WO2019000822A1

WO2019000822A1 - Communication method and apparatus for radio frequency device, remote controller and unmanned aerial vehicle

Info

Publication number: WO2019000822A1
Application number: PCT/CN2017/112802
Authority: WO
Inventors: 程昌南
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2017-06-27
Filing date: 2017-11-24
Publication date: 2019-01-03
Also published as: CN109150239A; CN109150239B

Abstract

The present application relates to a communication method and apparatus for a radio frequency device, an unmanned aerial vehicle and a remote controller, the method comprising: generating match code information according to first device identification code information of a radio frequency device and second device identification code information of an opposite device; generating a seed of a pseudo-random frequency hopping sequence according to the match code information; generating a frequency hopping sequence according to the seed of the pseudo-random frequency hopping sequence; and performing frequency hop switching on the basis of the frequency hopping sequence. According to the present application, match code information is generated according to first device identification code information of a radio frequency device and second device identification code information of an opposite device, a seed of a pseudo-random frequency hopping sequence is generated by using the match code information so as to correspondingly generate a frequency hopping sequence, and finally frequency hop switching is performed according to the frequency hopping sequence. Performing frequency hop switching according to the frequency hopping sequence may effectively avoid the problem of same-frequency and adjacent-frequency interference, thereby greatly reducing the hardware overhead and cost.

Description

Communication method, device, remote controller and unmanned aerial vehicle of radio frequency device

This application claims the priority of the Chinese Patent Application filed on June 27, 2017, the Chinese Patent Office, the application No. 201710503069.X, the application of the name of the "Communication Method and Apparatus for Radio Frequency Equipment", the entire contents of which are incorporated herein by reference. In the application.

Technical field

The present application relates to the field of communications, and in particular, to a communication method of a radio frequency device, a device remote controller, and an unmanned aerial vehicle.

Background technique

The ground remote control of equipment such as drones and the aircraft in the air communicate with each other through radio frequency transceivers. There are often many co-frequency and adjacent-frequency interferences, including not only multiple remote controls and/or multiple aircraft. Mutual interference also includes interference from other electronic devices in the same frequency band to the remote control and the aircraft. Therefore, frequency hopping is often used in the RF communication process to avoid interference between different devices.

At present, frequency hopping communication protocols such as WIFI, Bluetooth, etc. are often too complex, require RF transceiver chip hardware implementation, or need to expand the processor and require complex protocol stack support.

Summary of the invention

To solve the above technical problem, the embodiment of the present application provides a simple and effective communication method, device, remote controller and unmanned aerial vehicle of a radio frequency device, which aims to avoid interference between different devices.

To solve the above technical problem, the embodiment of the present application provides the following technical solutions:

A communication method for a radio frequency device, comprising:

According to the first device identification code information of the radio device and the second device identification code information of the peer device Generate code information;

Generating a seed of a pseudo-random hopping sequence according to the pair of code information;

Generating a frequency hopping sequence according to the seed of the pseudo random frequency hopping sequence;

Frequency hopping switching is performed based on the frequency hopping sequence.

Further, the generating a hopping sequence according to the seed of the pseudo random hopping sequence includes:

Obtaining a preset number of pseudo-random numbers that generate a hopping sequence;

Calling a preset function to generate a preset number of pseudo-random numbers;

A pseudo-random number is generated to generate a frequency hopping sequence.

Further, the calling the preset function generates a preset number of pseudo-random numbers, including: calling a preset function to generate a pseudo-random number, and removing the repeated pseudo-random number until the pseudo-random number reaches a preset number.

Further, the performing frequency hopping switching based on the frequency hopping sequence includes:

Transmitting information including frequency hopping information, where the frequency hopping information includes a next frequency point information and a frequency hopping sequence;

Switching the communication frequency to the next frequency point;

Returning to the step of transmitting information including frequency hopping information.

Further, the frequency hopping information further includes backup frequency point information, and the communication frequency point is switched to the standby frequency point when the frequency hopping synchronization fails.

In order to solve the above technical problem, the embodiment of the present application further provides a computer storage medium, where the computer storage medium can store a program, and the program executes the steps including the method as above.

To solve the above technical problem, the embodiment of the present application further provides the following technical solution: a communication device for a radio frequency device, including:

The code module is configured to generate the code information according to the first device identification code information of the radio frequency device and the second device identification code information of the peer device;

a seed generation module, configured to generate a seed of a pseudo-random hopping sequence according to the pair of code information;

a frequency hopping sequence generating module, configured to generate a hopping sequence according to the seed of the pseudo random hopping sequence;

And a switching module, configured to perform frequency hopping based on the frequency hopping sequence.

Further, the frequency hopping sequence generating module includes:

a preset number obtaining unit, configured to acquire a preset number of pseudo random numbers for generating a hopping sequence;

a pseudo random number generating unit, configured to call a preset function to generate a preset number of pseudo random numbers;

a sequence generating unit, configured to generate a hopping sequence by using a pseudo random number.

