of forwarding the second data; when the second data includes When the identifier of the second target communication device is not consistent with the identifier of the first communication device, the second data is discarded and subsequently processed.

Further optionally, the subsequent processing for the second communication device to forward the second data includes forwarding the second data to the first user equipment, and the application program of the first user equipment is used to control the first communication device.

In this embodiment, the second data to be sent to the second target communication device in the communication system is obtained through the second communication device, and the second data is transmitted in a preset frequency band resource in a frequency hopping manner. In the band resource, the second data sent by the second communication device is received, and the second data is determined for subsequent processing according to the identifier of the second target communication device. The data is transmitted by frequency hopping, and is successfully received and processed by the second target communication device, which realizes frequency hopping transmission of data from the second communication device to the second target communication device during the robot communication process. Improved anti-jamming, and therefore improved anti-jamming of robot communication.

FIG. 6 is a schematic structural diagram of Embodiment 1 of a robot communication device provided in this application. The communication device of this embodiment may be applied to a communication system. The communication system includes a first communication device and at least one second communication device. The robot communication device can become part or all of the first communication device through software, hardware, or a combination of software and hardware. As shown in FIG. 6, the robot communication device 60 provided in this embodiment includes a processor 601 and a transmitter 602.

The processor 601 is configured to obtain first data to be sent to at least one first target communication device in the second communication device, where the first data includes an identifier of the first target communication device;

The transmitter 602 is configured to send the first data in a preset frequency band resource by using a frequency hopping method.

Optionally, the transmitter 602 is configured to send the first data by using frequency hopping in a preset frequency band resource, and specifically includes:

Within the range of the transmission duration from the transmission time, the first data is transmitted by using a frequency hopping method in a preset frequency band resource, and the transmission time is a start time when the first communication device serves as a transmission end. It should be noted that, here, the sending time can be understood as the first sending time, and the sending time can be understood as the first sending time.

Optionally, when the first communication device is a slave, the processor 601 is further configured to determine the sending time according to a target time of receiving data from the host.

Optionally, the processor 601 is further configured to listen on each channel until data is received from the host.

Optionally, the processor 601 is configured to determine the sending time according to the target time of receiving the data from the host, which specifically includes:

The time after the transmission interval starting from the target time is taken as the transmission time.

Optionally, the processor 601 is configured to obtain first data to be sent to at least one target first communication device in the second communication device, and specifically includes:

The first data sent by the user equipment to be sent to at least one first communication device in the first communication device is received, and the application App of the user equipment is used to control the first communication device. It should be noted that, here, the user equipment may be understood as a first user equipment.

Optionally, the apparatus provided in this embodiment further includes: a receiver 603;

The receiver 603 is configured to receive, in the preset frequency band resource, second data sent by the second communication device in a frequency hopping manner; the second data includes an identifier of a second target communication device in the communication system;

The processor 601 is further configured to perform subsequent processing on the second data according to the identifier of the second target communication device.

Optionally, the receiver 603 is configured to receive the second data sent by the second communication device in the preset frequency band resource, and specifically includes:

Within the range of the reception duration from the reception time, the second data is received in the preset frequency band resource in a frequency hopping manner, and the reception time is the starting time when the first communication device serves as the receiving end. It should be noted that, here, the receiving time can be understood as the second sending time, and the receiving time can be understood as the second receiving time.

Optionally, when the first communication device is a slave, the processor 601 is further configured to determine the receiving time according to a target time of receiving data from the host.

Optionally, the processor 601 is configured to determine the receiving time according to the target time of receiving the data from the host, which specifically includes:

The time after the reception interval from the target time is taken as the reception time.

Optionally, the processor 601 is configured to perform subsequent processing on the second data according to the identifier of the communication device included in the second data, and specifically includes:

When the identifier of the second target communication device is consistent with the identifier of the first communication device, performing subsequent processing on forwarding the second data;

When the identity of the second target communication device is inconsistent with the identity of the first communication device, subsequent processing of discarding the second data is performed.

Optionally, the processor 601 is configured to perform subsequent processing for forwarding the second data, and specifically includes:

The second data is forwarded to the user equipment through the transmitter 602, and the application program of the user equipment is used to control the first communication device. It should be noted that, here, the user equipment may be understood as a first user equipment.

Optionally, the preset frequency band resource is a narrowband resource.

Optionally, the first communication device is provided on the robot, and the second communication device is provided on the robot or on a device where the referee system for the robot game is located; The second communication device is set on the robot where the referee system is located.

The robot communication device of this embodiment may be used to execute the technical solution on the first communication device side of the foregoing method embodiment. The implementation principles and technical effects are similar, and details are not described herein again.

FIG. 7 is a schematic structural diagram of a second embodiment of a robot communication device provided in this application. The communication device of this embodiment can be applied to a communication system. The communication system includes a first communication device and at least one second communication device. The robot communication device may become part or all of the second communication device through software, hardware, or a combination of software and hardware. As shown in FIG. 7, the robot communication device 70 provided in this embodiment includes a receiver 701 and a processor 702. among them,

The receiver 701 is configured to receive, in a preset frequency band resource, first data sent by the first communication device by using a frequency hopping method, where the first data includes an identifier of a first target communication device, and The identification of the device is consistent with the identification of at least one of the second communication devices;

The processor 702 is configured to perform subsequent processing on the first data according to the identifier of the first target communication device.

