RF control system control delay self-measurement method, device, storage medium and equipment

Abstract

The present invention belongs to the field of wireless control technology, and relates to a method, device, storage medium and equipment for self-measurement of control delay of an RF control system. The method comprises: when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, according to the user operation action, a control radio frequency signal including a data packet number and a preset sending time reference point is generated, and the generation time is determined; according to the preset sending time reference point, the control radio frequency signal, the radio frequency signal confirming the receiving request and the radio frequency signal confirming the control request are sent to the RF receiving system; according to the preset sending time reference point and the first receiving time reference point of the confirmation reception fed back by the RF receiving system, the transmission time is determined; according to the generation time, the transmission time, the second receiving time reference point of the control radio frequency signal fed back by the RF receiving system, and the preset sending time reference point, the control delay of the RF control system is determined. The present invention can accurately measure the control delay of the RF control system.

Description

Technical Field

[0001] The present invention belongs to the field of wireless control technology, and in particular relates to a method, device, storage medium and equipment for self-measuring control delay of an RF control system. Background Art

[0002] In the field of wireless or radio frequency (RF) control technology, the RF control system is a key device for controlling controlled models such as model aircraft, drones, and unmanned vehicles. The accuracy of its functions is crucial to the safety and controllability of the controlled equipment. Operators usually trigger user operation instructions to the transmitter based on the real-time status of the controlled equipment, so that the RF control system controls and performs corresponding actions according to the user operation instructions. For example, in the flight operation of the model aircraft, the operator ensures that the model aircraft responds in time, performs precise actions such as rolling, rotating, and diving, or ensures the normal and safe flight of the model aircraft. In actual applications, from the RF control system receiving the user operation instruction to controlling the controlled device to perform the corresponding action, the RF control system and the RF receiving system on the controlled device need to perform instruction processing and signal transmission, and there is a certain control delay, which causes the operator's operation to be out of step with the actual state of the controlled device, resulting in low control accuracy of the RF control system. Therefore, measuring the control delay of the RF control system so that the operator can adjust the operation of the controlled device according to the control delay is a technical problem that needs to be solved in this field. Summary of the invention

[0003] The main purpose of the present invention is to provide a method, device, storage medium and equipment for self-measurement of control delay of an RF control system, aiming to accurately measure the control delay of the RF control system, ensure that the operational control actions of the RF control system are synchronized with the actual state of the controlled device, thereby improving the control accuracy of the RF control system.

[0004] To achieve the above object, the present invention provides a RF control system control delay self-measurement method, which is applied to the RF control system, comprising:

[0005] When the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, collect user operation actions, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation actions, and determine the generation time consumption corresponding to the control RF signal; generate a corresponding RF signal for confirming a reception request and a RF signal for confirming a control request according to the control RF signal, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device;

[0006] According to the preset sending time reference point, the control RF signal, the RF signal for confirming the reception request and the RF signal for confirming the control request are sent to the RF receiving system; a first receiving time reference point of the RF signal for confirming the reception fed back by the RF receiving system is determined, and according to the preset sending time reference point and the first receiving time reference point, a transmission time consumption corresponding to the control RF signal is determined; the RF signal for confirming the control fed back by the RF receiving system is received and parsed to obtain a specific data packet number and a specific preset sending time reference point, and a second receiving time reference point corresponding to the specific RF signal for confirming the control is determined;

[0007] According to the specific data packet number, its corresponding generation time and transmission time are queried, and according to the queried generation time, the queried transmission time, the second receiving time reference point and the specific preset sending time reference point, the control delay of the RF control system is determined, and the control delay is the delay for the RF control system to control the controlled device according to a specific user operation action.

[0008] Further, the determining, according to the preset sending time reference point and the first receiving time reference point, the transmission time consumption corresponding to the control radio frequency signal includes:

[0009] Determine a first difference between the first receiving time reference point and the preset sending time reference point, and determine half of the first difference as the transmission time consumption corresponding to the control radio frequency signal;

[0010] The method of querying the generation time and transmission time corresponding to the specific data packet number, and determining the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point, and the specific preset sending time reference point, includes:

[0011] Determine a second difference between the second receiving time reference point and the specific preset sending time reference point; and calculate a third difference between the second difference and the query transmission time;

[0012] The sum of the query generation time and the third difference is determined as the control delay of the RF control system.

[0013] Further, generating a control radio frequency signal including a data packet number and a preset sending time reference point according to the user operation action, and determining the generation time corresponding to the control radio frequency signal, includes:

[0014] Collecting user operation actions, parsing the user operation actions into digital signals, and determining the sampling time corresponding to the collection and parsing of the user operation actions;

[0015] According to the digital signal, generate a control channel signal including a data packet number by calculation; and determine the calculation time consumed for obtaining the control channel signal by calculation;

[0016] Modulating the control channel signal to generate a control radio frequency signal including a data packet number and a preset sending time reference point, and determining the radio frequency driving time consumed to generate the control radio frequency signal;

[0017] Determine the generation time corresponding to the control RF signal according to the sampling time, the calculation time, and the RF driving time;

[0018] Alternatively, the determining the generation time consumption corresponding to the control radio frequency signal includes:

[0019] Determining a collection time reference point corresponding to the user operation action; and determining a generation time reference point of the control radio frequency signal;

[0020] Determining the generation time consumption corresponding to the control radio frequency signal according to the acquisition time reference point and the generation time reference point;

[0021] The method further comprises:

[0022] Display the sampling time, the calculation time, and the RF driving time;

[0023] Determine two adjacent acquisitions and resolve the user operation action into sampling time reference points corresponding to digital signals;

[0024] The difference between two adjacent sampling time reference points is determined as the sampling time interval and displayed;

[0025] Determine and display the number of sampled packet losses for parsing a specific user operation action received into a specific digital signal;

[0026] Determine and display the number of lost packets generated by computing a specific digital signal including a specific control channel signal;

[0027] The number of transmit packet losses for sending a specific control RF signal to the RF receiving system is determined and displayed.

[0028] Furthermore, the method further comprises:

[0029] When both the RF control system and the RF receiving system are provided with an external clock module with the function of real-time recording and saving a specific time point, a control RF signal including a data packet number and a RF signal of a request for a time reference point of a corresponding channel-bearing signal are generated according to the user operation action, and the acquisition time reference point corresponding to the user operation action is determined;

[0030] Sending the control radio frequency signal and the radio frequency signal for issuing a time reference point request to the RF receiving system;

[0031] Receive and parse the radio frequency signal of the sending time reference point fed back by the RF receiving system to obtain a specific data packet number and a specific sending time reference point, wherein the specific sending time reference point is a sending time reference point of the channel bearer signal corresponding to the control radio frequency signal containing the specific data packet number;

[0032] Determining a specific collection time reference point corresponding to a specific user operation action according to the specific data packet number;

[0033] A control delay of the RF control system is determined according to the specific acquisition time reference point and the specific emission time reference point.

[0034] Furthermore, the method further comprises:

[0035] Displaying the control delay of the RF control system;

[0036] Determine the RF receiving system parsing output time consumption according to the second receiving time reference point and the first receiving time reference point; or determine the RF receiving system parsing output time consumption according to the preset sending time reference point, the second receiving time reference point and the transmission time consumption;

[0037] Display the generation time, the transmission time, and the reception, analysis and output time;

[0038] Sending a radio frequency signal of a channel spacing request and a radio frequency signal of a packet loss data request to the RF receiving system;

[0039] Receive and analyze the channel interval radio frequency signal fed back by the RF receiving system, obtain the channel time interval between two adjacent transmissions of the channel bearing signal by the RF receiving system to the controlled device and display it;

[0040] Receive and analyze the packet loss data RF signal fed back by the RF receiving system, obtain the number of received packet losses of the RF receiving system receiving the control RF signal and the number of transmitted packet losses of the channel bearer signal transmitted to the controlled device and display them.