Further, the pseudo random number generating unit calls the preset function to generate a preset number of pseudo random numbers, including: calling a preset function to generate a pseudo random number, and removing the repeated pseudo random number until the pseudo random number reaches a preset number number.

Further, the switching module includes:

a sending subunit, configured to send information including frequency hopping information, where the frequency hopping information includes a next frequency point information and a frequency hopping sequence;

Switching the execution subunit for switching the communication frequency point to the next frequency point;

Returning to the subunit for returning to the step of transmitting the information including the frequency hopping information.

Further, the frequency hopping information further includes the backup frequency point information, and the switching module further includes a standby subunit, configured to switch the communication frequency point to the standby frequency point after the frequency hopping synchronization fails.

To solve the above technical problem, the embodiment of the present application further provides the following technical solutions:

A remote controller includes: a first radio frequency device, wherein the first radio frequency device of the remote controller is configured to be connected to a second radio frequency device of a mobile object by wireless communication;

The first radio frequency device is used to:

Generating code information according to the first device identification code information of the first radio frequency device and the second device identification code information of the second radio frequency device;

In some embodiments, the moving object is an unmanned aerial vehicle (UAV), a remotely piloted vehicle, a ship, or a robot.

An unmanned aerial vehicle flying through a remote controller comprising:

a body including a second RF device, a center housing, and a arm coupled to the center housing;

The second radio frequency device of the airframe is configured to be connected to the first radio frequency device of the remote controller by wireless communication;

The second radio frequency device is used to:

Frequency hopping switching is performed based on the frequency hopping sequence. The communication method, the device, the remote controller and the unmanned aerial vehicle of the radio frequency device first generate the code information by using the first device identification code information of the radio frequency device and the second device identification code of the peer device, and generate the pseudo code by using the pair of code information. The seed of the random hopping sequence is then generated corresponding to the hopping sequence, and finally the frequency hopping switching is performed according to the hopping sequence. Performing frequency hopping switching according to the hopping sequence can effectively avoid the problem of co-frequency and adjacent frequency interference, and greatly reduce hardware overhead and cost.

DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present application, and those skilled in the art can obtain drawings of other embodiments according to the drawings without any creative work.

1 is a hardware block diagram of an application scenario of a communication method and apparatus for a radio frequency device according to an embodiment of the present application;

2 is a flowchart of a communication method of a radio frequency device according to an embodiment of the present application;

Figure 3 shows the steps further included in step S110 in the embodiment of Figure 2;

4 is a flowchart of a step of generating a frequency hopping sequence according to a seed of a pseudo random frequency hopping sequence according to an embodiment of the present application;

FIG. 5 is a flowchart of a frequency hopping communication handshake procedure performed by a radio frequency device according to an embodiment of the present application;

6 is a block diagram of a communication device of a radio frequency device according to an embodiment of the present application;

FIG. 7 is a block diagram of a frequency hopping sequence generating module according to an embodiment of the present application;

FIG. 8 is a block diagram of a switching module according to an embodiment of the present application; FIG.

FIG. 9 is a schematic structural diagram of hardware of an electronic device according to a method for communicating a radio frequency device according to an embodiment of the present application.

Detailed ways

In order to facilitate the understanding of the present application, the present application will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present application are given in the drawings. However, the application can be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the understanding of the disclosure of the present application will be more thorough.

It should be noted that when an element is referred to as "connected" to another element, it can be directly connected to the other element or the central element. The terms "first", "second" and the like, as used herein, are used for the purpose of description only and are not to be construed as indicating or implying relative importance.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention applies, unless otherwise defined. The terminology used herein is for the purpose of describing particular embodiments, and is not intended to be limiting. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items.

Referring to FIG. 1 , an application scenario of a communication method and apparatus of a radio frequency device according to an embodiment of the present application is shown. The radio frequency device can be a radio frequency transmitting device and/or a radio frequency receiving device. The solution in the embodiment of the present application can implement communication between the radio frequency transmitting device and the radio frequency receiving device. Specifically, the unmanned aerial vehicle may include a radio frequency transmitting device and/or a radio frequency receiving device, and the remote controller may include a radio frequency receiving device and/or a radio frequency transmitting device. device. For example, when an unmanned aerial vehicle transmits an image to a remote controller, the unmanned aerial vehicle acts as a radio frequency transmitting end, and the remote controller acts as a radio frequency receiving end; when the remote controller controls the flying motion of the unmanned aerial vehicle, the remote controller acts as a radio frequency transmitting end, and acts as a radio frequency The unmanned aerial vehicle at the receiving end transmits a flight control command.

The radio frequency device as the radio frequency transmitting device includes a transmitting end main chip 610 and a radio frequency transmitting chip 620 connected to the transmitting end main chip 610; the opposite end device as the radio frequency receiving device includes the receiving end main chip 640 and the receiving end main chip 640 Connected RF receiving chip 630. The radio frequency transmitting chip 620 communicates with the radio frequency receiving chip 630 through the antenna 650 to complete frequency hopping communication and data communication. The transmitting end main chip 610 and the receiving end main chip 640 can adopt an ordinary single chip microcomputer, so that both the RF transmitting device and the RF receiving device can realize frequency hopping communication by an ordinary single chip driving RF transceiver.