Optionally, the receiver 701 is configured to receive first data sent by the first communication device in a preset frequency band resource by using a frequency hopping method, and specifically includes:

Within the range of the reception time from the reception time, the first data of the first communication device is received in a frequency hopping manner in a preset frequency band resource, and the reception time is the start time of the second communication device as the receiving end. It should be noted that, here, the receiving time can be understood as the first receiving time, and the receiving time can be understood as the first receiving time.

Optionally, when the second communication device is a slave, the processor 702 is further configured to determine the receiving time according to a target time of receiving data from the host.

Optionally, the processor 702 is further configured to listen on each channel until data is received from the host.

Optionally, the processor 702 is configured to determine the receiving time according to the target time of receiving the data from the host, which specifically includes:

Optionally, the processor 702 is configured to perform subsequent processing on the first data according to the identifier of the first target communication device, and specifically includes:

When the identifier of the first target communication device is consistent with the identifier of the second communication device, performing subsequent processing on forwarding the first data;

When the identification of the first target communication device is inconsistent with the identification of the second communication device, subsequent processing of discarding the first data is performed.

Optionally, the processor 702 is configured to perform subsequent processing for forwarding the first data, and specifically includes:

The first data is forwarded to the user equipment, and an application of the user equipment is used to control the second communication apparatus. It should be noted that, here, the user equipment may be understood as a second user equipment.

Optionally, the apparatus provided in this embodiment further includes: a transmitter 703;

The processor 702 is further configured to obtain second data to be sent to the target communication device, where the second data includes an identifier of the second target communication device in the communication system;

The transmitter 703 is configured to send the second data in the preset frequency band resource by using a frequency hopping method.

Optionally, the transmitter 703 is configured to send the second data in the preset frequency band resource by using frequency hopping, and specifically includes:

Within a range of a transmission duration from the transmission time, the second data is transmitted in the preset frequency band resource by using a frequency hopping method, and the transmission time is a start time when the second communication device serves as a transmission end. It should be noted that, here, the sending time can be understood as the second sending time, and the sending time can be understood as the second sending time.

Optionally, when the second communication device is a slave, the processor 702 is further configured to determine the sending time according to a target time of receiving data from the host.

Optionally, the processor 702 is configured to determine the sending time according to the target time of receiving the data from the host, which specifically includes:

Optionally, the processor 702 is configured to obtain second data to be sent to the first communication device, and specifically includes:

Receive second data sent by the user equipment to be sent to the second target communication device, and an application App of the user equipment is used to control the second communication device. It should be noted that, here, the user equipment may be understood as a second user equipment.

Optionally, the preset frequency band resource is a narrowband resource.

Optionally, the first communication device is provided on the robot, and the second communication device is provided on the robot or on a device where the referee system for the robot game is located; or the first communication device is provided on the robot. The second communication device is set on the robot where the referee system is located.

The robot communication device of this embodiment may be used to execute the technical solution on the second communication device side of the foregoing method embodiment. The implementation principles and technical effects are similar, and details are not described herein again.

As shown in FIG. 1A to FIG. 1C, an embodiment of the present application further provides a robot communication system, including: a first communication device 11 and at least one second communication device 12;

The first communication device 11 acquires first data to be sent to a first target communication device in at least one second communication device 12, and the first data includes an identifier of the first target communication device;

The first communication device 11 sends the first data by using a frequency hopping method in a preset frequency band resource;

The second communication device 12 receives the first data sent by the first communication device 11 in the preset frequency band resource;

The second communication device 12 determines to perform subsequent processing on the first data according to the identifier of the first target communication device.

Optionally, the first communication device 11 sends the first data in a preset frequency band resource by using a frequency hopping method, including:

Within a first transmission duration range from the first transmission time, the first data is transmitted in a preset frequency band resource in a frequency hopping manner, and the first transmission time is a start time of the first communication device 11 as a transmission end;

The second communication device 12 receiving the first data sent by the first communication device 11 in the preset frequency band resource includes:

Within the first receiving time range from the first receiving time, the first data of the first communication device 11 is received in the preset frequency band resource, and the first receiving time is the starting time of the second communication device 12 as the receiving end.

Optionally, when the first communication device 11 is a slave, within the first transmission duration range from the first transmission time, before the first data is transmitted by frequency hopping in a preset frequency band resource, the method further includes:

The first communication device 11 determines the first transmission time based on the target time when the data from the host is received.

Optionally, the first communication device 11 determines, before the first transmission time according to the target time when the data from the host is received, the method further includes:

The first communication device 11 listens on each channel until data is received from the host.

Optionally, the first communication device 11 determines the first sending time according to the target time of receiving the data from the host, including:

The first communication device 11 uses the time after the first transmission interval starting from the target time as the first transmission time.