[0041] To achieve the above-mentioned purpose, the present invention also provides a RF control system control delay self-measurement method, which is applied to an RF receiving system, comprising: when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, receiving a control radio frequency signal including a data packet number and a preset sending time reference point, a radio frequency signal corresponding to the control radio frequency signal confirming a reception request, and a radio frequency signal confirming a control request, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control radio frequency signal to transmitting a channel-bearing signal to a controlled device;

[0042] Feedback a received RF signal to the RF control system for the control RF signal, so that the RF control system determines the transmission time corresponding to the control RF signal according to a preset sending time reference point corresponding to the control RF signal and a first receiving time reference point of the received RF signal;

[0043] The control RF signal is parsed to obtain a control channel signal, the control channel signal is parsed to obtain a channel bearer signal, the channel bearer signal is transmitted to the controlled device, and a RF signal for confirmation control is generated and fed back to the RF control system, so that the RF control system obtains a specific data packet number and a specific preset sending time reference point according to the specific RF signal for confirmation control, determines a second receiving time reference point corresponding to the specific RF signal for confirmation control, queries the corresponding generation time and transmission time according to the specific data packet number obtained by the parsing, and determines the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the preset sending time reference point, wherein the control delay is the delay for the RF control system to control the controlled device according to a specific user operation action.

[0044] To achieve the above object, the present invention provides a RF control system control delay self-measurement device, the device is deployed in the RF control system, and includes:

[0045] A generating unit, configured to collect user operation actions when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points but have the function of recording time differences, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation action, and determine the generation time consumption corresponding to the control RF signal; generate a corresponding RF signal for confirming a reception request and a RF signal for confirming a control request according to the control RF signal, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device;

[0046] a transmission unit, configured to send the control RF signal, the RF signal for confirming the reception request, and the RF signal for confirming the control request to the RF receiving system according to the preset sending time reference point; determine a first receiving time reference point of the RF signal for confirming the reception fed back by the RF receiving system, and determine the transmission time consumption corresponding to the control RF signal according to the preset sending time reference point and the first receiving time reference point; and a parsing unit, configured to receive and parse the RF signal for confirming the control fed back by the RF receiving system, obtain a specific data packet number and a specific preset sending time reference point, and determine a second receiving time reference point corresponding to the RF signal for confirming the control;

[0047] A determination unit is used to query the corresponding generation time and transmission time according to the specific data packet number, and determine the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the specific preset sending time reference point, wherein the control delay is the delay for the RF control system to control the controlled device according to a specific user operation action.

[0048] To achieve the above object, the present invention provides a RF control system control delay self-measurement device, which is deployed in an RF receiving system and includes:

[0049] A receiving unit, configured to receive a control RF signal including a data packet number and a preset sending time reference point, a RF signal for confirming a reception request and a RF signal for confirming a control request corresponding to the control RF signal, when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving a specific time point but have the function of recording a time difference, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed a control action from receiving the control RF signal to transmitting a channel-bearing signal to the controlled device;

[0050] a sending unit, configured to feed back a radio frequency signal confirming receipt to the RF control system with respect to the control radio frequency signal, so that the RF control system determines the transmission time corresponding to the control radio frequency signal according to a preset sending time reference point corresponding to the control radio frequency signal and a first receiving time reference point of the radio frequency signal confirming receipt;

[0051] A parsing unit is used to parse the control RF signal to obtain a control channel signal, parse the control channel signal to obtain a channel bearer signal, transmit the channel bearer signal to the controlled device, and generate a radio frequency signal for confirmation control and feed it back to the RF control system, so that the RF control system can parse the specific radio frequency signal for confirmation control to obtain a specific data packet number and a specific preset sending time reference point, determine a second receiving time reference point corresponding to the specific radio frequency signal for confirmation control, query the corresponding generation time and transmission time according to the specific data packet number obtained by the parsing, and determine the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the preset sending time reference point, wherein the control delay is the delay for the RF control system to control the controlled device according to a specific user operation action.

[0052] In addition, to achieve the above-mentioned purpose, the present invention provides a storage medium, on which is stored a RF control system control delay self-measurement program, and when the program is executed by a processor, the steps of the RF control system control delay self-measurement method as described above are implemented.

[0053] In addition, to achieve the above-mentioned purpose, the present invention provides an RF control system controlled delay self-measurement device, and the RF control system controlled delay self-measurement device includes: a memory, a processor, and an RF control system controlled delay self-measurement program stored in the memory and executable on the processor, and when the RF control system controlled delay self-measurement program is executed by the processor, the steps of the RF control system controlled delay self-measurement method as described above are implemented.

[0054] The present invention provides a method, device, storage medium and equipment for self-measurement of control delay of an RF control system. In the present invention, when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, the RF control system can collect user operation actions, generate a control radio frequency signal including a data packet number and a preset sending time reference point according to the user operation action, and determine the generation time corresponding to the control radio frequency signal. At the same time, the RF control system can generate and send a radio frequency signal to the RF receiving system to confirm the reception request, and send the control radio frequency signal and the radio frequency signal to the RF receiving system according to the preset sending time reference point; so that after receiving the control radio frequency signal, the RF receiving system feeds back to the RF control system to confirm the reception of the radio frequency signal. Therefore, the RF control system can determine the transmission time corresponding to the control radio frequency signal according to the first receiving time reference point corresponding to the confirmed received radio frequency signal and the preset sending time reference point corresponding to the control radio frequency signal. In addition, the RF control system generates an RF signal for confirming the control request and sends it to the RF receiving system, so that after receiving the RF signal for the control request, the RF receiving system can complete the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device, and feed back the RF signal for confirming the control to the RF control system, so that the RF control system can query the corresponding generation time and transmission time according to the data packet number, and determine the control delay of the RF control system according to the generation time, the transmission time, the second receiving time reference point and the preset sending time reference point, and complete the precise measurement of the control delay of the RF control system, which can help the operator understand the time required for the controlled device to actually parse and output the user operation action triggered by operating the RF control system, better grasp the operation timing, ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, and thus improve the control accuracy of the RF control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic diagram of a flow chart of a method for self-measuring delay control of an RF control system provided by an embodiment of the present invention;

[0056] Figure 2 A flow chart of another RF control system control delay self-measurement method provided by an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of the structure of a RF control system control delay self-measurement device provided by an embodiment of the present invention;

[0058] Figure 4 A schematic diagram of the structure of another RF control system control delay self-measurement device provided by an embodiment of the present invention;

[0059] Figure 5 A schematic diagram of the structure of a RF control system control delay self-measurement device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0060] In order to make the technical problems, technical solutions and beneficial effects to be solved by 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.

[0061] To achieve the above purpose, please refer to Figure 1 The embodiment of the present invention provides a method for self-measuring control delay of an RF control system, which can be applied to an RF receiving system, and can be specifically applied to an RF control system control delay self-measuring device deployed on an RF control system, including:

[0062] Step 101: When the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points but have the function of recording time differences, collect user operation actions, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation actions, and determine the generation time consumption corresponding to the control RF signal; and generate a corresponding RF signal for confirming a reception request and a RF signal for confirming a control request according to the control RF signal.

[0063] The confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control radio frequency signal to transmitting the channel-bearing signal to the controlled device.