It should be noted that, in this embodiment, the radio frequency device is a transmitting end, that is, a radio frequency transmitting device; and the opposite end device is a receiving end, that is, a radio frequency receiving device. In various embodiments of the present application, the radio frequency device and the peer device may be any one of a radio frequency transmitting device and a radio frequency receiving device, respectively. Therefore, in other embodiments of the present application, the radio frequency device may be a receiving end, that is, a radio frequency receiving device, and the opposite end device is a transmitting end, that is, a radio frequency transmitting device.

Therefore, it should be understood that the “radio frequency device” and the “peer device” in the embodiments of the present application are relative concepts for the purpose of description, and are not to be construed as indicating or implying relative importance. To avoid redundancy, the following embodiments describe only the case where the radio frequency device is a radio frequency transmitting device and the peer device is a radio frequency receiving device. A person skilled in the art can understand that when the radio frequency device is a radio frequency receiving device and the opposite device is a radio frequency transmitting device, the type of the above situation is not described herein.

FIG. 2 is a flowchart of a method for communicating a radio frequency device according to an embodiment of the present disclosure, where the method includes steps S110-S140. among them:

S110: Generate code information according to the first device identifier code information of the radio device and the second device identifier information of the peer device.

S120: Generate a seed of a pseudo-random hopping sequence according to the code information.

S130: Generate a hopping sequence according to a seed of the pseudo-random hopping sequence.

S140: Perform frequency hopping switching based on a frequency hopping sequence.

Generating the code information by using the first device identification code information of the radio device and the second device identification code information of the peer device, using the pair of code information to generate a pseudo-random hopping sequence seed, and correspondingly generating a hopping sequence, and finally according to the The frequency hopping sequence performs frequency hopping switching. Performing frequency hopping switching according to the hopping sequence can effectively avoid the problem of co-frequency and adjacent frequency interference, and greatly reduce hardware overhead and cost.

As shown in FIG. 3, step S110 further includes steps S101-S103. among them:

S101: Send the first device identifier information of the radio device to the peer device.

S102: Receive second device identification code information of the peer device.

S103: Generate code information according to the first device identification code information of the radio device and the second device identification code information of the peer device.

In one implementation manner, the radio frequency device may generate the pair of code information and then send the pair of code information to the peer device, or the radio device and the peer device respectively generate the same final code information. The code information may be a combination of the first device identification code information of the radio device and the second device identification code information of the peer device, and may be part of the first device identification code information of the radio device and the second device of the peer device. The identifier code information is generated in combination, and may be generated by combining the first device identification code information of the radio device and the second device identification code information of the peer device, or may be part of the first device identification code information of the radio device. And generating a partial data combination in the second device identifier information of the peer device. The data length of the code information may be the same as the first device identifier information of the radio device and/or the second device identifier information of the peer device, or may be greater than or less than the first device identifier information of the radio device. And/or the data length of the second device identification code information of the peer device.

For example, the first device identification code information of the radio frequency device and the second device identification code information of the peer device are both 5 bytes, and the code information is extracted from the first device identification code information of the radio frequency device by 2 bytes. And extracting 3 bytes from the second device identification code information of the peer device. The data length of the first device identification code information of the radio device and the second device identification code information of the peer device may be the same or different. The code information may be the first device identification code information of the radio device and the peer device. Data of the second device identification code information can be extracted differently by extracting data of the same length Length data. The first device identifier information of the radio device may be unique, and the second device identifier information of the peer device may also be unique, and the code information may also be unique.

The first device identification code information of the radio frequency device and the second device identification code information of the peer device may be programmed into the radio device and the peer device by using a programming device or the like to write a predetermined number of fixed device number identification codes into the radio device and the peer device. . Specifically, it can be programmed into the flash memory of the microcontroller (MCU), or it can be written into a special flash memory, and can also be stored elsewhere. The programming device needs to be able to specify specific numbers and/or letters, and will automatically change after each programming operation, and the change manner may be incremental, etc., to facilitate the operator of the factory to ensure the first end and the opposite end of each block. The uniqueness of the device identification code.

Further, after step S103, the method further includes the step of: sending the code confirmation information. This step is used to make the RF device and the peer device have the same final code information.

The following is an example of a code handshake process between a radio device acting as a transmitter (TX) and a peer device acting as a receiver (RX):

RX enters the monitor;

The TX sends a code broadcast to the RX, and the code broadcast includes a device identification code in which the TX exists in the code, and then enters the monitoring;

After receiving the code broadcast sent by the TX, the RX responds to the TX, and the response information includes the device identification code information of the TX and the device identification code information of the RX, and enters the code confirmation of waiting for the TX;

After receiving the response information of the RX reply, the TX sends a pair of code confirmation information to the RX, where the code confirmation information includes the final pair code information generated by combining the TX device identification code information and the RX device identification code information;

After the RX receives the TX confirmation message, the entire code matching process ends.

