Communication method, communication device and storage medium

Abstract

The invention provides a communication method, communication equipment and a storage medium. The method comprises: acquiring a frequency point list, the frequency point list comprising frequency points for synchronous frequency hopping of a first communication device and a second communication device; when a frequency hopping signal output by a signal generating device is detected, frequency hopping is carried out according to the frequency points in the frequency point list, and the signal generating device outputs the frequency hopping signal according to a preset time interval; determining the signal quality of a frequency point obtained by frequency hopping; and if the signal quality meets a preset condition, carrying out data interaction with the second communication equipment at the frequency point obtained by the frequency hopping. By utilizing the method, the communication equipment can be prevented from interfering with communication of other equipment due to the fact that the communication equipment stays for a long time on one frequency point, so that the anti-interference capability of the communication equipment can be improved, and normal communication between the equipment is ensured.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a communication method, communication equipment and storage medium. Background Art

[0002] With the rapid development of wireless communication technology, the communication frequency bands of various electronic devices are becoming increasingly concentrated. This intensive use of frequency band resources may cause interference in communication between devices (for example, co-frequency interference).

[0003] If the problem of communication interference cannot be effectively solved, it will have a serious impact on the normal communication between devices. Summary of the invention

[0004] In view of the above, it is necessary to provide a communication method, a communication device and a storage medium that can solve the technical problem that the communication between devices is affected due to interference.

[0005] On the one hand, the present application provides a communication method, applied to a first communication device, the method comprising: obtaining a frequency point list, wherein the frequency point list includes frequency points for synchronous frequency hopping between the first communication device and the second communication device, and when a frequency hopping signal output by a signal generating device is detected, frequency hopping is performed according to the frequency points in the frequency point list, wherein the signal generating device outputs the frequency hopping signal at a preset time interval, determines the signal quality of the frequency point to which the frequency hopping is performed, and if the signal quality meets a preset condition, performs data interaction with the second communication device at the frequency point to which the frequency hopping is performed.

[0006] In the communication method of this embodiment, since the frequency hopping signal is generated and output by the signal generating device according to the preset time interval, when the frequency hopping signal output by the signal generating device is detected, the communication device performs frequency hopping according to the frequency points in the frequency point list, so that the communication device can only stay at a frequency point for a certain time interval, and after the time interval, the communication device will jump to the next frequency point to work. Through this frequency hopping mechanism, it is possible to avoid the communication device staying at a frequency point for too long and interfering with the communication of other devices, thereby improving the anti-interference ability of the communication device and ensuring normal communication between devices.

[0007] On the other hand, the present application provides a communication device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the communication device implements the communication method.

[0008] On the other hand, the present application provides a communication device, which includes a signal generating device and a controller, wherein the signal generating device is used to output a frequency hopping signal at a preset time interval, and the controller is used to obtain a frequency point list, wherein the frequency point list includes frequency points for synchronous frequency hopping between the communication device and another communication device, and when the frequency hopping signal output by the signal generating device is detected, the controller performs frequency hopping according to the frequency points in the frequency point list, and the controller determines the signal quality of the frequency point to which the frequency is hopped, and if the signal quality meets a preset condition, the controller exchanges data with the other communication device at the frequency point to which the frequency is hopped.

[0009] On the other hand, the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the communication method when executed by a processor in a communication device. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of a communication system provided by an embodiment of the present application.

[0011] Figure 2 It is a flow chart of a communication method provided by an embodiment of the present application.

[0012] Figure 3 This is a frequency hopping schematic diagram provided in an embodiment of the present application.

[0013] Figure 4 It is a structural diagram of a communication device provided in one embodiment of the present application.

[0014] Figure 5 It is a structural diagram of a communication device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0015] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0016] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0017] In the embodiments of the present application, the words "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0018] The present application embodiment provides a communication system, such as Figure 1 As shown, the communication system includes a first communication device 10 and a second communication device 20. Exemplarily, the first communication device 10 may be a lawn mower, and the second communication device 20 may be a base station. Figure 1 The lawn mower and base station shown are only examples of the first communication device 10 and the second communication device 20, and are not limited to this in actual applications. This application does not limit the types of the first communication device 10 and the second communication device 20. The types of the first communication device and the second communication device may be the same or different.