[0064] It should be noted that the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, that is, the RF control system and the RF receiving system cannot record and save the specific time of date (year, month, day), hour, minute, second, millisecond, etc. in real time, but in the example of the present invention, the system clocks of the RF control system and the RF receiving system have the function of recording time difference, which can specifically be the function of recording the time difference of millisecond level or microsecond level, and the RF control system and the RF receiving system can realize recording the time interval between two events or two event signals. In specific practical applications, the system clocks of the RF control system and the RF receiving system can be the time interval recording realized by the crystal oscillator clock, and the RF control system or the RF receiving system provides accurate clock signals through the crystal oscillator clock to coordinate the work of various components, such as modulation and demodulation, data transmission, channel control, etc. The crystal oscillator can provide a high-precision clock signal to ensure the stable and reliable operation of the RF control system or the RF receiving system. Specifically, the RF control system and the RF receiving system can both record a crystal oscillation cycle number 1 corresponding to a time reference point 1 when the first event signal is triggered, and record a crystal oscillation cycle number 2 corresponding to a time reference point 2 when the second event signal is triggered, and then determine the time interval based on the period difference between cycle number 2 and cycle number 1.

[0065] Alternatively, the time difference recording function can be realized by a pulse signal generator, a timer, or a program written on a single-chip microcomputer set inside the RF control system. For example, when the first event occurs, a pulse signal generator is started. When the second event occurs, the pulse signal generator is stopped, and the number of cycles of the pulse signal is recorded, and the time difference is calculated by the number of cycles. Alternatively, when the first event occurs, the trigger signal starts an internal timer. When the second event occurs, the trigger signal stops the timer and records the time reference point of the timer, which is the time difference between the two events. Alternatively, by writing a program, the RF control system or the RF receiving system single-chip microcomputer starts the timer when receiving the first event signal, stops the timer when receiving the second event signal, and records the time difference.

[0066] In the embodiments of the present disclosure, the user operation action can be that the operator obtains information such as model images and sounds through human sensory organs such as human eyes and ears, and the body transmits the sensory information to the analysis and processing organs for analysis and processing, and then controls the body to perform actions to operate the transmitter controls. The user operation action can be represented in the form of an electrical signal. Specifically, the RF control system can have built-in sensors (such as joysticks, buttons, potentiometers, etc.) to detect user operation actions. For example, when the user pushes the joystick, the joystick position sensor converts the position information of the joystick into an electrical signal. After collecting the user operation action, the transmitter electronic part converts the sampled user operation action into a digital signal. Specifically, the RF control system can collect the user operation action in the form of an electrical signal through the internal microcontroller, and convert the collected electrical signal into a digital signal through an analog-to-digital converter.

[0067] It should be noted that after obtaining the digital signal, the software part of the RF control system can calculate the channel value according to the user setting and the sampled digital signal to generate a control channel signal; after obtaining the control channel signal, the RF module of the RF control system can modulate the calculated channel value or control channel signal into a control RF signal or a control wireless signal. After obtaining the control RF signal, the RF control system can send the control RF signal to the RF receiving system; after receiving the control RF signal, the RF receiving system will demodulate the control RF signal to obtain the control channel signal, parse the control channel signal to obtain the channel bearer signal, and transmit the channel bearer signal to the controlled device. The control channel signal can be specifically represented by a digital signal channel value; the RF receiving system can process the control channel signal through a serial port interface or a wired protocol, obtain the channel bearer signal and transmit it to the controlled device; the controlled device performs an action according to the received channel bearer signal. Specifically, the RF receiving system can carry the digital signal channel value through a serial port interface or a wired protocol to generate a channel bearer signal, which can be a channel pulse signal, or a channel S.BUS signal or an i-BUS signal, and then transmit the channel bearer signal to the controlled device; so that the controlled device performs an action according to the received channel bearer signal. The RF control system can control multiple controlled devices on the controlled model to jointly achieve the control effect the user wants, such as generating model images, sounds and other information.

[0068] Among them, the generation time corresponding to the control RF signal is the time taken by the RF control system from collecting user operation actions to generating the control RF signal. The embodiment of the present invention can realize that the RF control system determines the generation time. Specifically, it can determine the first receiving time reference point and the preset sending time reference point by executing the acquisition function of the generation time, determine the first difference between the first receiving time reference point and the preset sending time reference point, and determine half of the first difference as the transmission time corresponding to the control RF signal. The RF signal confirming the reception request is used to indicate or request the RF receiving system to feedback the reception information after receiving the control RF signal, so that the RF control system knows that it has successfully sent the control RF signal and calculates the transmission time of the control RF signal.

[0069] In the embodiments of the present disclosure, in order to ensure the transmission effect of the control RF signal, the control RF signal is usually encapsulated into a data packet for transmission. The data packet coding can be arranged separately when the data packet is encapsulated, and the position of the data packet number can be determined according to the communication protocol adopted by the RF control system for receiving. It can be located at the head or tail of the data frame, or it can be dispersed in different parts of the data frame to achieve better error detection and correction functions.

[0070] In an embodiment of the present disclosure, in order to ensure the calculation accuracy of the control delay, the RF signal for confirming the reception request can be a RF signal for instantly confirming the reception request. That is, by instantly confirming the reception request, the RF receiving system can immediately feedback the reception confirmation RF signal to the RF control system after receiving the control RF signal and the RF signal for instantly confirming the reception request. At this time, the RF control system immediately records the reception time reference point corresponding to the confirmed reception RF signal.

[0071] In an embodiment of the present disclosure, the RF signal confirming the control request may include a channel value, so that the RF receiving system parses the RF signal to obtain the channel value. When the channel value is sent by a signal carrying the channel value, the time information T1+data packet number of the received RF control system is transmitted back to the RF control system.

[0072] Step 102: according to a preset sending time reference point, a control RF signal, a RF signal confirming a reception request, and a RF signal confirming a control request are sent to an RF receiving system; a first receiving time reference point of the RF signal confirming reception fed back by the RF receiving system is determined, and according to the preset sending time reference point and the first receiving time reference point, a transmission time corresponding to the control RF signal is determined.

[0073] In an embodiment of the present disclosure, step 102 may specifically be: according to a preset sending time reference point, sending a control RF signal, a RF signal for confirming a receiving request, and a RF signal for confirming a control request to an RF receiving system; receiving a RF signal for confirming receiving fed back by the RF receiving system, determining a first receiving time reference point corresponding to the confirmed receiving RF signal, and determining the transmission time corresponding to the control RF signal according to the preset sending time reference point and the first receiving time reference point. Specifically, according to the preset sending time reference point, the control RF signal, the RF signal for confirming a receiving request, and the RF signal for confirming a control request may be sent to the RF receiving system at the same time, or the control RF signal, the RF signal for confirming a receiving request, and the RF signal for confirming a control request may be combined into one RF signal and sent to the RF receiving system, wherein one RF signal includes a preset sending time reference point T1, a data packet number, and a channel value. Among them, the preset sending time reference point may be set according to user needs, and the preset sending time reference point may be the current time reference point or another time.

