Remote equipment control system and method based on radio frequency

Abstract

The invention relates to the technical field of remote control, in particular to a remote equipment control system and method based on radio frequency, and the system comprises a main control instruction module, a signal acquisition module, a main lobe positioning module, a side lobe rejection module and a channel correction module. According to the method and the device, the pairing relation among the control terminal command, the frequency band index and the transmitting time sequence is preset, and the transmitting binding index structure is constructed, so that the accurate mapping of the frequency band and the equipment instruction is realized, and the timeliness of control signal issuing and the accuracy of command response are effectively improved. In the acquisition process, waveform characteristics are synchronously acquired by using frequency band numbers and time point information, and an angle amplitude mapping set is constructed based on a main peak amplitude and angle distribution rule, so that signal response has a basis for quantitative analysis. And continuously increasing angle sections are screened in an amplitude sorting mode, and accurate positioning of the target equipment in the angle dimension is realized in combination with response stability and concentration ratio.

Description

Technical Field

[0001] The present invention relates to the field of remote control technology, and in particular to a remote device control system and method based on radio frequency. Background Art

[0002] The field of remote control technology includes various systems and methods that use communication technology to operate and manage target devices that are far away. The core of this technical field is to achieve command transmission and response control of terminal devices through wired or wireless communication methods, so as to achieve the purpose of cross-space control of device operation. Common remote control systems include control solutions based on infrared, radio frequency, Bluetooth, WiFi and other communication technologies.

[0003] Among them, the RF-based remote device control system refers to a system solution that uses RF communication to achieve operational control of remote target devices. It includes long-distance wireless signal transmission and reception, target device identification and control command matching, as well as frequency management and anti-interference processing during communication. The system usually sends control signals through an RF transmitter, and the receiving end receives the signals through an RF receiving module, parses the commands, and executes specific device control actions based on the parsing results.

[0004] In the existing RF-based remote device control system, the matching relationship between the transmission of frequency band signals and the target device has not formed an effective structured binding, which makes it easy for signal commands to be confused in the transmission stage, reducing the directivity of the command. Since the waveform response acquisition does not cover the joint analysis of angle and amplitude, it lacks the ability to deeply explore the differences in the responses of multiple devices, which makes it easy for response judgments to be misidentified in interference environments. The existing signal recognition methods are mostly based on the strength of the amplitude, ignoring the relationship between the amplitude change trend and the angle dimension, and cannot distinguish between the main lobe response and the side lobe interference, so there is a problem that the interference signal cannot be effectively eliminated in the multi-device scenario. In terms of cycle control, the existing technology mostly adopts a fixed cycle transmission mode, without considering the dynamic relationship between the channel state and the response delay, which easily causes the timing mismatch between the signal scheduling and the device response, affecting the stability of the overall control system and the real-time response efficiency of the device. For example, when multiple devices are connected at the same time, the fixed transmission duration may cause a waste of frequency band resources or control overlap, increase the system load, and affect the response consistency and the accuracy of device execution. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art and to propose a remote device control system and method based on radio frequency.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: A remote device control system based on radio frequency includes: The main control instruction module obtains the machine tool control command set by the control terminal, the command transmission timing and the RF frequency band index corresponding to the target machine tool, and establishes a transmission binding index structure representing the matching relationship between the RF cycle and the machine tool command; The signal acquisition module collects the response waveform data of the machine tool under the target frequency band in real time based on the frequency band number and time point information in the transmission binding index structure to obtain a response angle amplitude mapping set; The main lobe positioning module sorts the response angle sequence in the response angle amplitude mapping set by amplitude, extracts continuously increasing data segments as the main lobe initial interval, calculates the concentration of the response angle within the main lobe boundary, selects the target machine tool with stable response and concentrated angle, and generates the main lobe stability interval; The side lobe rejection module calls the machine tool angle set not covered by the main lobe stability interval, calibrates the machine tool with the largest response change as the slope jump target, and generates a side lobe abnormal response rejection sequence; The channel correction module adjusts the signal output duration and the scheduling time interval based on the machine tool list retained in the sidelobe abnormal response elimination sequence to generate a device cycle control result.

[0007] As a further solution of the present invention, the transmission binding index structure includes a frequency band number, a transmission time point, and a target machine tool binding sequence; the response angle amplitude mapping set includes a response starting point, a main peak position, an amplitude value, a response time delay, and an angle distribution range; the main lobe stability interval specifically includes a main lobe peak angle, a main lobe boundary interval, a response delay variation amplitude, an angle concentration degree, and a list of target machine tools after screening; the side lobe abnormal response elimination sequence specifically includes a slope jump target, an amplitude change point, an angle interval, an amplitude ratio, and an interference source machine tool identifier; and the equipment cycle control result includes a machine tool transmission index structure, a command binding cycle, a control parameter configuration, a signal output duration, and a scheduling time interval.

[0008] As a further solution of the present invention, the main control instruction module includes: The instruction extraction submodule obtains the machine tool control command set by the control terminal, the command transmission timing and the RF frequency band index corresponding to the target machine tool, calls the matching data of the frequency band index and the machine tool identification code, extracts the frequency band index information and command parameter content based on the correspondence between the machine tool identification code and the set operation cycle, performs the combination processing corresponding to the frequency band index classification and the command content in combination with the command transmission timing, and generates a frequency band command pairing set; The signal construction submodule calls each frequency band index and command content parameter in the frequency band command pairing set, constructs the header structure information of the control signal according to the timing coding standard corresponding to the frequency band index, and implants the command content into the tail of the signal, generates a complete signal structure in combination with the machine tool identification code, identifies the target frequency band information and control parameters after the structure is generated, and obtains the control signal coding sequence; The transmission record submodule calls the control parameters and frequency band information in the control signal coding sequence, sends the control signal according to the command transmission timing, detects the actual frequency band number, transmission time point and target machine tool binding sequence in each transmission cycle, establishes a periodic record structure and numbers it for archiving, and obtains the transmission binding index structure.

[0009] As a further solution of the present invention, the signal acquisition module includes: The waveform detection submodule collects the machine tool response waveform data in each transmission cycle under the target frequency band based on the frequency band number and time point information in the transmission binding index structure, detects the response starting point position corresponding to the rising edge in the waveform sample, obtains the maximum amplitude point in the signal curve as the main peak position, extracts the corresponding amplitude, and assigns labels to the extracted feature points in time order to generate a response feature parameter set; The response calculation submodule calls each set of characteristic point data in the response characteristic parameter set, calculates the response delay according to the difference between the waveform starting point and the start time of the corresponding emission cycle, extracts the angle change of the waveform curve in the range near the marked waveform main peak point, records the slope and interval width of each segment on the waveform from the starting point to the main peak in a linear segmented manner, determines the amplitude distribution change interval of the signal in each angle segment, and obtains the response angle delay interval; The angle-amplitude sorting submodule calls the angle interval and main peak amplitude of each machine tool in the response angle delay interval at the same time point, uses the machine tool identification code and time stamp to jointly construct an index comparison table, rearranges the merged angle data and amplitude data in data pairs, removes the interference values ​​that are inconsistent with the time points, and generates a response angle amplitude mapping set.