[0019] In other embodiments of the present application, the first communication device 10 is a self-moving device, and the second communication device 10 is a base station. The self-moving device includes but is not limited to: a lawn mowing robot and a cleaning robot, and the base station can be a real-time dynamic differential positioning (Real Time Kinematic, RTK) base station, or the first communication device can be a base station, and the second communication device can be a mobile phone, a computer, a vehicle-mounted device, etc.

[0020] The first communication device 10 can be connected to the second communication device 20 in a variety of ways, and the present application does not limit the type of communication connection. For example, the first communication device 10 can be connected to the second communication device 20 in a communication manner via a long range radio (Long Range, LoRa).

[0021] The embodiment of the present application provides a communication method, which can prevent a communication device from staying on a frequency point for too long and interfering with the communication of other devices, thereby improving the anti-interference ability of the communication device and ensuring normal communication between devices. The communication method provided in the embodiment of the present application can be applied to one or more communication devices.

[0022] The embodiment of the present application provides a communication method, which can prevent a communication device from staying on a frequency point for too long and interfering with the communication of other devices, thereby improving the anti-interference ability of the communication device and ensuring normal communication between devices. The communication method provided in the embodiment of the present application can be applied to one or more communication devices.

[0023] like Figure 2FIG. 1 is a flow chart of a communication method provided by an embodiment of the present application. According to different requirements, the order of each step in the flow chart can be adjusted according to actual requirements, and some steps can be omitted. The communication method is applied to a communication device, such as Figure 1 The first communication device and / or the second communication device shown. The following description will be given by taking the application of the communication method to the first communication device and the second communication device as an example.

[0024] S11, the first communication device and the second communication device respectively obtain frequency point lists.

[0025] In the field of communications, a frequency point (also referred to as a "frequency point") can be represented as a set frequency value, which can be a channel or carrier used to transmit signals, data or information. A frequency point can be a discrete position in a spectrum, and a communication system can achieve multiplexing and signal transmission by allocating different frequency points. In some embodiments of the present application, the frequency point list includes frequency points for synchronous frequency hopping of the first communication device and the second communication device.

[0026] The synchronous frequency hopping may be that multiple communication devices jump to the same frequency at the same time point. There may be multiple frequencies in the frequency list, and the frequencies in the frequency list and the corresponding arrangement order may be customized, which is not limited in this application.

[0027] S12, when the frequency hopping signal output by the signal generating device is detected, the first communication device and the second communication device perform frequency hopping according to the frequency points in the frequency point list respectively.

[0028] In some embodiments of the present application, a signal generating device outputs a frequency hopping signal at a preset time interval. The signal generating device may be a satellite positioning device. The first communication device and the second communication device respectively have corresponding signal generating devices, and the signal generating device may be a device built into the first communication device and the second communication device, or may be a device externally attached to the communication device. The time interval may be customized, and the present application does not impose any restrictions on this. In order to ensure that there is sufficient time for the determination of the signal quality and the transmission of the data below, the time interval of the frequency hopping signal may be determined according to the time consumed by executing the step of determining the signal quality of the frequency point to which the frequency hopping is performed. For example, the time interval of the frequency hopping signal may be configured to be greater than the time consumed by executing the step of determining the signal quality of the frequency point to which the frequency hopping is performed.

[0029] The first communication device and the second communication device can use the Coordinated Universal Time (UTC) received from the satellite to synchronize the time of the signal generating device, and based on a preset time interval, generate and output a periodic frequency hopping signal through the synchronized signal generating device.

[0030] The frequency hopping signal is used to trigger the first communication device and the second communication device to perform a frequency hopping operation. The present application does not limit the duration of the frequency hopping signal. For example, the duration of the frequency hopping signal can be 80 milliseconds, 90 milliseconds, etc.

[0031] Exemplarily, the frequency hopping signal may be a pulse per second (PPS) signal with a duration of 1 second, and the rising edge of the PPS signal may indicate the whole second of UTC. When the rising edge of the PPS signal is detected, the first communication device may perform frequency hopping according to the frequency points in the frequency point list.