[0074] Among them, the transmission time is the time taken for the RF control system to send the control RF signal to the RF receiving system to receive the control RF signal. The step of determining the transmission time corresponding to the control RF signal according to the preset sending time reference point and the first receiving time reference point can specifically include: determining the first difference between the first receiving time reference point and the preset sending time reference point, and determining half of the first difference as the transmission time corresponding to the control RF signal. Specifically, the first receiving time reference point can be recorded as T2, and the preset sending time reference point can be recorded as T1, then the transmission time can be: (T2-T1) / 2. Specifically, the transmission time acquisition function can be executed. In the example of the present invention, the RF control system determines the receiving time reference point corresponding to the confirmed receiving RF signal by sending a RF signal confirming the receiving request to the RF receiving system, and determines the transmission time corresponding to the control RF signal according to the preset sending time reference point and the first receiving time reference point. It can ensure that the clock module based on the RF control system records the reference alignment of the receiving time reference point and the sending time reference point, so as to ensure that the accurate transmission time is determined, and overcome the defect of no ultra-high synchronization clock between the RF control system and the RF receiving system.

[0075] In the embodiments of the present disclosure, the RF control system usually collects many different user operation actions, generates different control RF signals including different data packet numbers and different preset emission time reference points, and sends different control RF signals to the RF receiving system. In order to avoid the RF control system from calculating the control delay incorrectly, the RF control system can establish a first association relationship between the data packet number and the generation and transmission time of the corresponding control RF signal, and establish a second association relationship between the data packet number and the transmission time of the corresponding control RF signal; so that the RF control system saves the generation time and transmission time corresponding to different data packet numbers and different control RF signals including different data packet numbers. When calculating the control delay corresponding to a certain user operation action, the accurate generation time and transmission time are matched between the RF control system and the RF receiving system through the data packet number included in the control RF signal corresponding to the certain user operation action.

[0076] Step 103: Receive and parse the radio frequency signal of the specific confirmation control fed back by the RF receiving system, obtain the specific data packet number and the specific preset sending time reference point, and determine the second receiving time reference point corresponding to the radio frequency signal of the specific confirmation control; query the corresponding generation time and transmission time according to the specific data packet number, and determine the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the specific preset sending time reference point.

[0077] The control delay is the delay of the RF control system controlling the controlled device according to a specific user operation action.

[0078] In a specific embodiment of the present disclosure, the step of querying the corresponding generation time and transmission time according to a specific data packet number, and determining the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the specific preset sending time reference point can specifically include: determining the second difference between the second receiving time reference point and the specific preset sending time reference point; and calculating the third difference between the second difference and the queried transmission time; and determining the sum of the generation time and the third difference as the control delay of the RF control system. Specifically, the generation time can be recorded as T0, the second receiving time reference point can be recorded as T3, and the control delay time td=T0+T3-T1-t4=T0+T3-T1-(T2-T1) / 2.

[0079] In a specific embodiment of the present disclosure, in order to more accurately determine the generation time corresponding to the control RF signal, the step of generating a control RF signal including a data packet number and a preset emission time reference point according to a user operation action, and determining the generation time corresponding to the control RF signal can specifically include: collecting the user operation action, parsing the user operation action into a digital signal, and determining the sampling time corresponding to the user operation action from collection to parsing; generating a control channel signal including a data packet number according to the digital signal; and determining the operation time of the control channel signal obtained by operation; modulating the control channel signal to generate a control RF signal including a data packet number and a preset emission time reference point, and determining the RF driving time of generating the control RF signal; determining the generation time corresponding to the control RF signal according to the sampling time, the operation time, and the RF driving time. Alternatively, the step of determining the generation time corresponding to the control RF signal can specifically include: determining the collection time reference point corresponding to the user operation action; and determining the generation time reference point of the control RF signal; determining the generation time corresponding to the control RF signal according to the collection time reference point and the generation time reference point. Specifically, the sampling time is recorded as t1, the calculation time is recorded as t2, and the RF driving time is recorded as t3, then T0=t1+t2+t3. Control delay time td=t1+t2+t3 + T3-T1-(T2-T1) / 2.

[0080] In an embodiment of the present invention, first, the specific process of determining the sampling time consumption may be: recording or obtaining the acquisition time reference point of the user operation action and the analysis time reference point of the digital signal; then determining the difference between the analysis time reference point of the digital signal and the acquisition time reference point of the user operation action as the sampling time consumption. The above steps may be performed by a sampling time acquisition function or program or an internal timer or a pulse signal generator to determine the sampling time consumption. Secondly, the specific process of determining the operation time consumption may be: recording and obtaining the generation time reference point of the control channel signal containing the data packet number generated according to the digital signal operation, that is, recording the generation time reference point of the control channel signal; determining the operation time consumption according to the generation time reference point of the control channel signal and the analysis time reference point of the digital signal; specifically, determining the difference between the generation time reference point of the control channel signal and the analysis time reference point of the digital signal as the operation time consumption. The above steps may be performed by a calculation time acquisition function or program or an internal timer or a pulse signal generator to determine the operation time consumption. Again, the specific process of RF driving time consumption can be: recording and obtaining the generation time reference point of the control channel signal modulated to generate the control RF signal, that is, recording the generation time reference point of the control RF signal; determining the RF driving time consumption according to the generation time of the control RF signal and the generation time reference point of the control channel signal, specifically, determining the difference between the generation time of the control RF signal and the generation time reference point of the control channel signal as the RF driving time consumption. The above steps can be performed by an acquisition function or program of the RF driving time consumption or an internal timer or a pulse signal generator to determine the calculation time consumption. The embodiment of the present invention only takes sampling time consumption, calculation time consumption, generation time consumption, RF driving time consumption, and the specific determination process of transmission time consumption and analysis output time consumption as examples, and is not limited here.

[0081] It should be noted that there may be timing differences between the RF control system and the RF receiving system, which may cause some data to be lost and some data cannot be used in the next step. When the RF signal is controlled or transmitted normally, the RF receiving system will receive all the control RF signals. When the timing is not synchronized, the control RF signal transmission packet loss may occur. For details, please refer to the following table:

[0082]

[0083] In an optional embodiment of the present disclosure, in order to enable a user or operator to know the sampling time, calculation time, RF driving time, sampling time interval, sampling packet loss, operation packet loss, and sending control RF signal packet loss of the RF control system, the RF control system control delay self-measurement method also includes: displaying the sampling time, calculation time, and RF driving time of the RF control system; determining two adjacent acquisitions and parsing the user operation action into a sampling time reference point corresponding to the digital signal; determining the difference between the two adjacent sampling time reference points as the sampling time interval and displaying it; determining the number of sampling packet losses when parsing a specific user operation action received into a specific digital signal and displaying it; determining the number of operation packet losses when a specific digital signal is operated to generate a specific control channel signal and displaying it; determining the number of sending packet losses when a specific control RF signal is sent to the RF receiving system and displaying it.

[0084] It should be noted that, in the embodiment of the present invention, the RF control system can determine the time taken for the RF receiving system to output the parsing, that is, to determine the time taken for the RF receiving system to receive the control RF signal and transmit the channel-bearing signal to the controlled device. Specifically, the time taken for the RF receiving system to receive the control RF signal, parse the control RF signal to obtain the control channel signal, parse the control channel signal to obtain the channel-bearing signal, and transmit the channel-bearing signal to the controlled device. The time taken for the RF receiving system to output the parsing can be determined based on the first receiving time reference point T2 and the second receiving time reference point T3, or can be determined based on the preset sending time reference point T1, the second receiving time reference point T3 and the transmission time t4. Specifically, the time taken for the parsing is t5 = the second receiving time reference point T3 - the first receiving time reference point T2; or the time taken for the parsing is t5 = the second receiving time reference point T3 - the preset sending time reference point T1 - the transmission time t4*2. In order to enable the user or operator to know the generation time, transmission time, and RF receiving system analysis and output time, the RF control system control delay self-measurement method also includes: displaying the generation time, transmission time, and RF receiving system analysis and output time.