For step S120: generating a seed of the pseudo-random hopping sequence according to the code information, further comprising:

Obtaining a preset number of pseudo-random numbers that generate a hopping sequence; calling a preset function to generate a preset number of pseudo-random numbers;

A hopping sequence is generated based on the pseudo random number.

The step of calling the preset function to generate a preset number of pseudo random numbers further includes: calling a preset function to generate a pseudo random number, filtering the pseudo random number, and removing the repeated pseudo random number until the pseudo random number reaches the pre Set a number.

After the pair of the RF device and the peer device succeeds, the unique final code information shared by the two is generated, and the data of the final code information or the final code information is used as a seed for generating a pseudo random hopping sequence. Both use the same preset function to generate a pseudo-random number, and then generate a hopping sequence from the pseudo-random number, which is unique. The preset function can select an existing function or write a function for obtaining a random number according to its needs, which can be a C language function, a java function, or the like.

In an embodiment, as shown in FIG. 4, which is a flowchart of a step of generating a frequency hopping sequence according to a seed of a pseudo-random hopping sequence, specifically including the following steps S210-260:

S210: Read the seed of the code information into a pseudo random function.

S220: Set a preset number of pseudo random numbers.

S230: The calling function generates a pseudo random number.

S240: Filter pseudo-random numbers to avoid duplicate data in the sequence.

S250: Determine whether the pseudo random number has reached a preset number. If the pseudo random number does not reach the preset number, the process returns to the above step S230; until the pseudo random number reaches the preset number, and the pseudo random sequence is completed, and step S260 is performed.

S260: Save the pseudo random number sequence for frequency hopping communication.

In an embodiment, performing frequency hopping switching based on the frequency hopping sequence includes: transmitting information including frequency hopping information, where the frequency hopping information includes but is not limited to the next frequency point information, a frequency hopping sequence, and the communication frequency point switching of the radio frequency device To the next frequency point; after the communication of one frequency point is completed, the RF device resends the information including the frequency hopping information. Wherein, the frequency information in the above reflects the number of the fixed frequency; the frequency hopping sequence refers to the address code sequence used to control the carrier frequency hopping. When many devices are simultaneously hopping in the same frequency band, the hopping sequence is Distinguish the unique flag of each device.

In an embodiment, the frequency hopping information further includes alternate frequency point information, when the frequency hopping synchronization fails. The communication frequency is switched to the alternate frequency point.

In one embodiment, after transmitting the information including the frequency hopping information, the step of waiting for the transmission to be completed is further included, and if the transmission is completed, the step of entering the reception state is performed, and if the transmission is not completed, the retransmission is delayed.

In one embodiment, as shown in FIG. 5, a flow chart of a frequency hopping communication handshake procedure for a radio frequency device is shown. In FIG. 5, the radio frequency device in the embodiment of the present application is used as a radio frequency transmitting device for hopping, and the person skilled in the art should understand that the radio frequency device in the embodiment of the present application is used as a radio frequency receiving device for frequency hopping. When the communication handshake program is used, the program is similar, but it is the reverse process. Therefore, in order to avoid redundancy, the latter case will not be exemplified here. Specifically, performing the frequency hopping communication handshake procedure by the radio frequency device of the embodiment of the radio frequency transmitting device includes the following steps S310-S380:

S310: Frequency switching phase.

S320: In the sending phase, the sent information includes frequency hopping information, and the frequency hopping information includes a next frequency point information, a frequency hopping sequence, and an alternate frequency point information.

S330: Waiting for the transmission completion phase, if the transmission is completed, executing step S350; if the transmission is not completed, executing step S340:

S340: The delayed transmission phase returns to step S320 if the delayed transmission is completed, and proceeds to step S340 if the delayed transmission is not completed.

S350: Send and receive phase.

After the step S350 is performed, the following steps are continued:

S360: Receive phase, receiving data.

S370: Frequency hopping phase.

S380: Receiving the switching phase of the transmission, ending or returning to step S320.

Specifically, first generate a hopping sequence, such as hop_map[HOP_MAX_INDEX]={3,6,9,12,15,18,21,24,27,30,35,40,43,4,60 , 10}; The program will generate a random number cur_head, cur_head for the next frequency information, the value range is 0 ~ HOP_MAX_INDEX. Next_index is initially equal to cur_head, the first hop is from the first Hop[next_index] starts to jump, the next frequency point is hop[++next_index], and the loop jumps one week, that is, the number of HOP_MAX_INDEX. A random number next_head is also generated in the program, and next_head is the alternate frequency information, which ranges from 0 to HOP_MAX_INDEX. Next_head is used to predict the new frequency point after the frequency hopping synchronization fails. At this time, cur_head=next_head will be used. Then perform a cyclic sweep.