[0032] In this embodiment, the signal generating device of the first communication device and the signal generating device of the second communication device use UTC time to ensure time synchronization of the two signal generating devices, thereby ensuring synchronization of frequency hopping signal output. In some embodiments of the present application, the first communication device and the second communication device respectively perform frequency hopping according to the frequencies in the frequency list, including: if the frequency hopping signal is the frequency hopping signal received for the first time after the first communication device and the second communication device are powered on, the first communication device and the second communication device jump to the initial frequency preset in the frequency list; if the frequency hopping signal is not the frequency hopping signal received for the first time after the first communication device and the second communication device are powered on, the first communication device and the second communication device respectively determine the current frequency (for example, the Nth frequency) and jump to the next frequency of the current frequency in the frequency list (for example, the N+1th frequency).

[0033] Among them, the initial frequency point can be any frequency point in the first frequency point list, and this application does not impose any restrictions on this. When the frequency hopping signal is the first received frequency hopping signal after the first communication device and the second communication device are powered on, it means that the first communication device and the second communication device are in the startup and initialization state, so the first communication device and the second communication device can jump to the initial frequency point preset in the frequency point list. When the frequency hopping signal is not the first received frequency hopping signal after the first communication device and the second communication device are powered on, it means that the first communication device and the second communication device are in the frequency hopping communication state, and the current frequency point of the first communication device and the second communication device is one of the frequency points in the frequency point list, so it can be determined that the next frequency point of the current frequency point is the frequency point to be jumped.

[0034] For example, if the frequency point list includes frequency points a, frequency point b, frequency point c, frequency point d, etc. arranged in sequence, such as Figure 3 FIG. 1 is a schematic diagram of frequency hopping provided by an embodiment of the present application. Figure 3In the embodiment, the frequency hopping signal is a PPS signal. When the rising edge of the 0th PPS signal is detected, the first communication device and the second communication device jump to frequency a. When the rising edge of the 1st PPS signal is detected, the first communication device and the second communication device jump from frequency a to frequency b. When the rising edge of the 2nd PPS signal is detected, the first communication device and the second communication device jump from frequency b to frequency c. When the rising edge of the 3rd PPS signal is detected, the first communication device and the second communication device jump from frequency c to frequency d. By analogy, the first communication device and the second communication device can realize synchronous frequency hopping of the first communication device and the second communication device.

[0035] In some embodiments of the present application, it takes some time for the first communication device and the second communication device to detect and respond to the PPS signal, but according to some experimental data, it can be determined that this time is relatively small (for example, 100 milliseconds), and in practical applications, it can be chosen to be ignored.

[0036] In this embodiment, considering that the accuracy of UTC can reach the nanosecond level and there is no cumulative error, the first communication device and the second communication device use the time of the UTC synchronization signal generating device, and accurately generate and output a periodic frequency hopping signal through the synchronized signal generating device, thereby ensuring that the first communication device and the second communication device can achieve accurate frequency hopping synchronization.

[0037] S13, the first communication device and the second communication device respectively determine the signal quality of the frequency point to which the frequency is hopped.

[0038] In some embodiments of the present application, the first communication device and the second communication device may determine the signal quality of the frequency point to which the frequency is hopped according to a variety of methods, and the present application does not limit the method for determining the signal quality.

[0039] Exemplarily, the first communication device and the second communication device may determine the signal quality according to a noise received signal strength indicator (Received Signal Strength Indicator, RSSI) value of the frequency point to which the frequency is hopped.

[0040] In order to facilitate the description of the noise received signal strength indicator value, it will be referred to as RSSI value below. The first communication device and the second communication device can directly determine the RSSI value as the signal quality. The RSSI value can be calculated by the power of the noise signal. The method of calculating the RSSI value according to the power of the noise signal can refer to the relevant technology.

[0041] In this embodiment, since the RSSI value can be calculated from the power of the noise signal, the RSSI value can reflect the communication environment state of the frequency point to which the frequency is hopped. For example, when the RSSI value is large, it means that the frequency point to which the frequency is hopped is subject to more interference or noise, and when the RSSI value is small, it means that the frequency point to which the frequency is hopped is subject to less interference or noise.

[0042] The above examples of the method for determining signal quality are only examples and are not limited thereto in practical applications.

[0043] S14: If the signal quality meets the preset condition, the first communication device exchanges data with the second communication device at the frequency point to which the frequency is jumped.

