Receiver signal redundancy processing method, system and storage medium

Abstract

The present invention provides a receiver signal redundancy processing method, system and storage medium, including: a transmitter sends a signal redundancy judgment rule to a first receiver, and sends a first control signal to the first receiver; the transmitter sends a second control signal to a second receiver, and the second receiver outputs the second control signal to the first receiver; the first receiver uses the signal redundancy judgment rule to perform redundancy processing on the first control signal from the transmitter and the second control signal from the second receiver, and outputs a target control signal. The present invention provides a variety of configurable redundant processing schemes to optimally configure the signal redundancy switching scheme to achieve the best control effect.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a receiver signal redundancy processing method, system and storage medium. Background Art

[0002] The instability of wireless communication has always been a difficult problem in the field of remote control models. Most remote control model devices do not have an automatic control system on the model side. Once the communication is broken, it means loss of control, damage, and crashing, causing injuries to people.

[0003] Signal redundancy design is a common practice to increase the stability of wireless communication. Common receiver signal redundancy devices mainly include power management modules, and some receivers also have signal redundancy functions. However, they are usually used for devices connected to controlled components. Signal redundancy devices are connected to two or more wireless receivers, one of which is the main one and the others are auxiliary. When the main receiver signal is disconnected, the auxiliary receiver signal is used for control. When the main signal is restored, the main receiver signal is switched back to control. The signal redundancy judgment process cannot be set or adjusted.

[0004] Different receiving ends have different standards for judging signal disconnection. Signal redundancy equipment usually adopts a signal disconnection standard to adapt to all wireless signals, which is often not suitable. If the judgment time is too short, frequent switching may lead to discontinuous changes in control data; if the judgment time is too long before switching, it may result in loss of rescue time.

[0005] When the main receiving end signal is restored, the main receiving end control will be switched back. If the main receiving end signal is not good and a lot of data is lost, but it is not disconnected, the control signal of the main receiving end will always be used, which will cause large jitter in the control data change. At this time, the auxiliary receiving end signal may be very good, but the auxiliary receiving end signal cannot be used, which affects the communication effect. In addition, the pursuit of control distance and control delay in the field of wireless communication often conflict. If you want to have a shorter delay, you must use a short-distance wireless configuration method. This wireless configuration is set at the time of establishing communication and cannot be changed later. This means that if you want low-latency control, the probability of losing control is much higher when the model is far away. The current technology has no way to freely switch between low-latency (short distance) and high-latency (long distance) modes. Summary of the invention

[0006] The present invention provides a receiver signal redundancy processing method, system and storage medium, aiming to solve at least one of the above technical problems.

[0007] The present invention provides a receiver signal redundancy processing method, the method is applied to a signal redundancy processing system, the system includes one or more transmitters, a first receiver and a second receiver; the transmitter is communicatively connected with the first receiver and the second receiver; the first receiver represents a receiver with a signal redundancy device function; the method includes:

[0008] Sending a signal redundancy determination rule to the first receiver through any of the transmitters, and sending a first control signal to the first receiver;

[0009] Sending a second control signal to the second receiver via any of the transmitters, and outputting the second control signal to the first receiver via the second receiver;

[0010] The first receiver uses the signal redundancy judgment rule to perform signal redundancy processing on the first control signal and the second control signal, and outputs a target control signal.

[0011] The present invention also provides a receiver signal redundancy processing system, comprising a plurality of transmitters, a first receiver and a second receiver; the transmitter is communicatively connected with the first receiver and the second receiver; the first receiver is a receiver having a signal redundancy device function; wherein:

[0012] The transmitter is used to send a signal redundancy determination rule to the first receiver, and send a first control signal to the first receiver;

[0013] The transmitter is further used to send a second control signal to the second receiver;

[0014] The second receiver is used to output the second control signal to the first receiver;

[0015] The first receiver is used to perform signal redundancy processing on the first control signal and the second control signal by using the signal redundancy judgment rule, and output a target control signal.

[0016] The present invention also provides an electronic 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 program, any of the above-mentioned receiver signal redundancy processing methods is implemented.

[0017] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the receiver signal redundancy processing method described in any one of the above is implemented.