The communication method of the radio frequency device in the above embodiment uses a unique device identification code that is calibrated for each device including the radio frequency transmitting device and the radio frequency receiving device at the time of shipment, and realizes the uniqueness of the code information, and then uses the unique The pair of code information generates a set of random frequency hopping sequences. After successful pairing, the RF transmitting device and the RF receiving device implement synchronization, handshake, and response communication based on the set of hopping sequences. Effectively avoid the problems of co-frequency and adjacent-frequency interference, greatly reducing hardware overhead and cost.

FIG. 6 is a block diagram of a communication device for radio frequency hopping according to an embodiment of the present application. When the radio frequency hopping communication device of the embodiment of the present application is used as a transmitting end, the radio frequency hopping communication device includes the transmitting end main chip 610 shown in FIG. 1 and the radio frequency transmitting chip 620 connected to the transmitting end main chip 610. . The radio frequency transmitting chip 620 communicates with the receiving end as the opposite end through the antenna 650, that is, communicates with the radio receiving chip 630 of the opposite end to complete frequency hopping communication and data communication. The transmitting end main chip 610 and the receiving end main chip 640 can adopt an ordinary single chip microcomputer, so that both the RF transmitting device and the RF receiving device can realize frequency hopping communication by an ordinary single chip driving RF transceiver.

When the radio frequency hopping communication device of the embodiment of the present application is used as the receiving end, the radio frequency hopping communication device includes the receiving end main chip 640 shown in FIG. 1 and the radio frequency receiving chip 630 connected to the receiving end main chip 640. . The transmitting end as the opposite end communicates with the radio frequency receiving chip 630 through the antenna 650, that is, the radio frequency transmitting chip 620 of the transmitting end communicates with the radio frequency receiving chip 630 through the antenna 650 to complete frequency hopping communication and data communication. The transmitting end main chip 610 and the receiving end main chip 640 can adopt an ordinary single chip microcomputer, so that both the RF transmitting device and the RF receiving device can realize frequency hopping communication by an ordinary single chip driving RF transceiver.

It should be noted that, in this embodiment, the radio frequency device is a transmitting end, that is, a radio frequency transmitting device; and the opposite end device is a receiving end, that is, a radio frequency receiving device. In various embodiments of the present application, a radio frequency device The peer device and the peer device may be any one of a radio frequency transmitting device and a radio frequency receiving device, respectively. Therefore, in other embodiments of the present application, the radio frequency device may be a receiving end, that is, a radio frequency receiving device, and the opposite end device is a transmitting end, that is, a radio frequency transmitting device.

Therefore, in this embodiment, only the case where the radio frequency device of the embodiment of the present application communicates as the radio frequency transmitting device is described, and the radio device of the embodiment of the present application communicates as the peer device, that is, the radio frequency receiving device. Corresponding to this, in order to avoid redundancy, it will not be exemplified.

Specifically, the unmanned aerial vehicle may include a radio frequency transmitting device and/or a radio frequency receiving device, and the remote controller may include a radio frequency receiving device and/or a radio frequency transmitting device. For example, when an unmanned aerial vehicle transmits an image to a remote controller, the unmanned aerial vehicle acts as a radio frequency transmitting end, and the remote controller acts as a radio frequency receiving end; when the remote controller controls the flying motion of the unmanned aerial vehicle, the remote controller acts as a radio frequency transmitting end, and acts as a radio frequency The unmanned aerial vehicle at the receiving end transmits a flight control command.

As shown in FIG. 6, the radio frequency hopping communication device includes a pair code module 510, a seed generation module 520, a frequency hopping sequence generation module 530, and a switching module 540. The pair code module 510 is configured to generate the code information according to the first device identification code information of the radio frequency device and the second device identification code information of the peer device. The seed generation module 520 is configured to generate a seed of the pseudo-random hopping sequence according to the pair of code information. The hopping sequence generation module 530 is configured to generate a hopping sequence according to the seed of the pseudorandom hopping sequence. The switching module 540 is configured to perform frequency hopping switching based on a frequency hopping sequence. In different implementations, the code module 510, the seed generation module 520, the frequency hopping sequence generation module 530, and the switching module 540 may be any one of a flight control module, a picture transmission module, a microcontroller unit, and a microprocessor unit. .

The pairing code information generated by the code module 510 through the first device identification code information of the radio frequency device and the second device identification code information of the peer device. The hopping sequence generation module 530 generates a hopping sequence based on the pair of code information. Performing frequency hopping switching according to the hopping sequence can effectively avoid the problem of co-frequency and adjacent frequency interference, and greatly reduce hardware overhead and cost.

FIG. 7 is a block diagram of a hopping sequence generation module in an embodiment, wherein the hopping sequence generation module 530 includes a preset number acquisition unit 531, a pseudo random number generation unit 532, and a sequence generation unit 533. The preset number obtaining unit 531 is configured to acquire a preset number of pseudo random numbers for generating a hopping sequence. The pseudo random number generating unit 532 is configured to call a preset function to generate a preset number of pseudo random numbers; the sequence generating unit 533 is configured to generate a hopping sequence by the pseudo random number. The pseudo random number generating unit 532 calls the preset function to generate a preset number of pseudo random numbers, including: calling a preset function to generate a pseudo random number, and removing the repeated pseudo random numbers until the pseudo random number reaches a preset number.