[0010] As a further solution of the present invention, the main lobe positioning module includes: The main lobe extraction submodule sorts the angles by amplitude based on the angle sequence and corresponding amplitude values ​​in the response angle amplitude mapping set, identifies the continuous angle segment with a continuously increasing amplitude, extracts the angle with the largest amplitude in the segment as the main lobe peak angle, and expands it to the left and right sides to form an initial range, thereby generating an initial interval segment of the main lobe; The boundary judgment submodule calls the peak angle in the initial interval of the main lobe, judges the boundary position according to the change trend of the amplitude difference between adjacent angle points, marks the two ends of the angle interval as the main lobe boundary, calls back the response delay and emission time information of the machine tool in the main lobe boundary interval, detects the change amplitude of the delay in multiple cycles, and obtains the main lobe boundary delay segment; The stability screening submodule counts the angle coverage ratio of each machine tool and determines the degree of concentration based on the angle interval and response record in the main lobe boundary delay segment, and evaluates the delay fluctuation level, screens the machine tools with concentrated angles and stable responses, and generates the main lobe stability interval.

[0011] As a further solution of the present invention, the side lobe rejection module includes: The angle extraction submodule extracts the angle sequence of the machine tool in the corresponding time period based on the set of machine tool numbers not covered by the main lobe stability interval, screens the continuous angle segments in the angle sequence and matches the corresponding response amplitude data, and constructs a table of angle and amplitude data pairs for each machine tool in the same period to obtain an uncovered angle amplitude set; The jump identification submodule retrieves the positions where the amplitude changes prominently in the angle sequence according to the uncovered angle amplitude set, identifies the angle points where the slope suddenly changes, extracts the response amplitude characteristic information of the areas on both sides of the change point, determines whether the change trend has obvious differences, selects the machine tool number with the most prominent change, and generates a jump slope target set; The interference determination submodule calls the machine tool number in the jump slope target set, obtains the response characteristics corresponding to the jump angle point, and traces back the main lobe peak angle data, and judges the comparison between the angle distance and the response amplitude. If the difference meets the low amplitude reference standard and the angle deviation range is large, it is determined to be an interference response deviating from the main lobe direction, and generates an interference direction machine tool list; The identification rejection submodule extracts the established radio frequency identification identification and control instruction parameter set according to the machine tool number in the interference direction machine tool list, clears all corresponding items and updates the binding status record, and generates a side lobe abnormal response rejection sequence.

[0012] As a further solution of the present invention, the channel correction module includes: The channel index extraction submodule extracts the transmission index number and the corresponding period of the control command of each machine tool in the current binding state based on the machine tool list retained in the sidelobe abnormal response rejection sequence, and identifies the binding relationship between the machine tool number and the transmission channel item by item by calling the current transmission control mapping table, and extracts the binding period parameters and records the corresponding time series to generate a transmission index binding structure. The parameter retrieval submodule synchronously retrieves the control parameter set corresponding to the bound machine tool in the control terminal configuration table according to the machine tool channel index information and the binding cycle number in the transmission index binding structure, extracts the angle change trend interval involved in the main lobe response, and associates it with the signal output control field in the control parameter, integrates all parameter fields with the machine tool number as the main index, and obtains the signal output control parameter group; The transmission synchronization adjustment submodule calls the output field and angle trend segment of the machine tool in the signal output control parameter group, and adjusts the signal output duration configuration and resets the signal scheduling interval in combination with the response delay fluctuation range in the current cycle, and determines whether the corrected cycle configuration is consistent with the binding cycle. If not, the binding status table is updated synchronously and the difference before and after the adjustment is recorded to generate the equipment cycle control result.

[0013] A radio frequency-based remote device control method, the radio frequency-based remote device control method is executed based on the above radio frequency-based remote device control system, and includes the following steps: S1: The main control instruction module obtains the machine tool control command set by the control terminal, the command transmission timing and the RF frequency band index corresponding to the target machine tool, and establishes a transmission binding index structure representing the matching relationship between the RF cycle and the machine tool command; S2: The signal acquisition module collects the response waveform data of the machine tool under the target frequency band in real time based on the frequency band number and time point information in the transmission binding index structure to obtain a response angle amplitude mapping set; S3: The main lobe positioning module sorts the response angle sequence in the response angle amplitude mapping set by amplitude, extracts continuously increasing data segments as the main lobe initial interval, calculates the concentration of the response angle within the main lobe boundary, selects the target machine tool with stable response and concentrated angle, and generates the main lobe stability interval; S4: The side lobe rejection module calls the machine tool angle set that is not covered by the main lobe stability interval, calibrates the machine tool with the largest response change as the slope jump target, and generates a side lobe abnormal response rejection sequence; S5: The channel correction module adjusts the signal output duration and the scheduling time interval based on the machine tool list retained in the sidelobe abnormal response elimination sequence to generate a device cycle control result.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are: In the present invention, by presetting the pairing relationship between the control terminal command, the frequency band index and the transmission timing, a transmission binding index structure is constructed to achieve accurate mapping between the frequency band and the device command, effectively improving the timeliness of the control signal and the accuracy of the command response. In the acquisition process, the frequency band number and time point information are used to synchronously collect waveform features, and an angle amplitude mapping set is constructed based on the main peak amplitude and angle distribution law, so that the signal response has a basis for quantifiable analysis. The continuously increasing angle segments are screened by amplitude sorting, and the precise positioning of the target device in the angle dimension is achieved by combining the response stability and concentration. The response data not covered by the main lobe is subjected to noise rejection processing by means of jump slope recognition and main lobe direction deviation judgment, which significantly reduces the interference effect within the frequency band and improves the purity of target recognition. The response parameters are adjusted through periodic delay and control field linkage to achieve dynamic synchronization of signal output time and scheduling cycle, so that the device response cycle has high adaptability and interference robustness. The overall processing flow forms a control closed loop with high integration, precise response and strong interference tolerance through the linkage optimization of five levels: frequency band index binding, response feature extraction, angle amplitude analysis, interference response rejection and channel regulation, enabling remote device control to have higher execution efficiency, recognition accuracy and channel stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a system flow chart of the present invention; Figure 2 This is a flow chart of the main control instruction module of the present invention; Figure 3 This is a flow chart of the signal acquisition module of the present invention; Figure 4 This is a flow chart of the main lobe positioning module of the present invention; Figure 5 A flow chart of the side lobe rejection module of the present invention; Figure 6 It is a flow chart of the channel correction module of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0018] See also Figure 1 The present invention provides a technical solution: a radio frequency-based remote device control system comprising: The main control instruction module obtains the machine tool control command set by the control terminal, the command transmission timing and the RF frequency band index corresponding to the target machine tool, constructs the control signal header structure and embeds the command content by extracting the frequency band associated with the operation cycle and the machine tool identification code, executes the signal transmission operation and records the frequency band number, transmission time point and target machine tool binding sequence under each transmission cycle, and establishes a transmission binding index structure representing the matching relationship between the RF cycle and the machine tool command; The signal acquisition module collects the response waveform data of the machine tool in the target frequency band in real time based on the frequency band number and time point information in the transmission binding index structure, extracts the response starting point, main peak position and corresponding amplitude value in the waveform, calculates the delay between the response time and the transmission cycle, and obtains the angle distribution range corresponding to the waveform. At the same time point, the angle and amplitude data pairs of each machine tool are merged and sorted to obtain the response angle amplitude mapping set; The main lobe positioning module sorts the response angles by amplitude according to the response angle sequence in the response angle amplitude mapping set, extracts the continuously increasing data segment as the main lobe initial interval, selects the maximum amplitude point in the main lobe initial interval to calibrate the main lobe peak angle, expands along both ends of the angle sequence until the amplitude change shows a downward trend, constructs the main lobe boundary interval, calls back the response delay of the machine tool in the main lobe boundary interval and the corresponding emission cycle record, analyzes the variation amplitude of the delay in multiple cycles, and calculates the concentration degree of the response angle in the main lobe boundary, selects the target machine tool with stable response and concentrated angle, and generates the main lobe stability interval; The sidelobe rejection module calls the machine tool angle set that is not covered by the main lobe stability interval, extracts the amplitude change points where the sudden slope exceeds the slope threshold in the machine tool angle set, and calculates the mean difference of the response amplitude at the angle position before and after the amplitude change point, calibrates the machine tool with the largest response change amplitude as the slope jump target, traces back the main lobe peak angle point corresponding to the slope jump target, calculates the amplitude ratio and angle interval between the machine tool and the main lobe peak, and if the amplitude ratio is lower than the amplitude reference threshold and the angle interval exceeds the main lobe boundary interval, the target machine tool is determined to be an interference source in the sidelobe direction, and the corresponding radio frequency identification and control binding relationship are eliminated to generate a sidelobe abnormal response elimination sequence; The channel correction module extracts the transmission index structure and command binding cycle corresponding to each machine tool based on the list of machine tools retained in the sidelobe abnormal response elimination sequence, synchronously calls the control parameter configuration in the control terminal, adjusts the signal output duration in combination with the change trend of the main lobe response angle of the machine tool, and corrects the scheduling time interval of the subsequent control signal according to the dynamic fluctuation of the response delay, so that the transmission cycle and the binding state of the target machine tool continue to correspond, and generate the equipment cycle control result; The transmission binding index structure includes the frequency band number, transmission time point, and target machine tool binding sequence. The response angle amplitude mapping set includes the response starting point, main peak position, amplitude value, response time delay, and angle distribution range. The main lobe stability interval specifically includes the main lobe peak angle, main lobe boundary interval, response delay change amplitude, angle concentration degree, and screened target machine tool list. The side lobe abnormal response elimination sequence specifically refers to the slope jump target, amplitude change point, angle interval, amplitude ratio, and interference source machine tool identification. The equipment cycle control result includes the machine tool transmission index structure, command binding cycle, control parameter configuration, signal output duration, and scheduling time interval.