Optionally, when the second communication device 12 is a slave, within the first reception duration range from the first reception time, before receiving the first data of the first communication device 11 in the preset frequency band resource, include:

The second communication device 12 determines the first reception time based on the target time when the data from the host is received.

Optionally, the second communication device 12 determines that before the first receiving time according to the target time when the data from the host is received, the method further includes:

The second communication device 12 listens on each channel until data is received from the host.

Optionally, the second communication device 12 determines the first receiving time according to the target time of receiving the data from the host, including:

The second communication device 12 uses the time after the first reception interval starting from the target time as the first reception time.

Optionally, the first communication device 11 acquiring the first data to be sent to the first target communication device in the at least one second communication device 12 includes:

The first data sent by the first user equipment to be sent to the first target communication device in the at least one second communication device 11 is received, and the application App of the first user equipment is used to control the first communication device 11.

Optionally, the second communication device 12 performs subsequent processing on the first data according to the identifier of the first target communication device, including:

When the identifier of the first target communication device included in the first data is consistent with the identifier of the second communication device 12, performing subsequent processing of forwarding the first data;

When the identification of the first target communication device included in the first data is inconsistent with the identification of the second communication device 12, the subsequent processing of discarding the first data is performed.

Optionally, the subsequent processing for the second communication device 12 to forward the first data includes:

The first data is forwarded to the second user equipment, and the application program of the second user equipment is used to control the second communication device 12.

Optionally, the second communication device 12 obtains second data to be sent to a second target communication device in the communication system, where the second data includes an identifier of the second target communication device;

The second communication device 12 sends the second data in the preset frequency band resource by using a frequency hopping method;

The first communication device 11 receives second data sent by the second communication device 12 in the preset frequency band resource;

The first communication device 11 performs subsequent processing on the second data according to the identifier of the second target communication device.

Optionally, the second communication device 12 sends the second data in the preset frequency band resource by using a frequency hopping method, including:

Within a second transmission duration range from the second transmission time, the second data is transmitted in the preset frequency band resource in a frequency hopping manner, and the second transmission time is the start time of the second communication device 12 as the transmission end;

The first communication device 11 receiving the second data sent by the second communication device 12 in the preset frequency band resource includes:

The second data is received in the preset frequency band resource within a second receiving time range from the second receiving time, and the second receiving time is the starting time of the first communication device 11 as the receiving end.

Optionally, when the first communication device 11 is a slave, within the second receiving time range from the second receiving time, before receiving the second data in the preset frequency band resource, the method further includes:

The first communication device 11 determines the second reception time based on the target time when the data from the host is received.

Optionally, the first communication device 11 determines the second receiving time according to the target time of receiving the data from the host, including:

The first communication device 11 uses the time after the second reception interval starting from the target time as the second reception time.

Optionally, when the second communication device 12 is a slave, within the second transmission duration range from the second transmission time, before the second data is transmitted in the preset frequency band resource by frequency hopping, the method further includes: :

The second communication device 12 determines the second transmission time based on the target time when the data from the host is received.

Optionally, the second communication device 12 determines the second sending time according to the target time when the data from the host is received, including:

The second communication device 12 uses the time after the second transmission interval starting from the target time as the second transmission time.

Optionally, the second communication device 12 acquiring second data to be sent to a second target communication device in the communication system includes:

Receive second data sent by the second user equipment to be sent to a second target communication device in the communication system. The application App of the second user equipment is used to control the second communication device 12.

Optionally, the first communication device 11 performs subsequent processing on the second data according to the identifier of the second target communication device;

When the identifier of the second target communication device is consistent with the identifier of the first communication device 11, performing subsequent processing on forwarding the second data;

When the identifier of the second target communication device is inconsistent with the identifier of the first communication device 11, subsequent processing for discarding the second data is performed.

Optionally, the subsequent processing of forwarding the second data includes:

The second data is forwarded to the first user equipment, and the application program of the first user equipment is used to control the first communication device 11.

Optionally, the preset frequency band resource is a narrowband resource.

Optionally, the first communication device 11 is provided on the robot, and the second communication device 12 is provided on the robot or on a device where the referee system for the robot game is located; or the first communication device 11 is provided on the robot. On the equipment where the referee system is located, the second communication device 12 is set on the robot.

A person of ordinary skill in the art may understand that all or part of the steps of implementing the foregoing method embodiments may be implemented by a program instructing related hardware. The aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the steps including the foregoing method embodiments are executed; and the foregoing storage medium includes: various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disc.

Finally, it should be noted that the above embodiments are only used to describe the technical solution of the present application, rather than limiting it. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: The technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features are equivalently replaced; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present application. range.