In one implementation, the radio frequency device generates the pair of code information, and then sends the pair of code information to the peer device. In another implementation manner, the radio frequency device and the peer device respectively generate the code information. The code information may be a combination of the first device identification code information of the radio frequency device and the second device identification code information of the opposite end, or may be part of the first device identification code information of the radio frequency device and the peer device The device identification code information may be generated by combining the first device identification code information of the radio device with the second device identification code information of the peer device, or may be the first device identification code of the radio device. A part of the data in the information is combined with a part of the data in the second device identification code information of the peer device. The data length of the code information may be the same as the first device identifier information of the radio device or the second device identifier information of the peer device, or may be greater than or less than the first device identifier information and the pair of the radio device. The data length of the second device identification code information of the end device. For example, the first device identification code information of the radio frequency device and the second device identification code information of the peer device are both 5 bytes, and the code information is extracted from the first device identification code information by 2 bytes, and the second device The identification code information is extracted by 3 bytes. The data length of the first device identification code information of the radio device and the second device identification code information of the peer device may be the same or different. The code information may be from the first device identification code information and the second device identification code information. Data extraction of the same length of data can also extract data of different lengths.

Specifically, the first device identification code information of the radio frequency device and the second device identification code information of the peer device may be programmed into the radio frequency device by using a programming device or the like to write a predetermined fixed number of device identification codes into the radio device. And in the peer device. Specifically, it can be written into the flash memory of the microcontroller (MCU), or it can be written into a special flash memory, and can also be stored elsewhere. The programming device needs to be able to specify specific numbers and/or letters, and will automatically change after each programming operation. The change mode can be incremental, etc., to facilitate the operator of the factory to ensure each RF device. And/or the uniqueness of the device identification code information of the peer device.

Further, the frequency hopping sequence generating module is configured to send the code confirmation information. Both the RF device and the peer device have the same final code information. The radio device is a radio frequency transmitting device, the peer device is a radio frequency receiving device, and the radio device is a radio frequency receiving device, and the peer device is a radio frequency transmitting device.

The following example illustrates the code handshake process between the RF device acting as the transmitting end (TX) and the peer device acting as the receiving end (RX):

RX enters the monitor;

After the pair of the RF device and the peer device succeeds, the pair of code information shared by the two devices is generated, and a certain data in the code information or the code information is used as a seed for generating a pseudo-random hopping sequence. The function generates a pseudo-random number and then generates a hopping sequence from the pseudo-random number. Generate the same set of hopping sequences, and unique. The preset function can select an existing function or write a function for obtaining a random number according to its needs, which can be a C language function, a java function, or the like.

FIG. 8 is a block diagram of a handover module in an embodiment. Specifically, the handover module 540 includes a transmission subunit 541, a handover execution subunit 542, and a return subunit 543. The transmitting subunit 541 is configured to send information including frequency hopping information, where the frequency hopping information includes a next frequency point information and a frequency hopping sequence. The handover execution sub-unit 542 is configured to switch the communication frequency point to the next frequency point; the return sub-unit 543 is configured to return to the step of transmitting information including the frequency hopping information.

Further, the frequency hopping information further includes the alternate frequency point information, and the switching module further includes a standby subunit, configured to switch the communication frequency point to the standby frequency point after the frequency hopping synchronization fails.

Further, the switching module further includes a delay unit, configured to send the information including the frequency hopping information and enter the timer to wait for the transmission to complete, if the sending is completed, the step of entering the receiving state is performed, and if the sending is not completed, the delay is performed. Resend.

The following example shows that Mr. becomes a hopping sequence, such as hop_map[HOP_MAX_INDEX]={3,6,9,12,15,18,21,24,27,30,35,40,43,4, 60, 10}; a random number cur_head is generated in the program, and cur_head is the next frequency information, which ranges from 0 to HOP_MAX_INDEX. Next_index is initially equal to cur_head. The first frequency hopping starts with hop[next_index], the next frequency point is hop[++next_index], and the loop jumps for one week, that is, the number of HOP_MAX_INDEX. A random number next_head is also generated in the program, and next_head is the alternate frequency information, which ranges from 0 to HOP_MAX_INDEX. Next_head is used to predict the new frequency point after the frequency hopping synchronization fails. At this time, cur_head=next_head will be used. Then perform a cyclic sweep.

In an embodiment, the code module 510, the seed generation module 520, the frequency hopping sequence generation module 530, and the switching module 540 of the present application may be in a flight control module, a picture transmission module, a microcontroller unit, and a microprocessor unit. Any one.