[0085] In another embodiment of the present disclosure, in order to enable a user or operator to know the channel time interval of the RF receiving system, the reception packet loss of the control RF signal, and the transmission packet loss of the channel bearer signal transmitted to the controlled device, the RF control system control delay self-measurement method also includes: sending a channel interval request RF signal and a packet loss data request RF signal to the RF receiving system; receiving and parsing the channel interval RF signal fed back by the RF receiving system, obtaining the channel time interval of two adjacent transmissions of the channel bearer signal to the controlled device by the RF receiving system and displaying it; receiving and parsing the packet loss data RF signal fed back by the RF receiving system, obtaining the number of reception packet losses of the control RF signal received by the RF receiving system and the number of transmission packet losses of the channel bearer signal transmitted to the controlled device and displaying them. For example, the reference time point of the last transmission of the channel bearer signal to the controlled device is T3, and the reference time point of the current transmission of the channel bearer signal to the controlled device is T4, then the channel time interval t6=T4-T3.

[0086] In another embodiment of the present disclosure, the RF control system control delay self-measurement method further includes: when the RF control system and the RF receiving system are both provided with an external clock module with the function of real-time recording and saving specific time points, according to the user operation action, a control RF signal including a data packet number and a RF signal of a request for a time point of sending a corresponding channel-bearing signal are generated, and the acquisition time point corresponding to the user operation action is determined; the control RF signal and the RF signal of the request for sending a time point are sent to the RF receiving system; the RF signal of the sending time point fed back by the RF receiving system is received and analyzed, and a specific data packet number and a specific sending time point are obtained, and the specific sending time reference point is the sending time point of the channel-bearing signal corresponding to the control RF signal including the specific data packet number; according to the specific data packet number, a specific collection time point corresponding to a specific user operation action is determined; according to the specific collection time point and the specific sending time point, the control delay of the RF control system is determined. Wherein, the external clock module can be a clock mechanism, clock source or clock system capable of realizing an ultra-high precision synchronization function, for example, the external clock module can be: a satellite two-way time synchronization mechanism, an atomic clock, a global navigation satellite system, an optical clock, a Beidou satellite synchronization clock system, and other clock modules capable of realizing an ultra-high precision synchronization function. Specifically, according to the specific data packet number, the specific collection time point T5 corresponding to the specific user operation action is queried, the specific sending time point is recorded as T6, and the control delay of the RF control system is td=T6-T5.

[0087] In the specific application scenario of the embodiment of the present invention, in order to make it easier for users or operators to know various time consumption and packet loss situations, the RF control system can display the following contents by category: control delay time td, sampling time t1, calculation time t2, RF drive time t3, transmission time t4, analysis output time t5, channel time interval t6, sampling time interval t7, reception packet loss number L1, transmission packet loss number L2, sampling packet loss number L3, calculation packet loss number L4, and transmission packet loss number L5. Specifically, the following contents can be displayed to users or operators in the end:

[0088] 1. Total delay: td;

[0089] 2. Process delay: t1, t2, t3, t4, t5;

[0090] 3. Channel time interval of RF receiving system: t6;

[0091] 4. The sampling time interval actually used by the RF control system: t7;

[0092] 5. Number of packet losses during the process: L1, L2, L3, L4, L5.

[0093] In the embodiment of the present invention, by displaying these data, the delay and data update speed can be reflected, and the quality and effect of data transmission can be reflected. The optimization effect can also be seen through these data during the system optimization process; the fewer the packet loss numbers of L1, L2, L3, L4, and L5, the higher the efficiency of the entire system and the less data loss throughout the process, and vice versa. In addition, the data change curve can also be displayed. The smaller t7 and t6 are, the faster the data update cycle is, and the smaller the time curve fluctuation is, the more stable the update cycle is; the smaller t1, t2, t3, t4, and td are, the better, and the smaller the data fluctuation is, the more stable the delay is, the faster the user operation response is, and the more stable the delay is, the easier it is for the operator to adapt.

[0094] An embodiment of the present invention provides a self-measurement method for control delay of an RF control system. In the embodiment of the present invention, when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, the RF control system can collect user operation actions, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation action, and determine the generation time corresponding to the control RF signal. At the same time, the RF control system can generate and send a RF signal to the RF receiving system to confirm the reception request, and send the control RF signal and the RF signal to the RF receiving system according to the preset sending time reference point; so that after receiving the control RF signal, the RF receiving system feeds back to the RF control system to confirm the reception of the RF signal. Therefore, the RF control system can determine the transmission time corresponding to the control RF signal according to the first receiving time reference point corresponding to the confirmed received RF signal and the preset sending time reference point corresponding to the control RF signal. In addition, the RF control system generates an RF signal for confirming the control request and sends it to the RF receiving system, so that after receiving the RF signal for the control request, the RF receiving system can complete the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device, and feed back the RF signal for confirming the control to the RF control system, so that the RF control system can query the corresponding generation time and transmission time according to the data packet number, and determine the control delay of the RF control system according to the generation time, the transmission time, the second receiving time reference point and the preset sending time reference point, and complete the precise measurement of the control delay of the RF control system, which can help the operator understand the time required for the controlled device to actually parse and output the user operation action triggered by operating the RF control system, better grasp the operation timing, ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, and thus improve the control accuracy of the RF control system.

[0095] Please refer to Figure 2 The embodiment of the present invention further provides a method for self-measuring a control delay of an RF control system, which is applied to an RF receiving system and includes:

[0096] Step 201: When the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points but have the function of recording time differences, a control RF signal including a data packet number and a preset sending time reference point, a RF signal corresponding to the control RF signal confirming a reception request, and a RF signal confirming a control request are received from the RF control system.

[0097] The confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control radio frequency signal to transmitting the channel-bearing signal to the controlled device.

[0098] Step 202: Feedback the RF signal received by the control RF signal to the RF control system, so that the RF control system can determine the transmission time corresponding to the control RF signal according to the preset sending time reference point corresponding to the control RF signal and the first receiving time reference point of the RF signal received by the control RF signal.

[0099] Step 203, parse the control RF signal to obtain the control channel signal, parse the control channel signal to obtain the channel bearer signal, transmit the channel bearer signal to the controlled device, and generate a RF signal for confirmation control and feed it back to the RF control system, so that the RF control system can parse the specific RF signal for confirmation control to obtain a specific data packet number and a specific preset sending time reference point, determine the second receiving time reference point corresponding to the specific RF signal for confirmation control, query the corresponding generation time and transmission time according to the specific data packet number obtained by the analysis, and determine the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the preset sending time reference point.

[0100] The control delay is the delay of the RF control system controlling the controlled device according to a specific user operation. The specific determination process of the query generation time and the query transmission time can refer to the above description, and the embodiment of the present invention will not be repeated here.

[0101] In an embodiment of the present invention, step 203 may specifically include: after receiving the control RF signal, parsing the control channel signal according to a predefined protocol. The protocol may define the format of the signal, such as the length of the data bit, the start bit, the stop bit, and the check method. Parsing the control channel signal to obtain the channel bearer signal: wherein the control channel signal generally contains the control information of each channel, such as the angle of the servo, the speed of the motor, etc. This information can be converted into a corresponding channel bearer signal. For example, for the servo control, it may be necessary to generate a pulse signal of a specific width to control its angle. The generated channel bearer signal is sent to the controlled device using a hardware interface (such as a GPIO port) or a serial port. Specifically, the control RF signal can be demodulated to obtain a control channel signal (digital signal channel value), and then the control channel signal (digital signal channel value) is carried using a hardware interface (such as a GPIO port) or a serial port to obtain a channel bearer signal for carrying the control channel signal (digital signal channel value), and then the channel bearer signal is sent to the controlled device. After completing the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device, the RF receiving system generates a confirmation control RF signal and feeds it back to the RF control system, so that the RF control system can parse the specific confirmation control RF signal to obtain a specific data packet number and a specific preset sending time reference point, determine the second receiving time reference point corresponding to the specific confirmation control RF signal, query the corresponding generation time and transmission time according to the specific data packet number obtained by the analysis, and determine the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the preset sending time reference point.