[0019] See also Figure 2 , the main control instruction module includes: The instruction extraction submodule obtains the machine tool control command set by the control terminal, the command transmission timing and the RF frequency band index corresponding to the target machine tool, calls the matching data of the frequency band index and the machine tool identification code, extracts the frequency band index information and command parameter content based on the correspondence between the machine tool identification code and the set operation cycle, performs the combination processing corresponding to the frequency band index classification and the command content in combination with the command transmission timing, and generates a frequency band command pairing set; First, call the current shift production plan from the machine tool operation management platform, extract the corresponding machine tool identification code list according to the process number in the production list, and obtain the control command type of each machine tool such as start, stop, switch status, etc. The corresponding numbers are CMD001, CMD002, and CMD003. The transmission timing is set to repeat once every 200ms, and the cycle mark sequence is set to T0, T1, T2, etc. The RF frequency band index is set to FREQ_01 to FREQ_08 using an integer serial number. Call the registered machine tool RF mapping table to confirm that CMD001 matches FREQ_03, and CMD002 matches FREQ_08. REQ_05 matches, CMD003 matches FREQ_01, based on the above control commands and machine tool frequency band matching, extract the operation cycle information, set the cycle group to cycle A corresponding to 0 to 200ms, cycle B corresponding to 200 to 400ms, cycle C corresponding to 400 to 600ms, corresponding to different control event emission segments, respectively, use the control sequence of executing CMD001 in cycle A, CMD002 in cycle B, and CMD003 in cycle C, and match the different frequency band index values ​​FREQ_03, FREQ_05, FREQ_01 with the control commands CMD001, CMD003. 02, CMD003 correspond to each other, and are recorded as combination mapping pairs CMD001-FREQ_03-T0, CMD002-FREQ_05-T1, and CMD003-FREQ_01-T2. T0, T1, and T2 tags in the command transmission timing are further extracted as command trigger nodes, and all combination data are classified according to the transmission time point. The classification principle is the corresponding mapping method between the time point and the frequency band and the command, that is, the corresponding FREQ_03 and CMD001 under T0 are mapped into a data unit and merged into the T0 classification set. A complete classification dictionary is established by analogy, in which T0 is The command corresponding to the frequency band FREQ_03 is CMD001, the command corresponding to the frequency band T1 is FREQ_05 and the command is CMD002, the command corresponding to the frequency band T2 is FREQ_01 and the command is CMD003. In each type of data set, a unique index value is extracted as the combination pair primary key value, and the above data units are classified into the corresponding time series classification group. A combination relationship database is constructed according to the index primary key value, frequency band number and command parameters in the time series classification group. The classification group index is called to retrieve the combination information in the data record to form three groups of command and frequency band mapping data sets identified by T0, T1 and T2, and finally the integrated output is a frequency band command pairing set.

[0020] The signal construction submodule calls each frequency band index and command content parameter in the frequency band command pairing set, constructs the header structure information of the control signal according to the timing coding standard corresponding to the frequency band index, and implants the command content into the tail of the signal, and generates a complete signal structure in combination with the machine tool identification code. After the structure is generated, the target frequency band information and control parameters are identified to obtain the control signal coding sequence; Call each set of frequency band index and command content parameters in the frequency band command pairing value set, and perform timing coding standard matching operation on the frequency band index, where the timing coding rule is: if the frequency band index is FREQ_01 to FREQ_04, the signal header identification bit is set to 101, FREQ_05 to FREQ_08 are set to 110, and the command content parameters CMD001, CMD002, and CMD003 are respectively identified as A1, A2, and A3, and tail splicing is performed. For example, when FREQ_03 corresponds to CMD001, the encoding structure is 101-A1, and FREQ_05 corresponds to CMD002. The encoding is 110-A2, and it is uniformly converted into a 16-bit control encoding format of 101000000000A1. The machine tool identification code, such as MC001 and MC002, needs to be supplemented in the signal structure, and the additional field is embedded in the structure, with MC001 and FREQ_0 Taking the combination of 3 as an example, the identification code of MC001 is 0001, and the tail data corresponding to the command CMD001 is A1, then the complete signal structure consists of the header 101, the identification code segment 0001, and the command segment A1, which is encoded as 1010001A1. Combined with the corresponding time point T0 and period A of the combination, the control signal data record item is T0, period A, and the encoding is 1010001A1. The other combination items are constructed in sequence. MC002-FREQ_05-CMD002 generates T1, period B, and the encoding is 1100002A2. MC003-FREQ_01-CMD003 generates T2, period C, and the encoding is 1010003A3. Finally, three groups of signal structure encoding records are formed and stored in the signal sending buffer in chronological order. After completing the construction and identification of all structures, the system encapsulates the three groups of structures into sequence packages and outputs them to the signal sending unit in chronological order to obtain the control signal encoding sequence.