[0044] In some embodiments of the present application, the preset condition can be customized, and the present application does not limit this. For example, following the above embodiment, if the RSSI value is used to represent the signal quality, the preset condition can be less than or equal to the preset threshold. The signal quality meeting the preset condition can be that the RSSI value is less than or equal to the preset threshold.

[0045] Exemplarily, if the first communication device is connected to the second communication device through LoRa, the first communication device can send data to the second communication device using LoRa at the frequency point to which the frequency is jumped.

[0046] The present application does not limit the type of data to be sent. For example, when the first communication device is a base station and the second communication device is a self-moving device, the data to be sent may be a differential message. The differential message may be used to locate the self-moving device.

[0047] Differential messages are data transmitted in RTK positioning, which can include signal observation data received by the base station from satellites and known data (for example, the coordinates of the base station, etc.). The base station can send this data to the mobile station (for example, a mobile device, etc.) in real time through a wireless communication network, so that the mobile station can use the received data and its own signal observation data received from satellites for joint calculation, thereby obtaining a high-precision positioning result.

[0048] In this embodiment, if the RSSI value is less than or equal to the preset threshold, it means that the frequency point to which the frequency hopping is performed is subject to less interference or noise, and the first communication device exchanges data with the second communication device at the frequency point to which the frequency hopping is performed, and the communication quality can be ensured. Since the time interval corresponding to the frequency hopping signal is greater than the time consumed for executing the step of determining the signal quality of the frequency point to which the frequency hopping is performed, the problem of data transmission interruption caused by frequency hopping during data transmission can be avoided.

[0049] S15: If the signal quality does not meet the preset condition, the first communication device and the second communication device wait for the next frequency hopping signal to arrive.

[0050] Exemplarily, following the above embodiment, if the RSSI value is used to represent the signal quality, the signal quality not meeting the preset condition may be that the RSSI value is greater than a preset threshold.

[0051] In some embodiments of the present application, when the signal quality does not meet the preset conditions, the first communication device and the second communication device may not actively send data at the frequency point to which the frequency is jumped, but may receive data sent by an external device at the frequency point to which the frequency is jumped.

[0052] In this embodiment, if the RSSI value is greater than the preset threshold, it means that the frequency point to which the frequency hopping is performed is subject to more interference or noise, and the first communication device and the second communication device do not send data at the frequency point to which the frequency hopping is performed, thereby avoiding problems such as data transmission errors. In other embodiments of the present application, if the RSSI values ​​of all the frequency points in the frequency point list are greater than the preset threshold, data is exchanged with the second communication device through the Internet.

[0053] Considering that when the RSSI values ​​of all the frequencies in the frequency list are greater than the preset threshold, it means that all the frequencies in the frequency list are subject to more interference or noise, if LoRa is used to send data to the second communication device, data transmission errors may occur. Therefore, in this embodiment, when the RSSI values ​​of all the frequencies in the frequency list are greater than the preset threshold, data is interacted with the second communication device through the Internet to ensure the accuracy of data transmission.

[0054] In the communication method of this embodiment, since the frequency hopping signal is generated and output by the signal generating device according to the preset time interval, when the frequency hopping signal output by the signal generating device is detected, the communication device performs frequency hopping according to the frequency points in the frequency point list, so that the communication device can only stay at a frequency point for a certain time interval, and after the time interval, the communication device will jump to the next frequency point to work. Through this frequency hopping mechanism, it is possible to avoid the communication device staying at a frequency point for too long and interfering with the communication of other devices, thereby improving the anti-interference ability of the communication device and ensuring normal communication between devices.

[0055] like Figure 4 FIG. 1 is a schematic diagram of the structure of a communication device provided by an embodiment of the present application. Figure 4 In the embodiment, the communication device 30 includes a signal generating device 301 and a controller 302. The present application does not limit the type of the communication device. For example, the communication device may be a base station or a self-moving device.

[0056] The signal generating device 301 is used to output a frequency hopping signal at a preset time interval.

[0057] In some embodiments of the present application, the signal generating device 301 may be a satellite positioning device, which is used to receive UTC sent from a satellite, and generate and output a frequency hopping signal according to the UTC at a preset time interval. The description of the method for generating the frequency hopping signal can refer to step S12, and the embodiments of the present application will not be repeated.