[0018] The present invention provides a receiver signal redundancy processing method, system and storage medium, the method is applied to a signal redundancy processing system, the system includes multiple transmitters, a first receiver and a second receiver; the transmitter is connected to the first receiver and the second receiver in communication; the first receiver represents a receiver with a signal redundancy device function; the method includes: sending a signal redundancy judgment rule to the first receiver through any of the transmitters, and sending a first control signal to the first receiver; sending a second control signal to the second receiver through any of the transmitters, and sending the second control signal output to the first receiver through the second receiver; using the signal redundancy judgment rule through the first receiver, the first control signal and the second control signal are processed for signal redundancy, and the target control signal is output. The present invention provides a variety of configurable redundant processing schemes to optimally configure the signal redundancy switching scheme to achieve the best control effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a flowchart of a receiver signal redundancy processing method provided by the present invention;

[0021] Figure 2 It is one of the communication connection structure diagrams provided by an embodiment of the present invention;

[0022] Figure 3 This is a second communication connection structure diagram provided by an embodiment of the present invention;

[0023] Figure 4 This is a third communication connection structure diagram provided by an embodiment of the present invention;

[0024] Figure 5 This is a fourth communication connection structure diagram provided by an embodiment of the present invention;

[0025] Figure 6 This is a fifth communication connection structure diagram provided by an embodiment of the present invention;

[0026] Figure 7 This is the sixth communication connection structure diagram provided by an embodiment of the present invention;

[0027] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The terms used in one or more embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present invention. The singular forms of "a", "said" and "the" used in one or more embodiments of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present invention refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present invention, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present invention, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "when..." or "when...".

[0031] Figure 1 FIG. 1 is a flow chart of a receiver signal redundancy processing method provided by the present invention. Figure 1 As shown, the receiver signal redundancy processing method includes:

[0032] Step S11, sending a signal redundancy judgment rule to a first receiver through any transmitter, and sending a control signal to the first receiver;

[0033] Step S12, sending the control signal to the second receiver via any transmitter, and sending the control signal output to the first receiver via the second receiver;

[0034] Step S13: Using the signal redundancy judgment rule, the first receiver performs signal redundancy processing on the first control signal and the second control signal, and outputs a target control signal.

[0035] It should be noted that the signal redundancy processing system includes one or more transmitters, a first receiver and a second receiver, and the transmitter is connected to the first receiver and the second receiver in communication; the first receiver represents a receiver with a signal redundancy device function, including: a signal processor, a redundant receiving channel, and a switching controller. The signal processor is used to process and decode the received signal. A receiver with a signal redundancy function usually has multiple independent receiving modules, and the receiving modules may be wireless receiving or wired receiving. Each module can receive different signal sources or different copies of the same signal source. The switching controller is used to monitor the signal index and switch between different signal sources according to the preset switching logic. The user can customize the switching logic of the redundant receiver in the remote control transmitter as judgment rule 1 (output the latest data) or judgment rule 2 (output a signal with good quality), or it can be automatically executed according to the monitoring signal index. Among them, judgment rule 1: compare the time of sending the control signal, and use the last received control signal as the target control signal. Judgment rule 2: compare the signal quality of the control signal. When the signal quality of a control signal is lower than the preset value, continue to use the control signal with a signal quality higher than the preset value. The details of specific judgment rule 1 and judgment rule 2 are specifically described in the following embodiments.

[0036] When the receiver recognizes that the first control signal and the second control signal have comparable time code identifiers, judgment rule 1 (outputting the latest data) is executed, such as Figure 2 , Figure 3 , Figure 4 As shown in FIG. 1 , the RF signals received by RX come from the same transmitter. In the figure, TX represents the transmitter, RX represents the receiver with signal redundancy function, that is, the first receiver, and S-RX represents the second receiver.

[0037] When the receiver identifies that the first control signal and the second control signal do not have comparable time code identifiers, judgment rule 2 (outputting a signal with good quality) is executed, such as Figure 5 , Figure 6 As shown, at this time, the signal received by RX is not from the same transmitter; the communication between the second receiver and the first receiver is a standard signal such as S.BUS.

[0038] It should be noted that in Figures 2 to 5 In the figure, S1 is the control signal received by RX radio 1; S2 is the control signal output by S-RX, and Sa is the control signal output by RX.

[0039] exist Figure 6 and Figure 7 In the figure, S1 is the control signal received by RX radio 1; S2 is the control signal received by RX radio 2; S3 is the control signal output by S-RX, Sa is the control signal output after internal redundancy judgment, and Sb is the control signal output by RX.