[0021] The emission record submodule calls the control parameters and frequency band information in the control signal coding sequence, sends the control signal according to the command emission timing, detects the actual frequency band number, emission time point and target machine tool binding sequence in each emission cycle, establishes a periodic record structure and archives it by number, and obtains the emission binding index structure; Call each signal structure record item in the control signal code value sequence, trigger the control signal transmission operation according to each cycle mark T0, T1, T2, record the corresponding time point transmission success mark in the signal transmission module, and mark the receiving response state in the machine tool status response recording module, detect and record the transmission time point of each frequency band number in the cycle segment, among which MC001 response time point is recorded as T0 plus 15ms, MC002 is T1 plus 13ms, and MC003 is T2 plus 12ms. Combined with the frequency band information marked in each signal structure, call the frequency band numbers FREQ_03, FREQ_05, and FREQ_01 as the response judgment benchmark, and then extract the difference between the transmission time and the response time, and obtain the delay data of 15ms respectively. , 13ms, 12ms, match the above differences with the bound machine tool identification codes MC001, MC002, and MC003 one by one, build a machine tool binding sequence, and record it in the structure binding table, further convert the binding table into a periodic record structure, set the period segments A, B, and C as record classification identifiers, number the frequency band number, time point, and corresponding machine tool code in each period, define record primary keys such as T0-FREQ_03-MC001, T1-FREQ_05-MC002, etc., perform uniqueness check on the primary keys, and archive them in the database. After establishing the record structure, the system identifies it as a standard emission control index, reuses the structure in subsequent periodic control for binding judgment, and obtains the emission binding index structure.

[0022] See also Figure 3 , the signal acquisition module includes: The waveform detection submodule collects the machine tool response waveform data in each transmission cycle under the target frequency band based on the frequency band number and time point information in the transmission binding index structure, detects the response starting point position corresponding to the rising edge in the waveform sample, obtains the maximum amplitude point in the signal curve as the main peak position, extracts the corresponding amplitude, and assigns labels to the extracted feature points in time order to generate a response feature parameter set; Based on the frequency band number and time point information in the transmission binding index structure, when collecting the machine tool response waveform data in each transmission cycle under the target frequency band, it is necessary to first clarify the corresponding relationship between the frequency band number and the time point in each cycle. For example, in the transmission binding index structure, the frequency band FREQ_03 and the time point , frequency band FREQ_05 and time point The binding relationship has been established, the system will At this time point, the waveform acquisition task of the FREQ_03 channel is started. The spectrum detector is connected to the acquisition end and the sampling rate is set to 5000Hz. The received waveform data is continuously cached in segments at intervals of 2ms to obtain a complete cycle waveform sample sequence. For each segment of waveform data, the starting point of the rising edge of the signal is identified by the change trend of the amplitude curve. The first-order derivative approximate calculation method is used, that is, for each time sampling point After processing, the derivative approximation calculation formula is: ,in, : Indicates time The signal amplitude under is in millivolts (mV), : Indicates time in milliseconds (ms). : Indicates the current sampling time point, : indicates the next sampling time point, : Indicates the signal at time point The derivative approximation at reflects the rate of change of amplitude, : Time point The amplitude value at : Time point The logic for judging the response starting point is: if two consecutive derivative values ​​are greater than a threshold, it is considered that the waveform has a rising edge. Set the derivative threshold to: , the threshold is obtained through experiments and is derived from the average derivative change rate of multiple normal response waveforms. If it satisfies: and , then judge is the response starting point. Suppose a certain waveform data is as follows: , , , but: and Since both derivatives are greater than the threshold value of 0.05mV / ms, the response starting point is confirmed to be Then all the amplitudes in the waveform samples are Scan and extract the maximum amplitude point as the main peak position. Reaching the maximum value When the time point is , then the main peak is: main peak time: 30ms, main peak amplitude: 2.3mV, the response starting point (such as ), main peak position (such as ), the main peak amplitude (such as ) to give a label, forming a three-point feature group for the response, such as MC001 in the FREQ_03 channel The characteristics of the cycle are: The waveform sampling of the machine tool in all cycles is completed in sequence, the corresponding feature point information in all waveforms is extracted, and the machine tool number, time point identifier and frequency band number are added to each record, and finally a response feature parameter set is generated.

[0023] The response calculation submodule calls each set of feature point data in the response feature parameter set, calculates the response delay according to the difference between the waveform starting point and the start time of its corresponding emission cycle, extracts the angle change of the waveform curve in the range near the marked waveform main peak point, and uses a linear segmented method to record the slope and interval width of each segment on the waveform from the starting point to the main peak, determines the amplitude distribution change interval of the signal in each angle segment, and obtains the response angle delay interval; Call the characteristic point data in the response characteristic parameter set, perform the response delay calculation operation on the waveform starting point and the starting time of its corresponding transmission cycle, and extract the starting point time in each machine tool record and cycle start time The difference between , defines the response delay as: ,in: : Response delay (unit: ms), : Waveform response starting point time (unit: ms), : The starting time of the control signal emission in the corresponding cycle (unit: ms). If in a certain record, the machine tool response start time is , the start time of the control signal cycle is ,but: , the delay value will be recorded as the delay parameter , which is used to judge the response stability and main lobe matching ability in the future. Then, a 5ms time window is set around the marked main peak point to construct an equally spaced sampling sequence. , defined as follows: ,in , : Main peak time point (unit: ms), Given, : No. discrete angle time points. As a benchmark, record the corresponding amplitude , then for each adjacent point pair To calculate the slope of the linear segment, use the following formula: ,in: : No. The amplitude slope between segment angles (unit: mV / ms), :angle The amplitude at (unit: mV), , the sampling interval is 1ms, and the following two sampling points are set: , , then the slope is: , performing this calculation for all angle segments, we obtain the slope sequence Next, analyze the changing trend of the waveform within the angle segment and define the amplitude change according to the amplitude difference: , the judgment condition is: if there are 3 consecutive angle segments satisfying , then this segment is the main response angle segment. The threshold is set as follows: , which is derived from the statistical results of the average increase sampling of the normal response waveform in the main lobe section, and is set as the distinction benchmark for distinguishing the edges of the main lobe and the side lobe. Assume that the angle segment amplitude is as follows: , , , satisfying three consecutive segments , then the main response angle segment is defined as: , record this angle range as the main response angle interval, and compare it with the delay parameter Combine to get the complete response record: response angle delay interval ,Finally, this submodule completes the joint extraction and archiving of angle and ,delay, and the output structure is the response angle delay ,interval.

[0024] The angle-amplitude arrangement submodule calls the angle interval and main peak amplitude of each machine tool at the same time point in the response angle delay interval, uses the machine tool identification code and time stamp to jointly construct an index comparison table, rearranges the merged angle data and amplitude data in data pairs, removes the interference values ​​that are inconsistent at the time points, and generates a response angle amplitude mapping set; Call the angle segment and main peak amplitude value of each machine tool at the same time point in the response angle delay interval, first set the time matching tolerance , for all timestamps in the response record Target reference time point Perform the filter and keep the records that meet the following formula: ,in: : The time point of the current response record (unit: ms), : Specify the unified alignment time point (unit: ms), : Time tolerance threshold, set to , used to identify the validity of the signal response within the same period. , a record time is ,but: Keep the record if , then: Delete the record, and after the screening is completed, sort the retained data by machine tool number Extract the starting and ending angles of its response angle segment, which are recorded as and , the main peak amplitude value is marked as , in millivolts (mV). Next, expand each angle segment at 1 degree intervals to generate an angle sequence: ,in: : No. Angle sampling points (unit: degree), :Indicates the Machine tools, : relative index within the angle segment, : The start and end values ​​of the response angle segment of the machine tool in this cycle, : Main peak amplitude value, which is uniformly assigned to all points in this angle segment (unit: mV). Each angle point is constructed as an angle-amplitude data pair: . A machine tool exist The response angle segment is: , , the main peak amplitude ,but: , the angle amplitude data pair is Repeat the above steps to process all the machine tools that pass the time screening and mark the corresponding time points uniformly. and their respective machine numbers , By comparing the angle segments and amplitude distribution of each machine tool at the same time point, the data pairs are merged. In the process, if it is found that the data of a machine tool does not meet the time tolerance or its angle segment conflicts with other machines, it is directly eliminated, and the angle amplitude pair information with consistent structure and classifiable is retained. After completing the above arrangement, the system outputs the aggregated set of all angle amplitude data pairs, which represents the relationship between the angle area covered by each machine tool at that time point and the corresponding response intensity, and the output structure is unified into a response angle amplitude mapping set.