[0102] In an optional embodiment of the present disclosure, in order to enable a user or operator to know the channel time interval of the RF receiving system, the reception packet loss of the control RF signal, and the transmission packet loss of the channel bearing signal transmitted to the controlled device, the RF control system control delay self-measurement method also includes: receiving the RF signal of the channel interval request and the RF signal of the packet loss data request sent by the RF control system; determining the channel time interval of the RF receiving system transmitting the channel bearing signal to the controlled device twice according to the sending time reference point of the two adjacent transmissions of the channel bearing signal to the controlled device, and feeding back the channel interval RF signal to the RF control system, so that the RF control system can parse the channel time interval and display it; determining the number of reception packet losses of the control RF signal received from the RF control system and the number of transmission packet losses of the channel bearing signal transmitted to the controlled device, and feeding back the packet loss data RF signal to the RF control system, so that the RF control system can parse the number of reception packet losses and the number of transmission packet losses and display them. For example, the sending time reference point of the last transmission of the channel bearing signal to the controlled device is T3, and the sending time reference point of the current transmission of the channel bearing signal to the controlled device is T4, then the channel time interval t6=T4-T3.

[0103] In an optional embodiment of the present disclosure, the RF control system control delay self-measurement method also includes: when the RF control system and the RF receiving system are both provided with an external clock module with the function of real-time recording and saving specific time points, receiving a control RF signal including a data packet number and an RF signal requesting the sending time point of its corresponding channel-bearing signal; feeding back the RF signal of the sending time point to the RF control system so that the RF control system can parse the RF signal of the sending time point fed back by the RF receiving system to obtain a specific data packet number and a specific sending time point, the specific sending time point being the sending time point of the channel-bearing signal corresponding to the control RF signal including the specific data packet number; determining a specific acquisition time point corresponding to a specific user operation action according to the specific data packet number; and determining the control delay of the RF control system according to the specific acquisition time point and the specific sending time point.

[0104] Another RF control system control delay self-measurement method provided by an embodiment of the present invention. Embodiment of the present invention The embodiment of the present invention provides an RF control system control delay self-measurement device. In the embodiment of the present invention, when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, the RF control system can collect user operation actions, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation action, and determine the generation time corresponding to the control RF signal. At the same time, the RF control system can generate and send a RF signal to the RF receiving system to confirm the reception request, and send the control RF signal and the RF signal to the RF receiving system according to the preset sending time reference point; so that the RF receiving system feeds back to the RF control system to confirm the reception of the RF signal after receiving the control RF signal. Therefore, the RF control system can determine the transmission time corresponding to the control RF signal according to the first receiving time reference point corresponding to the confirmed received RF signal and the preset sending time reference point corresponding to the control RF signal. In addition, the RF control system generates an RF signal for confirming the control request and sends it to the RF receiving system, so that after receiving the RF signal for the control request, the RF receiving system can complete the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device, and feed back the RF signal for confirming the control to the RF control system, so that the RF control system can query the corresponding generation time and transmission time according to the data packet number, and determine the control delay of the RF control system according to the generation time, transmission time, the second receiving time reference point and the preset sending time reference point, and complete the precise measurement of the control delay of the RF control system, which can help the operator understand the time required for the controlled device to actually parse and output the user operation action triggered by operating the RF control system, better grasp the operation timing, ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, and thus improve the control accuracy of the RF control system.

[0105] Please refer to Figure 3 To achieve the above-mentioned purpose, an embodiment of the present invention provides a RF control system control delay self-measurement device, which can be deployed in an RF control system, including:

[0106] The generating unit 31 can be used to collect user operation actions when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points but have the function of recording time differences, and generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation action, and determine the generation time consumption corresponding to the control RF signal; generate a corresponding RF signal for confirming a reception request and a RF signal for confirming a control request according to the control RF signal, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control RF signal to transmitting the channel bearer signal to the controlled device;

[0107] The transmission unit 32 may be configured to send the control RF signal, the RF signal confirming the reception request, and the RF signal confirming the control request to the RF receiving system according to a preset sending time reference point; determine a first receiving time reference point of the RF signal confirming the reception fed back by the RF receiving system, and determine the transmission time corresponding to the control RF signal according to the preset sending time reference point and the first receiving time reference point;

[0108] The parsing unit 33 may be used to receive and parse the radio frequency signal of the specific confirmation control fed back by the RF receiving system, obtain the specific data packet number and the specific preset sending time reference point, and determine the second receiving time reference point corresponding to the radio frequency signal of the specific confirmation control;

[0109] The determination unit 34 can be used to query the corresponding generation time and transmission time according to a specific data packet number, and determine the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the specific preset sending time reference point. The control delay is the delay of the RF control system controlling the controlled device according to a specific user operation action.

[0110] In a specific embodiment of the present disclosure, the transmission unit 32 may be specifically configured to determine a first difference between a first receiving time reference point and a preset sending time reference point, and determine half of the first difference as the transmission time corresponding to the control RF signal.

[0111] Correspondingly, the generation unit 31 can be specifically used to determine a second difference between a second receiving time reference point and a specific preset sending time reference point; and calculate a third difference between the second difference and the transmission time of the query; and determine the sum of the query generation time and the third difference as the control delay of the RF control system.

[0112] In a specific embodiment of the present disclosure, the generation unit 31 can be specifically used to collect user operation actions, parse the user operation actions into digital signals, and determine the sampling time corresponding to the collection to the parsing of the user operation actions; based on the digital signal, calculate and generate a control channel signal including a data packet number; and determine the calculation time of calculating the control channel signal; modulate the control channel signal to generate a control RF signal including a data packet number and a preset emission time reference point, and determine the RF driving time of generating the control RF signal; determine the generation time corresponding to the control RF signal based on the sampling time, calculation time, and RF driving time.

[0113] In a specific embodiment of the present disclosure, the generation unit 31 can also be used to determine the acquisition time reference point corresponding to the user operation action; and determine the generation time reference point of the control radio frequency signal; according to the acquisition time reference point and the generation time reference point, determine the generation time corresponding to the control radio frequency signal.

[0114] In an optional embodiment of the present disclosure, the determination unit 34 can also be used to determine the sampling time reference points corresponding to two adjacent acquisitions and resolve the user operation actions into digital signals; determine the difference between the two adjacent sampling time reference points as the sampling time interval; determine the number of sampling packet losses when parsing the received specific user operation actions into specific digital signals; determine the number of operation packet losses when operating the specific digital signal to generate a specific control channel signal; determine the number of transmission packet losses when sending the specific control radio frequency signal to the RF receiving system.

[0115] Correspondingly, the RF control system control delay self-measurement device may further include: a display unit.

[0116] The display unit can be used to display the sampling time interval, the number of sampled packet losses, the number of calculated packet losses, and the number of sent packet losses.

[0117] In an optional embodiment of the present disclosure, a display unit may be used to display the control delay of the RF control system.