[0040] Figure 2 In the middle, TX sends the control signal through radio frequency 1, which is received by the first receiver as the first control signal and by the second receiver as the second control signal. At this time, the first receiver and the second receiver use a dedicated protocol, such as i-BUS2. At this time, the second receiver receives the wireless signal and starts timing. This timing will be sent to the first receiver together with the received control signal. When executing the judgment, if the first control signal and the second control signal are sent by the same radio frequency of the same transmitter, the judgment rule 1 can be executed: compare the timing duration of the first control signal and the second control signal, and use the latest control signal as the target control signal until the latest signal waiting time exceeds the out-of-control judgment time to output the out-of-control protection value.

[0041] Figure 3 In the process, TX sends the control signal through RF 1 and the first receiver receives it as the first control signal, and sends the control signal through RF 2 and the second receiver receives it as the second control signal. At this time, the first receiver and the second receiver use a dedicated protocol, such as i-BUS2. At this time, judgment rule 1 can be executed: according to the coding of the control signal generated by the TX end, the latest control signal is judged to be used as the target control signal until the latest signal waiting time exceeds the out-of-control judgment time and the out-of-control protection value is output.

[0042] The coding of the control signal generated by the TX end as described above is: each operation cycle signal is numbered, for example 1, 2, 3 ... 999, 1, 2 ..., the numbering starts from 1 and continues to the maximum value and then starts from 1 again, ensuring that the data output transmission time of number 1 to the maximum value is greater than the signal difference that the two receiving ends may receive. In this way, when executing the judgment, if the first control signal and the second control signal are sent by different radio frequencies of the same transmitter, the difference in the numbers of the two control signals is judged. If the difference is particularly large, the smaller numbered data is the latest received, and if the difference is relatively small, the larger numbered data is the latest received.

[0043] When executing judgment rule 1 as described above, the control signal with the lowest delay is always selected when there are multiple signals. If two control signals are sent using different radio frequencies, one radio frequency can be configured for long distances and the other for low delays. This ensures that the delay is very low at close distances. If the distance is slightly longer, it does not mean that the control is lost but only some delay is reduced. In addition, when there is packet loss during transmission, the corresponding control signal is updated slowly. This method allows the use of another control signal, which minimizes the communication delay caused by packet loss.

[0044] Figure 4In the example, the transmitter connected to S-RX is not the same device as the transmitter connected to RX. At this time, it is meaningless to compare the time code identification of the first and second control signals. In this way, when executing the judgment, if the first control signal and the second control signal are not sent by the same transmitter. At this time, only judgment rule 2 is supported: compare whether the signal quality of the first control signal is lower than the preset value: if the signal quality of the first control signal is higher than the preset value, the output target control signal is the first control signal; if the signal quality of the first control signal is lower than the preset value, determine whether the signal quality of the second control signal is lower than the preset value; if the signal quality of the second control signal is higher than the preset value, the output target control signal is the second control signal; if the signal quality of the first control signal and the second control signal are both lower than the preset value and are not out of control, then according to the signal quality of the first control signal and the second control signal, the target control signal is the one with the highest signal quality, until one party loses control and uses the other party to control, and if all lose control, the out-of-control protection value is output.

[0045] Figure 5 In the example, when S-RX sends to RX, a standard protocol is used, such as S.BUS, which can support more S-RX types at this time. However, the second control signal sent to the first receiver at this time has no time code identifier, and no signal quality related parameters are defined. In this way, when executing the judgment, if the second control signal has no time code identifier and no signal quality related parameters. At this time, only judgment rule 2 is supported: compare whether the signal quality of the first control signal is lower than the preset value: if it is higher than the preset value, the output target control signal is the first control signal; if it is lower than the preset value, determine whether the second control signal is lower than the preset value, and if it is not lower, the output target control signal is the second control signal value. If the signal quality of both the first control signal and the second control signal is lower than the preset value, the first control signal value is still output until the first control signal loses control and switches to the second control signal, and both control signals lose control and output the out-of-control protection value.