[0025] See also Figure 4 , the main lobe positioning module includes: The main lobe extraction submodule sorts the angles by amplitude based on the angle sequence and corresponding amplitude values ​​in the response angle amplitude mapping set, identifies the continuous angle segment with a continuously increasing amplitude, extracts the angle with the largest amplitude in the segment as the main lobe peak angle, and expands it to the left and right sides to form an initial range, generating the main lobe initial interval segment; First, based on the angle at each time point, the angle values ​​are sorted according to the amplitude, and the continuous angle segments are grouped. The angle group with an increasing amplitude value is set as the main lobe candidate segment. In these candidate segments, the angle corresponding to the point with the largest amplitude is identified as the main lobe peak angle, and then gradually expanded from this angle position in the forward and backward angle directions. The amplitude difference between adjacent angles during the expansion process is detected. If the difference value continuously shows a non-increasing trend, the current angle is determined to be the boundary point of the expansion. All angles covered by the boundary range are the initial interval range of the main lobe. The threshold used to judge whether the amplitude change of adjacent angles is increasing is the amplitude change judgment benchmark. This benchmark comes from the interval boundary of the system sampling noise level and the fluctuation mean in the echo curve of conventional machine tools. It is usually set to twice the minimum detection resolution of the equipment to avoid misjudging fluctuations as trend changes. Finally, the interval formed by the continuous increasing segment in the range expanding left and right with the peak as the center is marked as the main lobe initial interval segment.

[0026] The boundary judgment submodule calls the peak angle in the initial interval of the main lobe, judges the boundary position according to the change trend of the amplitude difference between adjacent angle points, calibrates the two ends of the angle interval as the main lobe boundary, calls back the response delay and emission time information of the machine tool in the main lobe boundary interval, detects the change amplitude of the delay in multiple cycles, and obtains the main lobe boundary delay segment; The main lobe peak angle and boundary range calibrated in the main lobe initial interval value segment are called, and all matching machine tool numbers are extracted within the angle interval, and the corresponding response delay value and transmission cycle number of each machine tool within the interval are associated, and a response delay record sequence of each machine tool under multiple consecutive cycles is constructed. The difference between the maximum and minimum values ​​in the delay record is calculated to determine the degree of delay fluctuation. The threshold used for delay fluctuation judgment is set based on the periodic stability requirements of the device control signal and the maximum allowable error of the communication response mechanism. The threshold should not exceed half of the periodic scheduling interval to avoid drift errors in control instructions within multiple cycles. If the delay fluctuation is less than the upper limit of the error, it is considered that the machine tool has a stable response within the main lobe interval. At the same time, it is necessary to verify whether the machine tool has an effective response in continuous cycles within the main lobe interval. If there are interruptions or missing records, they are removed, and only the machine tools that respond completely under multiple cycles are retained, and their main lobe boundary angles and corresponding cycle numbers are marked. The final output record set is the main lobe boundary delay segment.

[0027] The stability screening submodule counts the angle coverage ratio of each machine tool and determines the concentration degree according to the angle interval and response record in the main lobe boundary delay segment, and evaluates the delay fluctuation level, screens the machine tools with concentrated angles and stable responses, and generates the main lobe stability interval; First, the number of angles covered by each machine tool in the main lobe interval is counted and compared with the total angle range of the main lobe interval to calculate the angle coverage ratio. If the ratio is higher than the concentration evaluation standard, it is considered that the response of the machine tool has good concentration within the main lobe range. The concentration threshold is set based on the ratio of the average response width of the machine tool in the actual main lobe response to the entire interval. It is usually required to cover no less than three quarters of the main lobe interval length. On this basis, the response delay data in multiple cycles is extracted, and the standard deviation of the delay value is calculated to determine the stability of the response. The standard deviation threshold is set based on half of the allowable error range of the machine tool control delay. This range depends on the system scheduling cycle interval and the summed upper limit of the signal transmission synchronization deviation. If the standard deviation is lower than the tolerance standard, it is considered that the response delay fluctuation is in a stable range. The machine tool set that meets both the angle concentration and delay stability conditions is selected, and its main lobe interval information is extracted. Finally, the stable response data of these target machine tools in the main lobe interval is generated and output as the main lobe stability interval.

[0028] See also Figure 5 , the sidelobe rejection module includes: The angle extraction submodule extracts the angle sequence of the machine tool in the corresponding time period based on the set of machine tool numbers that are not covered by the main lobe stability interval, selects the continuous angle segments in the angle sequence and matches the corresponding response amplitude data, and constructs a table of angle and amplitude data pairs for each machine tool in the same period to obtain the uncovered angle amplitude set; Based on the set of machine tool numbers not covered by the main lobe stability interval, all machine tool numbers not included in the main lobe calibration angle segment are obtained, and the response data of these machine tools in the current transmission cycle are extracted in turn. The response angle sequence of the corresponding machine tool is screened in the data record, and the amplitude value corresponding to each angle point in the sequence is extracted to construct the angle-amplitude response set of the machine tool in the cycle. Subsequently, the extracted angle sequence is searched for continuity, and the angle point segments with timestamp intervals of no more than 1 millisecond are identified as continuous angle segments. The angle discrete segments caused by missing records or timing jumps are eliminated, and each machine The continuous angle segments retained in the machine tool are mapped to amplitude values ​​to form a continuous angle-amplitude mapping record of the machine tool in the current cycle. For example, the response angle segment of machine tool MC207 in the current cycle is 23 to 29 degrees, and the amplitudes are 0.9, 1.2, 1.5, 1.4, 1.6, 1.3, and 1.1 millivolts, respectively. Then, the structural data composed of the angle-amplitude sequence (23, 0.9), (24, 1.2), (25, 1.5)... can be formed. Then, such mapping data is generated for all machine tools and uniformly summarized as the angle-amplitude set of the uncovered response machine tools. The following is a partial example data composition: Machine tool The angle sequence of MC207 is {23, 24, 25, 26, 27, 28, 29}, and the amplitude sequence is {0.9, 1.2, 1.5, 1.4, 1.6, 1.3, 1.1}; the angle sequence of machine tool MC181 is {41, 42, 43, 44}, and the amplitude sequence is {1.3, 1.5, 1.6, 1.7}; the angle sequence of machine tool MC112 is {57, 58, 59, 60, 61}, and the amplitude sequence is {1.1, 1.2, 1.5, 1.4, 1.2}; each angle segment in the above structure satisfies the consistency of adjacent angle intervals, and the amplitude value comes from the actual machine tool The amplitude sampling average value of the response sampling signal must be determined during the processing to see if the amplitude value is within the allowable range of the system sampling error, that is, the amplitude deviation must not exceed twice the amplitude resolution accuracy of the sampling channel. If there is an out-of-tolerance situation, the segment will not be collected and stored. The amplitude value judgment benchmark is derived from the system initialization calibration value and the channel sampling sensitivity setting result. The sampling frequency is uniformly distributed at 200 points per second, and the average number of sampling times for each angle segment is not less than 10 times. The generated set must meet the three requirements of complete structure, continuous value range, and clear angle coverage. The final data structure set is the uncovered angle amplitude set.