[0118] In an optional embodiment of the present disclosure, the determination unit 34 may also be used to determine the RF receiving system parsing output time consumption according to the second receiving time reference point and the first receiving time reference point; or determine the RF receiving system parsing output time consumption according to the preset sending time reference point, the second receiving time reference point and the transmission time consumption;

[0119] Correspondingly, the display unit can also be used for sampling time, calculation time, RF driving time, generation time, transmission time, and RF receiving system analysis and output time.

[0120] In an optional embodiment of the present disclosure, the RF control system controls the delay self-measurement device and may further include: a request unit.

[0121] A request unit, which can be used to send a radio frequency signal of a channel spacing request and a radio frequency signal of a packet loss data request to the RF receiving system;

[0122] The parsing unit 33 may also be used to receive and parse the channel interval radio frequency signal fed back by the RF receiving system, and obtain the channel time interval between two adjacent transmissions of the channel bearing signal by the RF receiving system to the controlled device;

[0123] The parsing unit 33 may also be used to receive and parse the packet loss data RF signal fed back by the RF receiving system, and obtain the number of received packet losses of the control RF signal received by the RF receiving system and the number of transmitted packet losses of the signal carried by the transmission channel to the controlled device;

[0124] The display unit can also be used to display the channel time interval between two adjacent transmissions of the channel-bearing signal by the RF receiving system to the controlled device, the number of received packet losses of the control radio frequency signal received by the RF receiving system, and the number of transmitted packet losses of the channel-bearing signal transmitted to the controlled device.

[0125] In another optional embodiment of the present disclosure, the generating unit 31 may also be used to generate a control RF signal including a data packet number and a RF signal of a request for a time point of sending a corresponding channel-bearing signal according to a user operation action when both the RF control system and the RF receiving system are provided with an external clock module having a function of real-time recording and saving a specific time point, and determine a collection time point corresponding to the user operation action;

[0126] The transmission unit 32 may also be used to send the control radio frequency signal and the radio frequency signal for issuing the time point request to the RF receiving system;

[0127] The parsing unit 33 may also be used to receive and parse the radio frequency signal at the sending time point fed back by the RF receiving system to obtain a specific data packet number and a specific sending time point, where the specific sending time point is the sending time point of the channel bearer signal corresponding to the control radio frequency signal containing the specific data packet number;

[0128] The determination unit 34 may also be used to determine a specific collection time point corresponding to a specific user operation action according to a specific data packet number; and determine a control delay of the RF control system according to the specific collection time point and the specific sending time point.

[0129] The embodiment of the present invention provides a control delay self-measurement device for an RF control system, which is deployed in an RF control system. In the embodiment of the present invention, when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, the RF control system can collect user operation actions, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation action, and determine the generation time corresponding to the control RF signal. At the same time, the RF control system can generate and send a RF signal to the RF receiving system to confirm the reception request, and send the control RF signal and the RF signal to the RF receiving system according to the preset sending time reference point; so that after receiving the control RF signal, the RF receiving system feeds back to the RF control system to confirm the reception of the RF signal. Therefore, the RF control system can determine the transmission time corresponding to the control RF signal according to the first receiving time reference point corresponding to the confirmed received RF signal and the preset sending time reference point corresponding to the control RF signal. In addition, the RF control system generates an RF signal for confirming the control request and sends it to the RF receiving system, so that after receiving the RF signal for the control request, the RF receiving system can complete the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device, and feed back the RF signal for confirming the control to the RF control system, so that the RF control system can query the corresponding generation time and transmission time according to the data packet number, and determine the control delay of the RF control system according to the generation time, transmission time, the second receiving time reference point and the preset sending time reference point, and complete the precise measurement of the control delay of the RF control system, which can help the operator understand the time required for the controlled device to actually parse and output the user operation action triggered by operating the RF control system, better grasp the operation timing, ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, and thus improve the control accuracy of the RF control system.

[0130] Please refer to Figure 4 To achieve the above-mentioned purpose, an embodiment of the present invention provides another RF control system control delay self-measurement device, which can be deployed in an RF receiving system and includes:

[0131] The receiving unit 41 can be used to receive a control RF signal including a data packet number and a preset sending time reference point, a RF signal confirming a reception request corresponding to the control RF signal, and a RF signal confirming a control request sent by the RF control system when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points but have the function of recording time differences, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device.

[0132] The sending unit 42 can be used to feed back a confirmed received RF signal to the RF control system for the control RF signal, so that the RF control system can determine the transmission time corresponding to the control RF signal based on a preset sending time reference point corresponding to the control RF signal and a first receiving time reference point of the confirmed received RF signal.

[0133] The parsing unit 43 can be used to parse the control RF signal to obtain the control channel signal, parse the control channel signal to obtain the channel bearer signal, transmit the channel bearer signal to the controlled device, and generate a RF signal for confirming the control and feed it back to the RF control system, so that the RF control system can parse the specific RF signal for confirming the control to obtain a specific data packet number and a specific preset sending time reference point, and query the corresponding generation time and transmission time according to the specific data packet number obtained by the analysis, and determine the control delay of the RF control system according to the queried generation time, the queried transmission time, the first receiving time reference point and the preset sending time reference point. The control delay is the delay for the RF control system to control the controlled device according to the specific user operation action.

[0134] In the embodiment of the present invention, the RF control system control delay self-measurement device further includes: a determination unit.

[0135] The receiving unit 41 may also be used to receive a radio frequency signal of a channel spacing request and a radio frequency signal of a packet loss data request sent by the RF control system.

[0136] The determination unit can be used to determine the channel time interval between two adjacent transmissions of the channel-bearing signal from the RF receiving system to the controlled device based on the sending time reference points of the two adjacent transmissions of the channel-bearing signal to the controlled device; or it can also be used to determine the number of received packet losses of receiving a specific control radio frequency signal from the RF control system and the number of transmitted packet losses of transmitting a specific channel-bearing signal to the controlled device.

[0137] The sending unit 42 can also be used to feed back the channel interval RF signal to the RF control system, so that the RF control system can parse and obtain the channel time interval and display it; or it can also be used to feed back the packet loss data RF signal to the RF control system, so that the RF control system can parse the received packet loss number and the transmitted packet loss number and display them.

[0138] In an optional embodiment of the present disclosure, the receiving unit 41 can also be used to receive a control RF signal containing a data packet number and a RF signal of a time reference point request of a corresponding channel-carrying signal when both the RF control system and the RF receiving system are equipped with a clock module that meets preset accuracy requirements and has a recording function.

[0139] Correspondingly, the sending unit 42 can also be used to feed back the RF signal of the sending time reference point to the RF control system, so that the RF control system can parse the RF signal of the sending time reference point fed back by the RF receiving system, and obtain a specific data packet number and a specific sending time reference point, the specific sending time reference point is the sending time reference point of the channel carrying signal corresponding to the control RF signal containing the specific data packet number; according to the specific data packet number, determine the specific acquisition time reference point corresponding to the specific user operation action; according to the specific acquisition time reference point and the specific sending time reference point, determine the control delay of the RF control system.

[0140] The embodiment of the present invention provides a RF control system control delay self-measurement device, which is deployed in an RF receiving system. In the embodiment of the present invention, when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, the RF control system can collect user operation actions, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation action, and determine the generation time corresponding to the control RF signal. At the same time, the RF control system can generate and send a RF signal to the RF receiving system to confirm the reception request, and send the control RF signal and the RF signal to the RF receiving system according to the preset sending time reference point; so that after receiving the control RF signal, the RF receiving system feeds back to the RF control system to confirm the reception of the RF signal. Therefore, the RF control system can determine the transmission time corresponding to the control RF signal according to the first receiving time reference point corresponding to the confirmed received RF signal and the preset sending time reference point corresponding to the control RF signal. In addition, the RF control system generates an RF signal for confirming the control request and sends it to the RF receiving system, so that after receiving the RF signal for the control request, the RF receiving system can complete the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device, and feed back the RF signal for confirming the control to the RF control system, so that the RF control system can query the corresponding generation time and transmission time according to the data packet number, and determine the control delay of the RF control system according to the generation time, transmission time, the second receiving time reference point and the preset sending time reference point, and complete the precise measurement of the control delay of the RF control system, which can help the operator understand the time required for the controlled device to actually parse and output the user operation action triggered by operating the RF control system, better grasp the operation timing, ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, and thus improve the control accuracy of the RF control system.