[0046] The signal quality described above includes: one or more value calculation results of signal strength, RSSI, packet loss rate, signal-to-noise ratio, etc. The preset value is set by the user through the command to set the redundant function when communicating normally with the first receiver. In particular: the signal quality indicators of the two devices can be set separately. For example, for a signal with more data packets, a higher packet loss rate can be set to represent poor signal quality, while for a signal with fewer data packets, a lower packet loss rate can be set to represent poor signal quality, ensuring a higher probability that the user uses the optimal control signal to control the device, rather than just preventing the use of another control signal after one control signal is out of control.

[0047] If RX is a dual-RF receiver, first perform internal redundancy judgment and then perform judgment rule 1 or judgment rule 2. Judgment rule 1 is as follows Figure 6 , judgment rule 2 is as follows Figure 7At this time, the conditions for executing judgment rule 1 and judgment rule 2 are the same as those of the above-mentioned single RF receiver, and the internal redundancy judgment can also be set to use judgment rule 1 or judgment rule 2.

[0048] In the embodiment of the present invention, the user can set the signal redundancy function at the transmitting end, including:

[0049] When the conditions of judgment rule 1 are met, set judgment rule 1 to be turned off and only judgment rule 2 is used. If the user does not mind the communication delay, the redundancy function can be set to turn off judgment rule 1 and only execute judgment rule 2. This can reduce the frequent switching of signals and save energy.

[0050] The signal quality index of judgment rule 2 can be customized by the user, which means that the user can define the quality parameters according to the performance of the two control signals selected by the user, so as to ensure that the judgment of signal quality is more in line with reality.

[0051] The transmitter can set the communication protocol of RX and S-RX according to the signal redundancy application requirements to adapt to more redundant applications. For example: set it to a standard protocol, such as the S.BUS protocol, to adapt to more S-RX receivers and use it with RF modules from various manufacturers; set it to a dedicated protocol, such as the i-BUS2 protocol. At this time, you can also combine the transmitter to use a single RF, send the S-RX received signal timing, use a transmitter with dual RF to send data packet encoding, and use two transmitters without sending data packet encoding, reducing the bandwidth occupied by sending unnecessary data.

[0052] In addition, in signal redundancy applications, a transmitter is usually used to control the model, but in some special fields, when we need two people to control the model, the present invention can also be applied. At this time, the signal switching rule can be set to transmitter-side control, or the signal quality index can be adjusted in real time to change the signal judgment rule and then switch the control. It should be noted that the signal redundancy function setting in this solution only supports the transmitter setting connected to RX, but the transmitter connected to S-RX can actively create signal quality reduction or increase events to achieve control switching, such as shutting down the radio frequency (active loss of control), reducing or restoring the transmission power, and reducing / restoring the data transmission frequency.

[0053] In one embodiment, as a specific example: refer to Figure 4 , Figure 4This is the third communication connection structure diagram provided by an embodiment of the present invention, wherein the judgment rule 1 is set to judge the newness and oldness of the data packet: it can analyze the newness and oldness of the signal data packet to determine which data packet to use for output. The remote control can mark the time code of the control signal generated at each moment, for example: the data generator at the transmitting end encodes the data, and different radio frequency transmission and reception will not change this code, and the newness and oldness are obtained by comparing the codes. It is also possible to use the method of sending a timestamp by the transmitting end signal. In addition, the time when the data packet is received can also be judged: for signals with the same frequency band and the same modulation and demodulation configuration, they will be received at the same time if they are sent at the same time, and the update time of the received signal at the receiving end can be directly judged to determine the newness and oldness. It should be noted that judgment rule 1 does not limit this function to only the internal dual radio frequency. If the signal from the SRX and the RX control signal are the same control source, the old and new capabilities of the control signal can be parsed. The signal from the SRX and the RX wireless signal can also be controlled by the latest data based on judgment rule 1 to achieve redundant judgment of the newness and oldness level of the data packet.

[0054] In more detail: The specific implementation method of packet level redundancy determination is:

[0055] Method 1: Encode the transmitted data packets. When the redundant judgment signals come from the same transmitter, the data packets can be encoded before transmission. The receiving end can judge the encoding to know whether the data packets are new or old.

[0056] Method 2: Timestamp the sent data packets. If the transmitter has the time management capability, it can automatically encode according to the signal generation time. The receiver can determine whether it is the latest based on this time code.