Claims

A robot communication method is characterized in that it is applied to a communication system, the communication system includes: a first communication device and at least one second communication device, the method is executed by the first communication device, and the method includes:

Acquiring first data to be sent to at least one first target communication device in the second communication device, where the first data includes an identifier of the first target communication device;

In the preset frequency band resource, the first data is sent in a frequency hopping manner.
The method according to claim 1, wherein the sending the first data by frequency hopping in a preset frequency band resource comprises:

Within a range of the transmission duration from the transmission time, the first data is transmitted in a preset frequency band resource in a frequency hopping manner, and the transmission time is a starting time when the first communication device serves as a transmission end.
The method according to claim 2, characterized in that when the first communication device is a slave, within a range of the transmission duration from the transmission time, the frequency-hopping method is used to transmit the frequency in a preset frequency band resource. Before the first data, it also includes:

The transmission time is determined according to a target time when data from the host is received.
The method according to claim 3, wherein before determining the sending time according to a target time when data is received from the host, the method further comprises:

Listen on each channel until data is received from the host.
The method according to claim 3 or 4, wherein the determining the sending time according to a target time when receiving data from the host comprises:

The time after the transmission interval starting from the target time is used as the transmission time.
The method according to any one of claims 1 to 5, wherein the acquiring first data to be sent to a target first communication device in at least one of the second communication devices comprises:

Receiving first data sent by a user equipment to be sent to a first target communication device in at least one of the second communication devices, and an application App of the user equipment is used to control the first communication device.
The method according to any one of claims 1-6, further comprising:

Receiving, in the preset frequency band resource, second data sent by the second communication device in a frequency hopping manner; the second data includes an identifier of a second target communication device in the communication system;

Performing subsequent processing on the second data according to the identifier of the second target communication device.
The method according to claim 7, wherein the receiving the second data sent by the second communication device in the preset frequency band resource comprises:

Within the range of the reception duration from the reception time, the second data is received in the preset frequency band resource in a frequency hopping manner, and the reception time is a starting time when the first communication device serves as a receiving end.
The method according to claim 8, characterized in that when the first communication device is a slave, the frequency range is received in a preset frequency band resource within the range of the reception duration from the reception time to receive the Before the second data, it also includes:

The receiving time is determined according to a target time when data from the host is received.
The method according to claim 9, wherein the determining the receiving time according to a target time for receiving data from the host comprises:

The time after the reception interval starting from the target time is taken as the reception time.
The method according to any one of claims 7 to 10, wherein performing subsequent processing on the second data according to an identifier of a communication device included in the second data comprises:

When the identifier of the second target communication device is consistent with the identifier of the first communication device, performing subsequent processing on forwarding the second data;

When the identity of the second target communication device is inconsistent with the identity of the first communication device, the subsequent processing of discarding the second data is performed.
The method according to claim 11, wherein the subsequent processing of forwarding the second data comprises:

Forward the second data to user equipment, and an application of the user equipment is used to control the first communication apparatus.
The method according to any one of claims 1-12, wherein the preset frequency band resource is a narrowband resource.
The method according to any one of claims 1-13, wherein the first communication device is provided on a robot, and the second communication device is provided on a robot or a referee system for a robot game. Or the first communication device is provided on the device for the referee system, and the second communication device is provided on the robot.
A robot communication method is characterized in that it is applied to a communication system, the communication system includes: a first communication device and at least one second communication device, the method is executed by the second communication device, and the method includes:

In the preset frequency band resource, frequency-hopping is used to receive first data sent by the first communication device, where the first data includes an identifier of a first target communication device, and the identifier of the first target communication device Consistent with the identification of at least one of the second communication devices;

Performing subsequent processing on the first data according to the identifier of the first target communication device.
The method according to claim 15, wherein the receiving, in a preset frequency band resource, first data sent by the first communication device in a frequency hopping manner comprises:

Within the range of the reception duration from the reception time, the first data of the first communication device is received in a frequency hopping manner in a preset frequency band resource, and the reception time is a start time of the second communication device as a receiving end.
The method according to claim 16, characterized in that when the second communication device is a slave, the frequency range is received in a preset frequency band resource within the range of the reception duration from the reception time to receive the Before the first data of the first communication device, the method further includes:

The receiving time is determined according to a target time when data from the host is received.
The method according to claim 17, wherein the determining before the receiving time according to the target time when the data from the host is received further comprises:

Listen on each channel until data is received from the host.
The method according to claim 17 or 18, wherein the determining the receiving time according to a target time for receiving data from the host comprises:

The time after the reception interval starting from the target time is taken as the reception time.
The method according to any one of claims 15 to 19, wherein the performing subsequent processing on the first data according to the identifier of the first target communication device includes:

When the identifier of the first target communication device is consistent with the identifier of the second communication device, performing subsequent processing on forwarding the first data;

When the identifier of the first target communication device is inconsistent with the identifier of the second communication device, subsequent processing of discarding the first data is performed.
The method according to claim 20, wherein the subsequent processing of forwarding the first data comprises:

Forwarding the first data to a user equipment, and an application of the user equipment is used to control the second communication device.
The method according to any one of claims 15 to 21, wherein the method further comprises:

Acquiring second data to be sent to the target communication device, where the second data includes an identifier of a second target communication device in the communication system;

In the preset frequency band resource, the second data is sent in a frequency hopping manner.
The method according to claim 22, wherein the sending the second data in a frequency hopping manner in the preset frequency band resource comprises:

Within a range of a transmission duration from the transmission time, the second data is transmitted in the preset frequency band resource by using a frequency hopping method, and the transmission time is a start time when the second communication device serves as a transmission end.
The method according to claim 23, wherein when the second communication device is a slave, within a range of the transmission duration from the transmission time, the frequency-hopping method is used to transmit the frequency in a preset frequency band resource. Before the first data, it also includes:

The transmission time is determined according to a target time when data from the host is received.
The method according to claim 24, wherein the determining the sending time according to a target time when receiving data from the host comprises:

The time after the transmission interval starting from the target time is used as the transmission time.
The method according to any one of claims 22 to 25, wherein the acquiring second data to be sent to the first communication device comprises:

Receiving second data sent by a user equipment to be sent to the second target communication apparatus, and an application App of the user equipment is used to control the second communication apparatus.
The method according to any one of claims 15 to 26, wherein the preset frequency band resource is a narrowband resource.
The method according to any one of claims 15 to 27, wherein the first communication device is provided on a robot, and the second communication device is provided on a robot or a referee system for a robot game. Or the first communication device is provided on the device for the referee system, and the second communication device is provided on the robot.
A robot communication method is characterized in that it is applied to a communication system, the communication system includes: a first communication device and at least one second communication device, and the method includes:

Acquiring, by the first communication device, first data to be sent to a first target communication device in at least one of the second communication devices, where the first data includes an identifier of the first target communication device;

Sending, by the first communication device, the first data by using a frequency hopping method in a preset frequency band resource;

Receiving, by the second communication device in the preset frequency band resource, the first data sent by the first communication device;

The second communication device determines to perform subsequent processing on the first data according to the identifier of the first target communication device.
The method according to claim 29, wherein the sending, by the first communication device, the first data by frequency hopping in a preset frequency band resource comprises:

Within a first transmission duration range from the first transmission time, the first data is transmitted in a preset frequency band resource in a frequency hopping manner, and the first transmission time is a start time when the first communication device serves as a transmission end. ;

The receiving, by the second communication device in the preset frequency band resource, the first data sent by the first communication device includes:

Receive the first data of the first communication device in the preset frequency band resource within a first reception duration range from the first reception time, and the first reception time is when the second communication device serves as a receiving end The starting moment.
The method according to claim 30, wherein when the first communication device is a slave, frequency hopping is used in a preset frequency band resource within the first transmission duration range from the first transmission time. Before sending the first data in a manner, the method further includes:

The first communication device determines the first transmission time according to a target time when data from the host is received.
The method according to claim 31, wherein before the first communication device determines the first sending time according to a target time when receiving data from the host, the method further comprises:

The first communication device listens on each channel until data is received from the host.
The method according to claim 31 or 32, wherein the determining, by the first communication device according to a target time when receiving data from the host, the first sending time comprises:

The first communication device uses the time after the first transmission interval starting at the target time as the first transmission time.
The method according to claim 30, wherein when the second communication device is a slave, the first communication duration from the first reception time is received in the preset frequency band resource. Before the first data of the first communication device, the method further includes:

The second communication device determines the first reception time according to a target time when data from the host is received.
The method according to claim 34, wherein the determining, by the second communication device, before the first receiving time according to a target time of receiving data from the host, further comprises:

The second communication device listens on each channel until data is received from the host.
The method according to claim 34 or 35, wherein the determining, by the second communication device, the first receiving moment according to a target moment of receiving data from the host, comprises:

The second communication device uses, as the first reception time, a time after a first reception interval that starts at the target time.
The method according to any one of claims 29-36, wherein the acquiring, by the first communication device, first data to be sent to a first target communication device in at least one of the second communication devices comprises:

Receive first data sent by a first user equipment to be sent to a first target communication device in at least one of the second communication devices, and an application App of the first user equipment is used to control the first communication device.
The method according to claim 37, wherein the second communication device performs subsequent processing on the first data according to an identifier of the first target communication device, comprising:

When the identifier of the first target communication device included in the first data is consistent with the identifier of the second communication device, performing subsequent processing of forwarding the first data;

When the identifier of the first target communication device included in the first data is inconsistent with the identifier of the second communication device, subsequent processing of discarding the first data is performed.
The method according to claim 38, wherein the subsequent processing for the second communication device to forward the first data comprises:

Forward the first data to a second user equipment, and an application of the second user equipment is used to control the second communication apparatus.
The method according to any one of claims 29-39, wherein the method further comprises:

Acquiring, by the second communication device, second data to be sent to a second target communication device in the communication system, where the second data includes an identifier of the second target communication device;

Sending, by the second communication device, the second data in the preset frequency band resource by using a frequency hopping method;

Receiving, by the first communication device, second data sent by the second communication device in the preset frequency band resource;

The first communication device performs subsequent processing on the second data according to the identifier of the second target communication device.
The method according to claim 40, wherein the sending, by the second communication device, the second data in a frequency hopping manner in the preset frequency band resource comprises:

Within a second transmission duration range from the second transmission time, the second data is transmitted in the preset frequency band resource by using a frequency hopping method, and the second transmission time is the time when the second communication device serves as a transmission end. Starting moment

The receiving, by the first communication device in the preset frequency band resource, the second data sent by the second communication device includes:

The second data is received in the preset frequency band resource within a second receiving duration range from the second receiving time, and the second receiving time is a starting time when the first communication device serves as a receiving end.
The method according to claim 41, wherein, when the first communication device is a slave, the second receiving time period from the second receiving time is received in the preset frequency band resource. Before the second data, the method further includes:

The first communication device determines the second reception time according to a target time when data from the host is received.
The method according to claim 42, wherein the determining, by the first communication device according to a target time when receiving data from the host, the second receiving time comprises:

The first communication device uses the time after the second reception interval starting from the target time as the second reception time.
The method according to claim 41, wherein when the second communication device is a slave, the second transmission duration range from the second transmission time is adopted in the preset frequency band resource Before sending the second data in a frequency hopping manner, the method further includes:

The second communication device determines the second transmission time according to a target time when data from the host is received.
The method according to claim 44, wherein the determining, by the second communication device, the second transmission time according to a target time when data from the host is received, comprises:

The second communication device uses the time after the second transmission interval starting from the target time as the second transmission time.
The method according to any one of claims 40-45, wherein the acquiring, by the second communication device, second data to be sent to a second target communication device in the communication system includes:

Receiving second data sent by a second user equipment to be sent to a second target communication device in the communication system, and an application App of the second user device is used to control the second communication device.
The method according to any one of claims 40-46, wherein the first communication device performs subsequent processing on the second data according to an identifier of the second target communication device;

When the identifier of the second target communication device is consistent with the identifier of the first communication device, performing subsequent processing on forwarding the second data;

When the identity of the second target communication device is inconsistent with the identity of the first communication device, the subsequent processing of discarding the second data is performed.
The method according to claim 47, wherein the subsequent processing of forwarding the second data comprises:

Forward the second data to a first user equipment, and an application of the first user equipment is used to control the first communication apparatus.
The method according to any one of claims 29 to 48, wherein the preset frequency band resource is a narrowband resource.
The method according to any one of claims 29 to 49, wherein the first communication device is provided on a robot, and the second communication device is provided on a robot or a referee system for a robot game. Or the first communication device is provided on the device for the referee system, and the second communication device is provided on the robot.
A robot communication device, characterized in that it is applied to a communication system, the communication system includes: a first communication device and at least one second communication device, the first communication device includes the robot communication device, and the robot communication The device includes:

A processor, configured to obtain first data to be sent to a first target communication device in at least one of the second communication devices, where the first data includes an identifier of the first target communication device;

The transmitter is configured to send the first data in a preset frequency band resource by using a frequency hopping method.
The apparatus according to claim 51, wherein the transmitter is configured to send the first data by using a frequency hopping method in a preset frequency band resource, and specifically comprises:

Within a range of the transmission duration from the transmission time, the first data is transmitted in a preset frequency band resource in a frequency hopping manner, and the transmission time is a starting time when the first communication device serves as a transmission end.
The device according to claim 52, wherein when the first communication device is a slave, the processor is further configured to determine the sending time according to a target time when data from the host is received.
The apparatus according to claim 53, wherein the processor is further configured to listen on each channel until data is received from the host.
The apparatus according to claim 53 or 54, wherein the processor, configured to determine the sending time according to a target time when data is received from the host, specifically includes:

The time after the transmission interval starting from the target time is used as the transmission time.
The device according to any one of claims 51 to 55, wherein the processor is configured to obtain first data to be sent to a target first communication device in at least one of the second communication devices, and specifically includes :

Receiving first data sent by a user equipment to be sent to a first target communication device in at least one of the second communication devices, and an application App of the user equipment is used to control the first communication device.
The device according to any one of claims 51-56, wherein the device further comprises: a receiver;

The receiver is configured to receive second data sent by the second communication device in the preset frequency band resource by using frequency hopping; the second data includes a second target communication device in the communication system Identification

The processor is further configured to perform subsequent processing on the second data according to the identifier of the second target communication device.
The device according to claim 57, wherein the receiver, configured to receive the second data sent by the second communication device in the preset frequency band resource, specifically comprises:

Within the range of the reception duration from the reception time, the second data is received in the preset frequency band resource in a frequency hopping manner, and the reception time is a starting time when the first communication device serves as a receiving end.
The device according to claim 58, wherein when the first communication device is a slave, the processor is further configured to determine the receiving time according to a target time when data from the host is received.
The apparatus according to claim 59, wherein the processor is configured to determine the receiving time according to a target time when receiving data from the host, and specifically includes:

The time after the reception interval starting from the target time is taken as the reception time.
The device according to any one of claims 57 to 60, wherein the processor is configured to perform subsequent processing on the second data according to an identifier of a communication device included in the second data, specifically include:

When the identifier of the second target communication device is consistent with the identifier of the first communication device, performing subsequent processing on forwarding the second data;