[0029] The jump identification submodule retrieves the positions with prominent amplitude changes in the angle sequence based on the uncovered angle amplitude set, identifies the angle points where the slope suddenly changes, extracts the response amplitude feature information of the areas on both sides of the change point, determines whether the change trend has obvious differences, selects the machine tool number with the most prominent change, and generates the jump slope target set; According to the angle sequence and corresponding amplitude data of each machine tool included in the uncovered angle amplitude set, the amplitude difference trend between any two adjacent angle points in each angle segment is retrieved in turn, and it is judged whether there is an abnormal increase in the amplitude change rate between adjacent angles in the sequence. If the amplitude change between two consecutive points shows a slope jump phenomenon, the position of the angle point is recorded as the jump reference position, and two regional sections consisting of the three angle points before and after the point are extracted with the point as the center. The numerical mean calculation operation is performed on the amplitude values ​​in the two regions respectively, and the difference judgment of the two means is used to judge whether the jump has a continuous trend and has a significant difference. The machine tool with the largest amplitude difference is selected from all candidate jump points as the jump slope representative device, and the calibration angle points of the device are recorded and added to the jump machine tool set. The jump standard used in the judgment is based on the amplitude change interval characteristics of the signal response in the conventional echo structure. The specific standard source is the difference between the average increasing slope of the main lobe area in the current system and the change boundary of the sudden change response in the non-target interference segment. The standard is generally set to be greater than the minimum effective resolution unit of the system amplitude, and is dynamically fine-tuned in combination with the stability of the current periodic signal. For example, in the angle interval {42, 43, 44} of a machine tool MC181, its amplitude value is {1.5, 1.6, 2.5}. Compared with the amplitude value {1.1, 1.2, 1.3} in the previous interval {39, 40, 41}, its slope change rate is much higher than the conventional main lobe increment rate standard and the mean difference is greater than the jump recognition standard. At this time, the angle point 43 degrees can be marked as the jump position, and the machine tool MC181 can be included in the jump slope target. If the machine tool does not have multiple abnormal mutations in other intervals and the corresponding angle segments are intact, the identification will be submitted to the subsequent interference party. Structural tracking is performed in the judgment. During the process, if the amplitude difference is in the critical area of ​​the jump standard, it is necessary to additionally compare the change trend of the machine tool signal response amplitude before and after the period where the point is located, eliminate the influence of periodic resonance or equipment disturbance, and exclude the records of repeated jumps or short-period jumps to prevent the interference signal from mistakenly touching the detection threshold. Finally, the machine tool number and its angle point and amplitude information that meet the jump judgment standard and have the largest amplitude change difference are extracted from the entire set of uncovered machine tools. The structured data list is summarized and established as a reference for subsequent judgment. The result is the jump slope target set.

[0030] The interference judgment submodule calls the machine tool number in the jump slope target set, obtains the response characteristics corresponding to the jump angle point, and traces back the main lobe peak angle data to judge the comparison between the angle distance and the response amplitude. If the difference meets the low amplitude reference standard and the angle deviation range is large, it is judged as an interference response deviating from the main lobe direction, and a machine tool list of the interference direction is generated; Call the jump angle position and amplitude information of each machine tool in the jump slope target set, retrieve the calibrated peak angle and peak amplitude in the corresponding main lobe interval, locate the angular distance between the jump angle and the main lobe peak angle for each jump machine tool, extract the response amplitude values ​​of the two, compare the amplitude values ​​to determine whether there is an obvious difference in response intensity. If the amplitude of the jump point is significantly lower than the main lobe peak amplitude, and its angle deviates far from the main lobe peak angle range, it is further marked as a potential interference signal source. The criterion for determining the angular distance is derived from the maximum span value of the boundary angle difference at both ends of the main lobe interval. Exceeding this span is regarded as a response outside the main lobe direction. The amplitude reference standard is set according to the amplitude difference between the main lobe and the side lobe during system calibration. To avoid misjudgment, when judging the angle span, it is necessary to exclude the intersection of the angle coverage range and the main lobe boundary interval. The records of the set are collected to ensure that there is no angle overlap section between the identified object and the main lobe. For example, if a main lobe boundary interval is 20 degrees to 36 degrees, and the main lobe peak angle is 28 degrees, the jump angle of the jump machine tool MC181 is 46 degrees, and the angular distance is 18 degrees, which has exceeded the total width of the main lobe boundary, and the ratio of the jump point amplitude to the main lobe peak amplitude is obviously small, so MC181 is included in the interference direction target. In addition, it is necessary to determine whether the jump point has periodic overlap or response commonality with other main lobe responses to exclude the illusion of periodic interference or structural reflection. During the judgment process, if it is found that the jump point frequently appears in multiple cycles, or the response direction has a corresponding mapping relationship with the system structure, it will not be marked as interference. Finally, all machine tool numbers that meet the angle deviation and amplitude difference conditions are included in the judgment list, and the result is the interference direction machine tool list.

[0031] The identification rejection submodule extracts the established RFID identification and control instruction parameter set according to the machine tool number in the interference direction machine tool list, clears all corresponding items and updates the binding status record, and generates a sidelobe abnormal response rejection sequence; According to the unique identification information of each machine tool in the interference direction machine tool list, extract the RFID identification code and control instruction parameter set bound to each machine tool in the system configuration table, retrieve the mapping data structure corresponding to the binding relationship, and confirm item by item whether each machine tool is still in the current control mapping relationship activation state. Then, all machine tools identified as interference directions are eliminated, and their RFID calling permissions in the current cycle and subsequent control cycles are cleared. At the same time, the binding relationship records in the system response control strategy parameter table are updated, and the control parameters of the eliminated machine tools are reset to zero or transferred to the list to be verified to avoid repeated calls of subsequent control modules. During the process, it is necessary to verify whether the identification marks involved have multi-level control mapping relationships. If the same mark is bound to multiple control channels, the corresponding mark should be placed in a forced freeze state. state until the next cycle update after the interference removal is completed. For example, if the RFID tag bound to machine tool MC181 is ID-1210 and the control instruction channel is channel C, it is necessary to mark ID-1210 as disabled in the system mapping table, and remove the instruction execution permission of MC181 from the binding list of channel C. After all interfering machine tools are processed, the consistency of the mapping table and the vacancy configuration distribution are rechecked. If there are unreleased resources or residual empty binding records, the recovery processing instructions are added, and the current removal operation is recorded in the response control log. Finally, a removal sequence consisting of the machine tool number, RFID tag, and control binding content of each interference direction is generated and stored in the structured output channel for access by the subsequent processing module of the system. The data output is the sidelobe abnormal response removal sequence.