The embodiment of the present application further relates to an electronic device, and FIG. 9 is a schematic diagram of a hardware structure of the electronic device 600 according to the communication method of the radio frequency device provided by the embodiment of the present application. As shown in FIG. 9, the electronic device 600 includes one or more processors 610 and a memory 620. One processor 610 is exemplified in FIG.

The processor 610 and the memory 620 may be connected by a bus or other means, as exemplified by a bus connection in FIG.

The memory 620 is a non-volatile computer readable storage medium, and is applicable to a non-volatile software program, a non-volatile computer-executable program, and a module, such as a communication method of a radio frequency device in the embodiment of the present application. Program instructions/modules (eg, the code module 510 shown in FIG. 6, Switching module 540, etc.). The processor 610 executes various functional applications and data processing of the electronic device by executing non-volatile software programs, instructions, and modules stored in the memory 620, that is, as described in the method embodiments illustrated in FIGS. 2-5. The communication method of the RF device.

The present application also provides a remote controller including a first radio frequency device for communicating with a second radio frequency device of a moving object to control the moving object. The first radio device of the remote controller performs all or part of the steps of the communication method of the radio device shown in FIGS. 1-5. The first radio frequency device includes:

At least one processor;

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform as illustrated in any of the above-described exemplary embodiments The communication method of the RF device.

An embodiment of the present application further provides an unmanned aerial vehicle that is operated by a remote controller including a fuselage, the airframe including a second radio frequency device, a center housing, and a connection with the center housing. The second radio device of the airframe is configured to be connected to the first radio frequency device of the remote controller by wireless communication. Wherein, the second radio frequency device of the UAV performs all or part of the steps of the communication method of the radio frequency device shown in FIG. 1-5. The second radio frequency device includes:

At least one processor;

a memory communicatively coupled to the at least one processor; wherein

Through the description of the above embodiments, those skilled in the art can clearly understand that the various embodiments can be implemented by means of software plus a general hardware platform, and of course, by hardware. Base In such an understanding, the above technical solution may be embodied in the form of a software product in essence or in a contribution to the related art, and the computer software product may be stored in a computer readable storage medium such as a ROM/RAM or a disk. , an optical disk, etc., includes instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods described in various embodiments or portions of the embodiments.

In the foregoing implementation manner, by using a unique device identification code that is calibrated for each device including the radio frequency transmitting device and the radio frequency receiving device at the time of shipment, by implementing the uniqueness of the code information, the unique pairing code information is used to generate one. A random hopping sequence is set. After the pairing is successful, the RF transmitting device and the RF receiving device perform synchronization, handshake, and response communication based on the set of hopping sequences. Effectively avoid the problems of co-frequency and adjacent-frequency interference, greatly reducing hardware overhead and cost.

The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be considered as the scope of this manual.

The above-mentioned embodiments are merely illustrative of several embodiments of the present application, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the present application. Therefore, the scope of the invention should be determined by the appended claims.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; in the idea of the present application, the technical features in the above embodiments or different embodiments may also be combined. The steps may be carried out in any order, and there are many other variations of the various aspects of the present application as described above, which are not provided in the details for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, The skilled person should understand that the technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the embodiments of the present application. The scope of the technical solution.

Claims

A communication method for a radio frequency device, comprising:

Generating the code information according to the first device identification code information of the radio frequency device and the second device identification code information of the peer device;

Generating a seed of a pseudo-random hopping sequence according to the pair of code information;

Generating a frequency hopping sequence according to the seed of the pseudo random frequency hopping sequence;

Frequency hopping switching is performed based on the frequency hopping sequence.
The communication method of the radio frequency device according to claim 1, wherein the generating a hopping sequence according to the seed of the pseudo random hopping sequence comprises:

Obtaining a preset number of pseudo-random numbers that generate a hopping sequence;

Calling a preset function to generate a preset number of pseudo-random numbers;

A hopping sequence is generated based on the pseudo random number.
The communication method of a radio frequency device according to claim 2, characterized in that

The calling preset function generates a preset number of pseudo random numbers, including:

The preset function is called to generate a pseudo random number, and the repeated pseudo random number is removed until the pseudo random number reaches a preset number.
The communication method of the radio frequency device according to any one of claims 1 to 3, wherein the performing frequency hopping switching based on the frequency hopping sequence comprises:

Transmitting information including frequency hopping information, where the frequency hopping information includes a next frequency point information and a frequency hopping sequence;

Switching the communication frequency point to the next frequency point;

Returning to the step of transmitting information including frequency hopping information.
The communication method of the radio frequency device according to claim 4, wherein the frequency hopping information further comprises alternate frequency point information, and the communication frequency point is switched to the standby frequency point when the frequency hopping synchronization fails.
A computer storage medium, characterized in that the computer storage medium can store a program, the program executing the steps comprising the method of any of claims 1-5.
A communication device for a radio frequency device, comprising:

The code module is configured to generate the code information according to the first device identification code information of the radio frequency device and the second device identification code information of the peer device;

a seed generation module, configured to generate a seed of a pseudo-random hopping sequence according to the pair of code information;

a frequency hopping sequence generating module, configured to generate a hopping sequence according to the seed of the pseudo random hopping sequence;