When the identity of the second target communication device is inconsistent with the identity of the first communication device, the subsequent processing of discarding the second data is performed.
The apparatus according to claim 61, wherein the processor is configured to perform subsequent processing for forwarding the second data, and specifically includes:

The second data is forwarded to a user equipment by the transmitter, and an application of the user equipment is used to control the first communication apparatus.
The apparatus according to any one of claims 51 to 62, wherein the preset frequency band resource is a narrowband resource.
The device according to any one of claims 51 to 63, wherein the first communication device is provided on a robot, and the second communication device is provided on a robot or a referee system for a robot game. Or the first communication device is provided on the device for the referee system, and the second communication device is provided on the robot.
A robot communication device is characterized in that it is applied to a communication system, the communication system includes: a first communication device and at least one second communication device, the second communication device includes the device, and the robot communication device includes :

A receiver, configured to receive, in a preset frequency band resource, first data sent by the first communication device in a frequency hopping manner, where the first data includes an identifier of a first target communication device, wherein the first The identification of the target communication device is consistent with the identification of at least one of the second communication devices;

A processor, configured to perform subsequent processing on the first data according to the identifier of the first target communication device.
The apparatus according to claim 65, wherein the receiver is configured to receive the first data sent by the first communication apparatus in a preset frequency band resource by using a frequency hopping method, and specifically includes:

Within the range of the reception duration from the reception time, the first data of the first communication device is received in a frequency hopping manner in a preset frequency band resource, and the reception time is a start time of the second communication device as a receiving end.
The device according to claim 66, wherein when the second communication device is a slave, the processor is further configured to determine the receiving time according to a target time when data from the host is received.
The apparatus according to claim 67, wherein the processor is further configured to listen on each channel until data is received from the host.
The apparatus according to claim 67 or 68, wherein the processor is configured to determine the receiving moment according to a target moment of receiving data from the host, and specifically comprises:

The time after the reception interval starting from the target time is taken as the reception time.
The device according to any one of claims 65 to 69, wherein the processor is configured to perform subsequent processing on the first data according to an identifier of the first target communication device, and specifically includes:

When the identifier of the first target communication device is consistent with the identifier of the second communication device, performing subsequent processing on forwarding the first data;

When the identifier of the first target communication device is inconsistent with the identifier of the second communication device, subsequent processing of discarding the first data is performed.
The apparatus according to claim 70, wherein the processor is configured to perform subsequent processing for forwarding the first data, and specifically includes:

Forwarding the first data to a user equipment, and an application of the user equipment is used to control the second communication device.
The device according to any one of claims 65-71, wherein the device further comprises: a transmitter;

The processor is further configured to obtain second data to be sent to the target communication device, where the second data includes an identifier of a second target communication device in the communication system;

The transmitter is configured to send the second data in the preset frequency band resource by using a frequency hopping method.
The apparatus according to claim 72, wherein the transmitter is configured to send the second data in the preset frequency band resource by using a frequency hopping method, and specifically includes:

Within a range of a transmission duration from the transmission time, the second data is transmitted in the preset frequency band resource by using a frequency hopping method, and the transmission time is a start time when the second communication device serves as a transmission end.
The device according to claim 73, wherein when the second communication device is a slave, the processor is further configured to determine the sending time according to a target time when data from the host is received.
The apparatus according to claim 74, wherein the processor is configured to determine the sending time according to a target time when data is received from the host, and specifically includes:

The time after the transmission interval starting from the target time is used as the transmission time.
The device according to any one of claims 72 to 75, wherein the processor, configured to obtain second data to be sent to the first communication device, specifically includes:

Receiving second data sent by a user equipment to be sent to the second target communication apparatus, and an application App of the user equipment is used to control the second communication apparatus.
The apparatus according to any one of claims 65 to 76, wherein the preset frequency band resource is a narrowband resource.
The device according to any one of claims 65 to 77, wherein the first communication device is provided on a robot, and the second communication device is provided on a robot or a referee system for a robot game. Or the first communication device is provided on the device for the referee system, and the second communication device is provided on the robot.
A robot communication system, comprising: a first communication device and at least one second communication device;

Acquiring, by the first communication device, first data to be sent to a first target communication device in at least one of the second communication devices, where the first data includes an identifier of the first target communication device;

Sending, by the first communication device, the first data by using a frequency hopping method in a preset frequency band resource;

Receiving, by the second communication device in the preset frequency band resource, the first data sent by the first communication device;

The second communication device determines to perform subsequent processing on the first data according to the identifier of the first target communication device.
The system according to claim 79, wherein the sending, by the first communication device, the first data by frequency hopping in a preset frequency band resource comprises:

Within a first transmission duration range from the first transmission time, the first data is transmitted in a preset frequency band resource in a frequency hopping manner, and the first transmission time is a start time when the first communication device serves as a transmission end. ;

The receiving, by the second communication device in the preset frequency band resource, the first data sent by the first communication device includes:

Receive the first data of the first communication device in the preset frequency band resource within a first reception duration range from the first reception time, and the first reception time is when the second communication device serves as a receiving end The starting moment.
The system according to claim 80, wherein when the first communication device is a slave, frequency hopping is used in a preset frequency band resource within the first transmission duration range from the first transmission time. Before sending the first data in a manner, the method further includes:

The first communication device determines the first transmission time according to a target time when data from the host is received.
The system according to claim 81, wherein the first communication device determines, before the first sending time, according to a target time of receiving data from the host, further comprising:

The first communication device listens on each channel until data is received from the host.
The system according to claim 81 or 82, wherein the first communication device determines the first transmission time according to a target time when data from the host is received, comprising:

The first communication device uses the time after the first transmission interval starting at the target time as the first transmission time.
The system according to claim 80, wherein, when the second communication device is a slave, the first receiving time period from the first receiving time is received in the preset frequency band resource. Before the first data of the first communication device, the method further includes:

The second communication device determines the first reception time according to a target time when data from the host is received.
The system according to claim 84, wherein the second communication device determines before the first receiving time according to a target time of receiving data from the host, further comprising:

The second communication device listens on each channel until data is received from the host.
The system according to claim 84 or 85, wherein the determining, by the second communication device, the first receiving moment according to a target moment of receiving data from the host comprises:

The second communication device uses, as the first reception time, a time after a first reception interval that starts at the target time.
The system according to any one of claims 79-86, wherein the acquiring, by the first communication device, first data to be sent to a first target communication device in at least one of the second communication devices comprises:

Receive first data sent by a first user equipment to be sent to a first target communication device in at least one of the second communication devices, and an application App of the first user equipment is used to control the first communication device.
The system according to claim 87, wherein the second communication device performs subsequent processing on the first data according to an identifier of the first target communication device, comprising:

When the identifier of the first target communication device included in the first data is consistent with the identifier of the second communication device, performing subsequent processing of forwarding the first data;

When the identifier of the first target communication device included in the first data is inconsistent with the identifier of the second communication device, subsequent processing of discarding the first data is performed.
The system according to claim 88, wherein the subsequent processing for the second communication device to forward the first data comprises:

Forward the first data to a second user equipment, and an application of the second user equipment is used to control the second communication apparatus.
The system according to any one of claims 79-89, wherein the second communication device obtains second data to be sent to a second target communication device in the communication system, and the second data includes An identifier of the second target communication device;

Sending, by the second communication device, the second data in the preset frequency band resource by using a frequency hopping method;

Receiving, by the first communication device, second data sent by the second communication device in the preset frequency band resource;

The first communication device performs subsequent processing on the second data according to the identifier of the second target communication device.
The system according to claim 90, wherein the sending, by the second communication device, the second data in a frequency hopping manner in the preset frequency band resource comprises:

Within a second transmission duration range from the second transmission time, the second data is transmitted in the preset frequency band resource by using a frequency hopping method, and the second transmission time is the time when the second communication device serves as a transmission end. Starting moment

The receiving, by the first communication device in the preset frequency band resource, the second data sent by the second communication device includes:

The second data is received in the preset frequency band resource within a second receiving duration range from the second receiving time, and the second receiving time is a starting time when the first communication device serves as a receiving end.
The system according to claim 91, wherein when the first communication device is a slave, the second receiving time period from the second receiving time is received in the preset frequency band resource Before the second data, the method further includes:

The first communication device determines the second reception time according to a target time when data from the host is received.
The system according to claim 92, wherein the determining, by the first communication device, the second receiving time according to a target time for receiving data from the host, comprises:

The first communication device uses the time after the second reception interval starting from the target time as the second reception time.
The system according to claim 91, wherein, when the second communication device is a slave, the second transmission duration range from the second transmission time is adopted in the preset frequency band resource. Before sending the second data in a frequency hopping manner, the method further includes:

The second communication device determines the second transmission time based on a target time when data from the host is received.
The system according to claim 94, wherein the determining, by the second communication device, the second transmission time according to a target time when data from the host is received, comprises:

The second communication device uses the time after the second transmission interval starting from the target time as the second transmission time.
The system according to any one of claims 90-95, wherein the acquiring, by the second communication device, second data to be sent to a second target communication device in the communication system includes:

Receiving second data sent by a second user equipment to be sent to a second target communication device in the communication system, and an application App of the second user device is used to control the second communication device.
The system according to any one of claims 90 to 96, wherein the first communication device performs subsequent processing on the second data according to an identifier of the second target communication device;

When the identifier of the second target communication device is consistent with the identifier of the first communication device, performing subsequent processing on forwarding the second data;

When the identity of the second target communication device is inconsistent with the identity of the first communication device, the subsequent processing of discarding the second data is performed.
The system according to claim 97, wherein the subsequent processing of forwarding the second data comprises:

Forward the second data to a first user equipment, and an application of the first user equipment is used to control the first communication apparatus.
The system according to any one of claims 79-98, wherein the preset frequency band resource is a narrowband resource.
The system according to any one of claims 79-99, wherein the first communication device is provided on a robot, and the second communication device is provided on a robot or a referee system for a robot game. Or the first communication device is provided on the device for the referee system, and the second communication device is provided on the robot.