[0032] See also Figure 6 , the channel correction module includes: The channel index extraction submodule extracts the transmission index number and the corresponding period of the control command of each machine tool in the current binding state based on the machine tool list retained in the sidelobe abnormal response rejection sequence. By calling the current transmission control mapping table, the binding relationship between the machine tool number and the transmission channel is identified item by item. At the same time, the binding period parameters are extracted and the corresponding time series is recorded to generate the transmission index binding structure. The list of machines retained by the rejection sequence based on the sidelobe abnormal response, such as the machine number set (in Represents a set of machine tool numbers, , etc. are specific machine tool identifiers). First, the transmission index number of each machine tool is retrieved one by one according to the binding status record provided by the control terminal. The binding channel index of each machine tool is as follows: , (in Indicates the transmission channel index number bound to machine tool MC001), in which the control mapping hash table is called ,in Is a machine number The mapping table for the key outputs the corresponding transmission channel number and control cycle number For example, the current cycle of MC001 is , channel is , the system reads the current timestamp as "2025-04-2510:25:12", and the cycle number is obtained by dividing the time by the set cycle. For example: if the time has elapsed from the initial reference point , then the cycle number is: ,in: : cycle number, indicating the current cycle (unit is dimensionless); : The cumulative time since the system started running (in milliseconds) ); : Binding control cycle of the current machine tool (in milliseconds) ); : Round down function, which means taking the largest integer not greater than this value. The system then encapsulates the above machine number, channel number, and cycle number into a structure ,in Represents "emission index binding structure", field Indicates the channel number, field Indicates the cycle number. Multiple binding structure collections eventually form the total mapping structure , ,in Indicates "launch index binding structure collection". or When the machine tool is disconnected, it will be excluded to prevent abnormal system fluctuations.

[0033] The parameter retrieval submodule synchronously retrieves the control parameter set corresponding to the bound machine tool in the control terminal configuration table according to the machine tool channel index information and the binding cycle number in the transmission index binding structure, extracts the angle change trend interval involved in the main lobe response, and associates it with the signal output control field in the control parameter, integrates all parameter fields with the machine tool number as the main index, and obtains the signal output control parameter group; Based on the obtained (Transmit index binding structure set), using the machine tool number as the index, extract the control parameter set required by the machine tool from the control terminal configuration table, including the signal output amplitude (Unit: Volt V), signal frequency (Unit: Gigahertz GHz), modulation method (such as BPSK), main lobe response angle range (Unit: degree), response delay (Unit: milliseconds), etc. Taking MC001 as an example, the extracted angle range is , the previous cycle is , averaging the angle intervals of the two cycles gives: ,in: : The average angle of the main lobe response in the current cycle; : the average angle of the main lobe response in the previous cycle; : Indicates the angle change. , it is determined to be an "increasing" trend. Then the trend type is mapped to the corresponding signal output field to construct a two-dimensional mapping matrix Map(Δθ trend, output field), where Map represents the parameter mapping function. The example is as follows: Map(Δθ trend, output field) = {(increasing, {A = 4.2 V, f = 1.55 GHz}), (constant, {A = 4.0 V, f = 1.50 GHz})} Correspondingly, the constructed control parameter group structure is: ,in Indicates "Signal output control parameter group", with machine tool number as key, including its trend results and corresponding signal output fields.

[0034] The transmission synchronization adjustment submodule calls the output field and angle trend section of the machine tool in the signal output control parameter group, adjusts the signal output duration configuration and resets the signal scheduling interval in combination with the response delay fluctuation range in the current cycle, and determines whether the corrected cycle configuration is consistent with the binding cycle. If not, the binding status table is updated synchronously and the difference before and after the adjustment is recorded to generate the equipment cycle control result; Call the above The output fields and angle trend segments of each machine tool recorded in the (Signal Output Control Parameter Group), combined with the response delay fluctuations of the current cycle (Unit: milliseconds ms), adjust the output duration configuration. If the current binding period is , the detection delay is , then due to exceeding the threshold (Right now ), trigger output adjustment. The signal output duration adjustment formula is: ,in: : Adjusted signal output duration; : Initial signal output duration, in milliseconds ms; : Response delay fluctuation; : Binding cycle configuration time.

[0035] Substitute the values: , ,but: , reset the signal scheduling interval: , then determine whether the total configuration is consistent with the original binding period: , if equal to If not, update the binding status table and record the adjustment difference. Control result structure: ,in : Indicates "device cycle control result", which is used to store the output structure of cycle parameter adjustment; : The original binding period; : Adjusted period composite value; : The difference between before and after, calculated as .

[0036] The radio frequency-based remote device control method is performed based on the radio frequency-based remote device control system, and includes the following steps: S1: The main control instruction module obtains the machine tool control command set by the control terminal, the command transmission timing and the RF frequency band index corresponding to the target machine tool, and establishes a transmission binding index structure representing the matching relationship between the RF cycle and the machine tool command; S2: The signal acquisition module collects the response waveform data of the machine tool under the target frequency band in real time based on the frequency band number and time point information in the transmission binding index structure, and obtains the response angle amplitude mapping set; S3: The main lobe positioning module sorts the response angle sequence in the response angle amplitude mapping set by amplitude, extracts the continuously increasing data segments as the main lobe initial interval, calculates the concentration of the response angle within the main lobe boundary, selects the target machine tool with stable response and concentrated angle, and generates the main lobe stability interval; S4: The side lobe rejection module calls the machine tool angle set that is not covered by the main lobe stability interval, calibrates the machine tool with the largest response change as the slope jump target, and generates a side lobe abnormal response rejection sequence; S5: The channel correction module adjusts the signal output duration and scheduling time interval based on the machine tool list retained in the sidelobe abnormal response rejection sequence to generate the equipment cycle control result.

[0037] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A radio frequency based remote device control system, characterized in that: The system comprises: The main control instruction module obtains the machine tool control command set by the control terminal, the command transmission timing and the RF frequency band index corresponding to the target machine tool, and establishes a transmission binding index structure representing the matching relationship between the RF cycle and the machine tool command; The signal acquisition module collects the response waveform data of the machine tool under the target frequency band in real time based on the frequency band number and time point information in the transmission binding index structure to obtain a response angle amplitude mapping set; The main lobe positioning module sorts the response angle sequence in the response angle amplitude mapping set by amplitude, extracts continuously increasing data segments as the main lobe initial interval, calculates the concentration of the response angle within the main lobe boundary, selects the target machine tool with stable response and concentrated angle, and generates the main lobe stability interval; The side lobe rejection module calls the machine tool angle set not covered by the main lobe stability interval, calibrates the machine tool with the largest response change as the slope jump target, and generates a side lobe abnormal response rejection sequence; The channel correction module adjusts the signal output duration and the scheduling time interval based on the machine tool list retained in the sidelobe abnormal response elimination sequence to generate a device cycle control result.

2. The radio frequency based remote device control system according to claim 1, characterized in that: The transmission binding index structure includes the frequency band number, the transmission time point, and the target machine tool binding sequence; the response angle amplitude mapping set includes the response starting point, the main peak position, the amplitude value, the response time delay, and the angle distribution range; the main lobe stability interval specifically includes the main lobe peak angle, the main lobe boundary interval, the response delay change amplitude, the angle concentration degree, and the screened target machine tool list; the side lobe abnormal response elimination sequence specifically refers to the slope jump target, the amplitude change point, the angle interval, the amplitude ratio, and the interference source machine tool identification; the equipment cycle control result includes the machine tool transmission index structure, the command binding cycle, the control parameter configuration, the signal output duration, and the scheduling time interval.