[0057] Method 3: For signals sent by the same transmitter and the same modulation method, they are received by the receiver at the same time. This type of signal can be directly judged by the length of time the receiving end receives the signal to obtain the latest signal. Based on this, there can be more data packet newness judgment methods that are not limited to this.

[0058] The redundancy judgment of judgment rule 1 not only provides an extra guarantee for the control signal, but also allows users to use lower latency control at any time. Now many signal redundancies use 2.4G and 900M dual-band redundancy. Or signal redundancy of different modulation modes in the 2.4G band. However, it is not certain which of the two signals has a lower delay when dealing with different electromagnetic environments and different control distances. Using data packet level redundancy judgment can ensure that the controlled device at the receiving end always uses the latest received signal control model, which can ensure the lowest latency.

[0059] Set judgment rule 2 to judge the signal quality: if the newness of the signals received by the two receivers cannot be compared, the signal quality is used for judgment. The judgment method is slightly different according to the different signal input protocols of the S-RX (second receiver).

[0060] 1: The input signal is the ibus2 protocol, which carries signal quality data, such as signal strength, packet loss rate, received signal power and other information. The signal quality data can be statistically analyzed over a period of time, and a signal control model with better signal quality can be used. This can actively avoid poor-quality signals with strong interference and high packet loss rates, so that the model can switch to a good signal in advance without entering a state of being out of control.

[0061] 2: The input signal is ibus / sbus protocol: it only carries information that can identify whether it is out of control, but this type of protocol is a public protocol and is supported by many devices. Supporting these signal redundancies can also make our applications more extensive. For receivers with built-in dual RF, this signal redundancy is an additional function, which can provide an additional layer of insurance on the basis of data packet level redundancy.

[0062] In addition, the signal redundancy of the present invention, its practical application example should be that the remote control sends a signal to S-RX / RX. S-RX and RX can be paired with different transmitters to realize relay control / assistant mode. In addition, the signal redundancy of the present invention, its practical application example can also be that S-RX and RX are paired with transmitters controlled by two people to realize relay control / assistant mode. RX will always transmit back the source of the output control signal. If IBUS2 is connected, SRX will also transmit back the source of the output control signal, so that the TX end knows whether it is responsible for the control task. Secondly, the signal redundancy judgment rule can be pre-set by any transmitter that successfully communicates, or it can be directly executed by the transmitter that is communicating in real time to switch the control source output.

[0063] The embodiment of the present invention provides a variety of configurable redundant processing schemes to optimally configure the signal redundant switching scheme and achieve the best control effect.

[0064] The receiver signal redundancy processing system provided by the present invention is described below. The receiver signal redundancy processing system described below and the receiver signal redundancy processing method described above can be referred to each other.

[0065] A receiver signal redundancy processing system according to an embodiment of the present invention comprises one or more transmitters, a first receiver and a second receiver; the transmitter is communicatively connected with the first receiver and the second receiver; the first receiver is a receiver having a signal redundancy device function; wherein:

[0066] The transmitter is used to send a signal redundancy determination rule to the first receiver, and send a first control signal to the first receiver;

[0067] The transmitter is further used to send a second control signal to the second receiver;

[0068] The second receiver is used to output the second control signal to the first receiver;

[0069] The first receiver is used to perform signal redundancy processing on the first control signal and the second control signal by using the signal redundancy judgment rule, and output a target control signal.

[0070] It should be noted here that the above-mentioned system provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0071] Figure 8 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 8 As shown, the electronic device may include: a processor 310, a memory 320, a communication interface 330 and a communication bus 340, wherein the processor 310, the memory 320 and the communication interface 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 320 to execute the receiver signal redundancy processing method.

[0072] In addition, the logic instructions in the above-mentioned memory 320 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0073] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the receiver signal redundancy processing method provided by the above methods.