[0058] The controller 302 is used to obtain a frequency list, wherein the frequency list includes frequencies for synchronous frequency hopping between a communication device and another communication device. When a frequency hopping signal output by a signal generating device is detected, frequency hopping is performed according to the frequencies in the frequency list, and the signal quality of the frequency hopped to is determined. When the signal quality meets a preset condition, data is exchanged with another communication device at the frequency hopped to.

[0059] For the frequency hopping method, please refer to the description of step S12, for the signal quality determination method, please refer to the description of step S130, for the data interaction method, etc., please refer to the description of step S14, and the embodiments of the present application will not be repeated.

[0060] In some embodiments of the present application, the controller 302 may be a processor, or the controller 302 may further include a memory to store program codes and various types of data that can be recognized and executed by the device.

[0061] like Figure 5 FIG. 1 is a schematic diagram of the structure of a communication device provided by another embodiment of the present application. Figure 5 In the figure, the communication device 40 includes a body, and a memory 401, a processor 402, a power supply 403, a sensor 404, an operating mechanism 405, a communication module 406, a positioning module 407, a driving wheel 408 and a bus 409 arranged on the body. The processor 402 is coupled to the memory 401, the power supply 403, the sensor 404, the operating mechanism 405, the communication module 406, the positioning module 407, and the driving wheel 408 through the bus 409.

[0062] The memory 401 may include one or more random access memories (RAM) and one or more non-volatile memories (NVM). The random access memory can be directly read and written by the processor 402, and can be used to store executable programs (such as machine instructions) of the operating system or other running programs, and can also be used to store user and application data. The random access memory may include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0063] The non-volatile memory may also store executable programs and user and application data, etc., and may be pre-loaded into the random access memory for direct reading and writing by the processor 402. The non-volatile memory may include a disk storage device and a flash memory.

[0064] The memory 401 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 402. The one or more computer programs include multiple instructions, and when the multiple instructions are executed by the processor 403, the communication method executed on the communication device 40 can be implemented.

[0065] In other embodiments, the communication device 40 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the communication device 40 .

[0066] The processor 402 may include one or more processing units, for example, the processor 402 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0067] The processor 402 provides computing and control capabilities. For example, the processor 402 is used to execute a computer program stored in the memory 401 to implement the above-mentioned communication method.

[0068] The power supply 403 is used to supply power to the communication device. In some embodiments of the present application, the power supply 403 may include any one or more power supply devices such as a battery, a fuel generator, a solar power generation module, a wind power generation module, etc.

[0069] The sensor 404 is used to obtain information for the communication device 40, such as obtaining environmental information and movement information of the communication device 40. In some embodiments of the present application, the sensor 404 may include one or more sensors of the type of laser radar, camera, infrared sensor, encoder, etc.

[0070] The operating mechanism 405 is used to perform corresponding operating tasks, such as mowing and cleaning. In some embodiments of the present application, the operating mechanism 405 may include a motor, a transmission mechanism, a cutter disc, a grass collecting box and other mechanisms. In some embodiments of the present application, the motor can drive the cutter disc to rotate through the transmission mechanism to achieve the mowing function. The motor can also control the movement of the blade to adjust the mowing height and mowing area. The grass collecting box can be used to collect fallen leaves and cut grass.

[0071] The communication module 406 is used to realize the communication between the communication device and other devices. In one embodiment of the present application, the communication module 406 can exchange data with other devices based on wired communication and / or wireless communication. The above wireless communication can include one or more combinations of communication modes such as Bluetooth communication, Wi-Fi communication, and Near Field Communication (NFC).

[0072] The positioning module 407 is used to determine the position of the communication device. In some embodiments of the present application, the positioning module 407 may include one or more positioning modules of the type of global positioning system (GPS), inertial navigation system, real-time kinematic (RTK) carrier phase differential system, etc.

[0073] The driving wheel 408 is used to enable the communication device to move. In some embodiments of the present application, the driving wheel 408 can realize the movement function of the communication device according to the control of the processor 402. In some embodiments of the present application, the driving wheel 408 may include a left driving wheel and a right driving wheel.

[0074] The bus 409 is at least used to provide a channel for mutual communication among the memory 401 , the processor 402 , the power supply 403 , the sensor 404 , the operating mechanism 405 , the communication module 406 , the positioning module 407 , and the driving wheel 408 in the communication device 40 .