3. The radio frequency based remote device control system according to claim 1, characterized in that: The main control instruction module includes: The instruction extraction submodule obtains the machine tool control command set by the control terminal, the command transmission timing and the RF frequency band index corresponding to the target machine tool, calls the matching data of the frequency band index and the machine tool identification code, extracts the frequency band index information and command parameter content based on the correspondence between the machine tool identification code and the set operation cycle, performs the combination processing corresponding to the frequency band index classification and the command content in combination with the command transmission timing, and generates a frequency band command pairing set; The signal construction submodule calls each frequency band index and command content parameter in the frequency band command pairing set, constructs the header structure information of the control signal according to the timing coding standard corresponding to the frequency band index, and implants the command content into the tail of the signal, generates a complete signal structure in combination with the machine tool identification code, identifies the target frequency band information and control parameters after the structure is generated, and obtains the control signal coding sequence; The transmission record submodule calls the control parameters and frequency band information in the control signal coding sequence, sends the control signal according to the command transmission timing, detects the actual frequency band number, transmission time point and target machine tool binding sequence in each transmission cycle, establishes a periodic record structure and numbers it for archiving, and obtains the transmission binding index structure.

4. The radio frequency based remote device control system according to claim 3, characterized in that: The signal acquisition module comprises: The waveform detection submodule collects the machine tool response waveform data in each transmission cycle under the target frequency band based on the frequency band number and time point information in the transmission binding index structure, detects the response starting point position corresponding to the rising edge in the waveform sample, obtains the maximum amplitude point in the signal curve as the main peak position, extracts the corresponding amplitude, and assigns labels to the extracted feature points in time order to generate a response feature parameter set; The response calculation submodule calls each set of characteristic point data in the response characteristic parameter set, calculates the response delay according to the difference between the waveform starting point and the start time of the corresponding emission cycle, extracts the angle change of the waveform curve in the range near the marked waveform main peak point, records the slope and interval width of each segment on the waveform from the starting point to the main peak in a linear segmented manner, determines the amplitude distribution change interval of the signal in each angle segment, and obtains the response angle delay interval; The angle-amplitude sorting submodule calls the angle interval and main peak amplitude of each machine tool in the response angle delay interval at the same time point, uses the machine tool identification code and time stamp to jointly construct an index comparison table, rearranges the merged angle data and amplitude data in data pairs, removes the interference values ​​that are inconsistent with the time points, and generates a response angle amplitude mapping set.

5. The radio frequency based remote device control system according to claim 4, characterized in that: The main lobe positioning module comprises: The main lobe extraction submodule sorts the angles by amplitude based on the angle sequence and corresponding amplitude values ​​in the response angle amplitude mapping set, identifies the continuous angle segment with a continuously increasing amplitude, extracts the angle with the largest amplitude in the segment as the main lobe peak angle, and expands it to the left and right sides to form an initial range, thereby generating an initial interval segment of the main lobe; The boundary judgment submodule calls the peak angle in the initial interval of the main lobe, judges the boundary position according to the change trend of the amplitude difference between adjacent angle points, marks the two ends of the angle interval as the main lobe boundary, calls back the response delay and emission time information of the machine tool in the main lobe boundary interval, detects the change amplitude of the delay in multiple cycles, and obtains the main lobe boundary delay segment; The stability screening submodule counts the angle coverage ratio of each machine tool and determines the degree of concentration based on the angle interval and response record in the main lobe boundary delay segment, and evaluates the delay fluctuation level, screens the machine tools with concentrated angles and stable responses, and generates the main lobe stability interval.

6. The radio frequency based remote device control system according to claim 5, characterized in that: The side lobe rejection module comprises: The angle extraction submodule extracts the angle sequence of the machine tool in the corresponding time period based on the set of machine tool numbers not covered by the main lobe stability interval, screens the continuous angle segments in the angle sequence and matches the corresponding response amplitude data, and constructs a table of angle and amplitude data pairs for each machine tool in the same period to obtain an uncovered angle amplitude set; The jump identification submodule retrieves the positions where the amplitude changes prominently in the angle sequence according to the uncovered angle amplitude set, identifies the angle points where the slope suddenly changes, extracts the response amplitude characteristic information of the areas on both sides of the change point, determines whether the change trend has obvious differences, selects the machine tool number with the most prominent change, and generates a jump slope target set; The interference determination submodule calls the machine tool number in the jump slope target set, obtains the response characteristics corresponding to the jump angle point, and traces back the main lobe peak angle data, and judges the comparison between the angle distance and the response amplitude. If the difference meets the low amplitude reference standard and the angle deviation range is large, it is determined to be an interference response deviating from the main lobe direction, and generates an interference direction machine tool list; The identification rejection submodule extracts the established radio frequency identification identification and control instruction parameter set according to the machine tool number in the interference direction machine tool list, clears all corresponding items and updates the binding status record, and generates a side lobe abnormal response rejection sequence.

7. The radio frequency based remote device control system according to claim 6, characterized in that: The channel correction module comprises: The channel index extraction submodule extracts the transmission index number and the corresponding period of the control command of each machine tool in the current binding state based on the machine tool list retained in the sidelobe abnormal response rejection sequence, and identifies the binding relationship between the machine tool number and the transmission channel item by item by calling the current transmission control mapping table, and extracts the binding period parameters and records the corresponding time series to generate a transmission index binding structure. The parameter retrieval submodule synchronously retrieves the control parameter set corresponding to the bound machine tool in the control terminal configuration table according to the machine tool channel index information and the binding cycle number in the transmission index binding structure, extracts the angle change trend interval involved in the main lobe response, and associates it with the signal output control field in the control parameter, integrates all parameter fields with the machine tool number as the main index, and obtains the signal output control parameter group; The transmission synchronization adjustment submodule calls the output field and angle trend segment of the machine tool in the signal output control parameter group, and adjusts the signal output duration configuration and resets the signal scheduling interval in combination with the response delay fluctuation range in the current cycle, and determines whether the corrected cycle configuration is consistent with the binding cycle. If not, the binding status table is updated synchronously and the difference before and after the adjustment is recorded to generate the equipment cycle control result.

8. A remote device control method based on radio frequency, characterized in that: The radio frequency-based remote device control system according to any one of claims 1 to 7 comprises the following steps: S1: The main control instruction module obtains the machine tool control command set by the control terminal, the command transmission timing and the RF frequency band index corresponding to the target machine tool, and establishes a transmission binding index structure representing the matching relationship between the RF cycle and the machine tool command; S2: The signal acquisition module collects the response waveform data of the machine tool under the target frequency band in real time based on the frequency band number and time point information in the transmission binding index structure to obtain a response angle amplitude mapping set; S3: The main lobe positioning module sorts the response angle sequence in the response angle amplitude mapping set by amplitude, extracts continuously increasing data segments as the main lobe initial interval, calculates the concentration of the response angle within the main lobe boundary, selects the target machine tool with stable response and concentrated angle, and generates the main lobe stability interval; S4: The side lobe rejection module calls the machine tool angle set that is not covered by the main lobe stability interval, calibrates the machine tool with the largest response change as the slope jump target, and generates a side lobe abnormal response rejection sequence; S5: The channel correction module adjusts the signal output duration and the scheduling time interval based on the machine tool list retained in the sidelobe abnormal response elimination sequence to generate a device cycle control result.

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