[0074] The system embodiment described above is merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0075] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A receiver signal redundancy processing method, characterized in that: The method is applied to a signal redundancy processing system, the system comprising one or more transmitters, a first receiver and a second receiver; the transmitter is communicatively connected with the first receiver and the second receiver; The first receiver represents a receiver having a signal redundancy device function; the method comprises: Sending a signal redundancy determination rule to the first receiver through any of the transmitters, and sending a first control signal to the first receiver; Sending a second control signal to the second receiver via any of the transmitters, and outputting the second control signal to the first receiver via the second receiver; Using the signal redundancy judgment rule, the first receiver performs signal redundancy processing on the first control signal and the second control signal, and outputs a target control signal; The signal redundancy judgment rules include: Judgment rule 1: Compare the sending time of the control signal and use the last received control signal as the target control signal; Judgment rule 2: Compare the signal quality of the control signal and continue to use the control signal with a signal quality higher than the preset value; Also includes: When the signal protocol is ibus2: For the first control signal and the second control signal being sent by the same radio frequency of the same transmitter: when the setting supports judgment rule 1, execute judgment rule 1: compare the timing durations of the first control signal and the second control signal, and use the latest control signal as the target control signal, wherein the first receiver and the second receiver start timing after receiving the signal until they receive another signal and restart timing, and the second receiver sends the control signal and the corresponding timing to the first receiver; For the case where the first control signal and the second control signal are sent by different radio frequencies of the same transmitter: when support for judgment rule 1 is set, judgment rule 1 is executed: the data packet encodings of the first control signal and the second control signal are compared, and the latest control signal is used as the target control signal; at this time, the transmitter encodes each data packet generated and sends it out by two radio frequencies respectively, and the first receiver has the ability to parse this encoding.

2. The receiver signal redundancy processing method according to claim 1, characterized in that: Comparing the sending time of the control signal includes comparing the receiving time of the signal and the data packet encoding corresponding to the control signal: Compare the received signal time: compare the timing duration of the first control signal and the second control signal, and use the latest control signal as the target control signal; Compare the data packet codes corresponding to the control signals: compare the data packet codes of the first control signal and the second control signal, and use the latest control signal as the target control signal.

3. The receiver signal redundancy processing method according to claim 1, characterized in that: The control signal quality indicator is user-defined, and specific signal quality indicators may be defined for the first control signal and the second control signal, respectively.

4. The receiver signal redundancy processing method according to claim 1, characterized in that: The signal quality includes one or more value calculation results of RSSI, packet loss rate, and signal-to-noise ratio.

5. The receiver signal redundancy processing method according to claim 3, characterized in that: The signal redundancy judgment rule is set by the transmitter in real time, including setting the signal protocol and the signal redundancy judgment rule under the redundant signal protocol.

6. The receiver signal redundancy processing method according to claim 1, characterized in that: When the signal protocol is S.BUS: When the first control signal and the second control signal do not have a comparison time code identifier, and the second control signal only has an out-of-control mark but no relevant data on the signal quality, execute judgment rule 2: compare the signal quality of the control signals, and continue to use control signals with signal quality higher than the preset value, wherein only the signal quality of the first control signal is compared.

7. A receiver signal redundancy processing system, characterized in that: The invention comprises one or more transmitters, a first receiver and a second receiver; the transmitter is in communication connection with the first receiver and the second receiver; the first receiver is a receiver having a signal redundancy device function; wherein: The transmitter is used to send a signal redundancy determination rule to the first receiver, and send a first control signal to the first receiver; The transmitter is further used to send a second control signal to the second receiver; The second receiver is used to output the second control signal to the first receiver; The first receiver is used to perform signal redundancy processing on the first control signal and the second control signal by using the signal redundancy judgment rule, and output a target control signal; The signal redundancy judgment rules include: Judgment rule 1: Compare the sending time of the control signal and use the last received control signal as the target control signal; Judgment rule 2: Compare the signal quality of the control signal and continue to use the control signal with a signal quality higher than the preset value; Also includes: When the signal protocol is ibus2: For the first control signal and the second control signal being sent by the same radio frequency of the same transmitter: when the setting supports judgment rule 1, execute judgment rule 1: compare the timing durations of the first control signal and the second control signal, and use the latest control signal as the target control signal, wherein the first receiver and the second receiver start timing after receiving the signal until they receive another signal and restart timing, and the second receiver sends the control signal and the corresponding timing to the first receiver; For the case where the first control signal and the second control signal are sent by different radio frequencies of the same transmitter: when support for judgment rule 1 is set, judgment rule 1 is executed: the data packet encodings of the first control signal and the second control signal are compared, and the latest control signal is used as the target control signal; at this time, the transmitter encodes each data packet generated and sends it out by two radio frequencies respectively, and the first receiver has the ability to parse this encoding.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the receiver signal redundancy processing method according to any one of claims 1 to 6 is implemented.

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