And a switching module, configured to perform frequency hopping switching based on the frequency hopping sequence.
The communication device of the radio frequency device according to claim 7, wherein the frequency hopping sequence generating module comprises:

a preset number obtaining unit, configured to acquire a preset number of pseudo random numbers for generating a hopping sequence;

a pseudo random number generating unit, configured to call a preset function to generate a preset number of pseudo random numbers;

a sequence generating unit, configured to generate a hopping sequence by using a pseudo random number.
The communication device of the radio frequency device according to claim 8, wherein the pseudo random number generating unit calls a preset function to generate a preset number of pseudo random numbers, including:

The preset function is called to generate a pseudo-random number, and the repeated pseudo-random number is removed until the pseudo-random number reaches a preset number.
The communication device of the radio frequency device according to any one of claims 7 to 9, wherein the switching module comprises:

a sending subunit, configured to send information including frequency hopping information, where the frequency hopping information includes a next frequency point information and a frequency hopping sequence;

Switching the execution subunit for switching the communication frequency point to the next frequency point;

Returning to the subunit for returning to the step of transmitting the information including the frequency hopping information.
The communication device of the radio frequency device according to claim 10, wherein the frequency hopping information further comprises alternate frequency point information, and the switching module further comprises a spare subunit, configured to: when the frequency hopping synchronization fails, the communication frequency point Switch to the alternate frequency point.
A remote controller, comprising: a first radio frequency device, wherein the first radio frequency device of the remote controller is configured to be connected to a second radio frequency device of a mobile object by wireless communication;

The first radio frequency device is used to:

Generating code information according to the first device identification code information of the first radio frequency device and the second device identification code information of the second radio frequency device;

Generating a seed of a pseudo-random hopping sequence according to the pair of code information;

Generating a frequency hopping sequence according to the seed of the pseudo random frequency hopping sequence;

Frequency hopping switching is performed based on the frequency hopping sequence.
The remote controller according to claim 12, wherein the generating a hopping sequence according to the seed of the pseudo-random hopping sequence comprises:

Obtaining a preset number of pseudo-random numbers that generate a hopping sequence;

Calling a preset function to generate a preset number of pseudo-random numbers;

A hopping sequence is generated based on the pseudo random number.
The remote controller according to claim 13, wherein

The calling preset function generates a preset number of pseudo random numbers, including:

Calling the preset function to generate a pseudo-random number, removing the repeated pseudo-random number until the pseudo-random number reaches the pre- Set a number.
The remote controller according to any one of claims 12 to 14, wherein the performing frequency hopping switching based on the frequency hopping sequence comprises:

Transmitting information including frequency hopping information, where the frequency hopping information includes a next frequency point information and a frequency hopping sequence;

Switching the communication frequency point to the next frequency point;

Returning to the step of transmitting information including frequency hopping information.
The remote controller according to claim 15, wherein the frequency hopping information further comprises backup frequency point information, and the communication frequency point is switched to the standby frequency point when the frequency hopping synchronization fails.
The remote controller according to any one of claims 12 to 16, wherein the moving object is an unmanned aerial vehicle (UAV), a remote control vehicle, a ship or a robot.
An unmanned aerial vehicle flying through a remote controller, characterized by comprising:

a body including a second RF device, a center housing, and a arm coupled to the center housing;

The second radio frequency device of the airframe is configured to be connected to the first radio frequency device of the remote controller by wireless communication;

The second radio frequency device is used to:

Generating code information according to the first device identification code information of the first radio frequency device and the second device identification code information of the second radio frequency device;

Generating a seed of a pseudo-random hopping sequence according to the pair of code information;

Generating a frequency hopping sequence according to the seed of the pseudo random frequency hopping sequence;

Frequency hopping switching is performed based on the frequency hopping sequence.
The UAV according to claim 18, wherein the generating a hopping sequence according to the seed of the pseudo-random hopping sequence comprises:

Obtaining a preset number of pseudo-random numbers that generate a hopping sequence;

Calling a preset function to generate a preset number of pseudo-random numbers;

A hopping sequence is generated based on the pseudo random number.
The UAV according to claim 19, wherein

The calling preset function generates a preset number of pseudo random numbers, including:

The preset function is called to generate a pseudo random number, and the repeated pseudo random number is removed until the pseudo random number reaches a preset number.
The unmanned aerial vehicle according to any one of claims 18 to 20, wherein said performing frequency hopping switching based on said frequency hopping sequence comprises:

Transmitting information including frequency hopping information, where the frequency hopping information includes a next frequency point information and a frequency hopping sequence;

Switching the communication frequency point to the next frequency point;

Returning to the step of transmitting information including frequency hopping information.
The unmanned aerial vehicle according to claim 21, wherein the frequency hopping information further comprises backup frequency point information, and the communication frequency point is switched to the standby frequency point when the frequency hopping synchronization fails.