[0075] In other embodiments of the present application, the communication device 40 may further include an anti-collision unit and a steering assembly. The anti-collision unit may be used to prevent the driving wheel 408 from colliding with an obstacle in front of the communication device. The steering assembly may be used to enable the driving wheel 408 to adjust the driving direction.

[0076] It is to be understood that the structure illustrated in the embodiment of the present application does not constitute a specific limitation on the communication device 40. In other embodiments of the present application, the communication device 40 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0077] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0078] The computer-readable storage medium may be the internal memory of the communication device described in the above embodiment, for example, the hard disk or memory of the communication device. The computer-readable storage medium may also be an external storage device of the communication device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the communication device.

[0079] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the communication device, etc.

[0080] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0081] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. The above embodiments are only used to illustrate the technical solution of the present application, not to limit it; although the present application is described in detail with reference to the aforementioned embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some of the technical features therein by equivalent; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of this application.

Claims

1. A communication method, applied to a first communication device, characterized in that: The method comprises: Acquire a frequency point list, wherein the frequency point list includes frequency points for synchronous frequency hopping of the first communication device and the second communication device; When a frequency hopping signal output by a signal generating device is detected, frequency hopping is performed according to the frequency points in the frequency point list, wherein the signal generating device outputs the frequency hopping signal at a preset time interval; Determine the signal quality of the frequency to which the frequency is hopped; If the signal quality meets a preset condition, data interaction is performed with the second communication device at the frequency point to which the frequency is jumped.

2. The communication method according to claim 1, characterized in that: The frequency hopping signal is generated according to the time interval and the Coordinated Universal Time (UTC) received from a satellite.

3. The communication method according to claim 1, characterized in that: The frequency points in the frequency point list have a corresponding arrangement order, and the frequency hopping according to the frequency points in the frequency point list includes: If the frequency hopping signal is a frequency hopping signal received for the first time after the first communication device is powered on, jump to an initial frequency point preset in the frequency point list; If the frequency hopping signal is not a frequency hopping signal received for the first time after the first communication device is powered on, determine the current frequency point of the first communication device, and jump to the next frequency point of the current frequency point in the frequency point list.

4. The communication method according to claim 1, wherein: Determining the signal quality of the frequency point to which the frequency hopping is performed includes: The signal quality is determined according to a noise received signal strength indicator RSSI of the frequency point to which the frequency is hopped.

5. The communication method according to claim 4, characterized in that: The method further comprises: If the RSSI values ​​of all the frequencies in the frequency list are greater than a preset threshold, data is exchanged with the second communication device via the Internet.

6. The communication method according to claim 1, wherein: The performing data interaction with the second communication device at the frequency point to which the frequency is jumped includes: At the frequency point to which the frequency is jumped, data is sent to the second communication device using the long-distance radio LoRa.

7. The communication method according to claim 6, characterized in that: The data includes a differential message, and the differential message is used to locate the second communication device.

8. The communication method according to claim 6, characterized in that: The time interval is greater than the time consumed for executing the step of determining the signal quality of the frequency point to which the frequency is hopped.

9. The communication method according to claim 1, wherein: The first communication device is a base station or a self-mobile device.

10. A communication device, characterized in that: The communication device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the communication device implements the communication method according to any one of claims 1 to 9.

11. A communication device, characterized in that: The communication device includes a signal generating device and a controller. The signal generating device is used to output a frequency hopping signal at a preset time interval; The controller is used to obtain a frequency point list, wherein the frequency point list includes frequency points for synchronous frequency hopping between the communication device and another communication device; The controller is also used to perform frequency hopping according to the frequency points in the frequency point list when detecting the frequency hopping signal output by the signal generating device; The controller is also used to determine the signal quality of the frequency point to which the frequency is jumped; The controller is further configured to perform data exchange with the other communication device at the frequency point to which the frequency is jumped if the signal quality meets a preset condition.

12. The communication device according to claim 11, characterized in that The signal generating device is a satellite positioning device, which receives the Coordinated Universal Time UTC sent from a satellite, and generates and outputs the frequency hopping signal according to the UTC at a preset time interval.

13. The communication device according to claim 11, characterized in that The communication device is a base station or a self-mobile device.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor in a communication device, the communication method according to any one of claims 1 to 9 is implemented.

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