[0141] In addition, to achieve the above-mentioned purpose, the present invention provides a storage medium, on which is stored a RF control system control delay self-measurement program, which, when executed by a processor, implements the steps of the above RF control system control delay self-measurement method.

[0142] An embodiment of the present invention provides an RF control system control delay self-measurement device, the RF control system control delay self-measurement device comprising: a memory, a processor, and an RF control system control delay self-measurement program stored in the memory and executable on the processor, and the RF control system control delay self-measurement program implements the steps of the RF control system control delay self-measurement method as described above when executed by the processor.

[0143] The RF control system control delay self-measurement method of the embodiment of the present invention can be implemented in hardware form, can be implemented by software instructions, and can also be implemented by a combination of hardware and software modules. Specifically, each step of the RF control system control delay self-measurement method of the embodiment of the present invention can be completed by the hardware integrated logic circuit and / or software instructions in the processor, and the steps of the RF control system control delay self-measurement method of the embodiment of the present invention can be directly embodied as a hardware decoding processor to execute, or a combination of hardware and software modules in the decoding processor to execute. Optionally, the software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps in the above-mentioned vehicle communication method embodiment in combination with its hardware.

[0144] Figure 5 FIG. 5 is a schematic block diagram of an RF control system control delay self-measurement device 500 according to an embodiment of the present invention.

[0145] like Figure 5 As shown, the RF control system controls the delay self-measurement device 500 and may include:

[0146] The memory 510 and the processor 520, the memory 510 is used to store the computer program and transmit the program code to the processor 520. In other words, the processor 520 can call and run the computer program from the memory 510 to implement the method in the embodiment of the present invention.

[0147] For example, the processor 520 may be configured to execute the above method embodiments according to instructions in the computer program.

[0148] In some embodiments of the present invention, the processor 520 may include but is not limited to:

[0149] General-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0150] In some embodiments of the present invention, the memory 510 includes but is not limited to:

[0151] Volatile memory and / or non-volatile memory. Among them, the non-volatile memory can be read-only memory (ROM), programmable ROM (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as 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), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct memory bus random access memory (Direct Rambus RAM, DR RAM).

[0152] In some embodiments of the present invention, the computer program may be divided into one or more modules, which are stored in the memory 510 and executed by the processor 520 to complete the method provided by the present invention. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the controller.

[0153] like Figure 5 As shown, the RF control system delay self-measurement device 500 may also include:

[0154] The transceiver 530 may be connected to the processor 520 or the memory 510 .

[0155] The processor 520 may control the transceiver 530 to communicate with other devices, specifically, to send data or data to other devices, or to receive data or data sent by other devices. The transceiver 530 may include an RF control system and an RF receiving system. The transceiver 530 may further include an antenna, and the number of antennas may be one or more.

[0156] It should be understood that the various components in the delay self-measuring device controlled by the RF control system are connected via a bus system, wherein the bus system includes a power bus, a control bus and a status signal bus in addition to a data bus.

[0157] The embodiment of the present invention provides a control delay self-measurement device for an RF control system. In the embodiment of the present invention, when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, the RF control system can collect user operation actions, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation action, and determine the generation time corresponding to the control RF signal. At the same time, the RF control system can generate and send a RF signal to the RF receiving system to confirm the reception request, and send the control RF signal and the RF signal to the RF receiving system according to the preset sending time reference point; after receiving the control RF signal, the RF receiving system can feedback to the RF control system to confirm the reception of the RF signal. Therefore, the RF control system can determine the transmission time corresponding to the control RF signal according to the first receiving time reference point corresponding to the confirmed received RF signal and the preset sending time reference point corresponding to the control RF signal. In addition, the RF control system generates an RF signal for confirming the control request and sends it to the RF receiving system, so that after receiving the RF signal for the control request, the RF receiving system can complete the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device, and feed back the RF signal for confirming the control to the RF control system, so that the RF control system can query the corresponding generation time and transmission time according to the data packet number, and determine the control delay of the RF control system according to the generation time, transmission time, the second receiving time reference point and the preset sending time reference point, and complete the precise measurement of the control delay of the RF control system, which can help the operator understand the time required for the controlled device to actually parse and output the user operation action triggered by operating the RF control system, better grasp the operation timing, ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, and thus improve the control accuracy of the RF control system.

[0158] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for self-measuring delay control in an RF control system, characterized in that: Applications in RF control systems, including: When the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, collect user operation actions, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation actions, and determine the generation time consumption corresponding to the control RF signal; generate a corresponding RF signal for confirming a reception request and a RF signal for confirming a control request according to the control RF signal, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device; According to the preset sending time reference point, the control RF signal, the RF signal confirming the reception request and the RF signal confirming the control request are sent to the RF receiving system; a first receiving time reference point of the RF signal confirming the reception fed back by the RF receiving system is determined, and according to the preset sending time reference point and the first receiving time reference point, a transmission time corresponding to the control RF signal is determined; Receive and analyze the radio frequency signal of the specific confirmation control fed back by the RF receiving system, obtain a specific data packet number and a specific preset sending time reference point, and determine a second receiving time reference point corresponding to the radio frequency signal of the specific confirmation control; According to the specific data packet number, its corresponding generation time and transmission time are queried, and according to the queried generation time, the queried transmission time, the second receiving time reference point and the specific preset sending time reference point, the control delay of the RF control system is determined, and the control delay is the delay for the RF control system to control the controlled device according to a specific user operation action.

2. The method according to claim 1, characterized in that The determining, according to the preset sending time reference point and the first receiving time reference point, the transmission time consumption corresponding to the control radio frequency signal includes: Determine a first difference between the first receiving time reference point and the preset sending time reference point, and determine half of the first difference as the transmission time consumption corresponding to the control radio frequency signal; The method of querying the generation time and transmission time corresponding to the specific data packet number, and determining the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point, and the specific preset sending time reference point, includes: Determine a second difference between the second receiving time reference point and the specific preset sending time reference point; and calculate a third difference between the second difference and the query transmission time; The sum of the query generation time and the third difference is determined as the control delay of the RF control system.

3. The method according to claim 1, characterized in that The step of generating a control radio frequency signal including a data packet number and a preset sending time reference point according to the user operation action, and determining the generation time corresponding to the control radio frequency signal, includes: Collecting user operation actions, parsing the user operation actions into digital signals, and determining the sampling time corresponding to the collection and parsing of the user operation actions; According to the digital signal, generate a control channel signal including a data packet number by calculation; and determine the calculation time consumed for obtaining the control channel signal by calculation; Modulating the control channel signal to generate a control radio frequency signal including a data packet number and a preset sending time reference point, and determining the radio frequency driving time consumed to generate the control radio frequency signal; Determine the generation time corresponding to the control RF signal according to the sampling time, the calculation time, and the RF driving time; Alternatively, the determining the generation time consumption corresponding to the control radio frequency signal includes: Determining a collection time reference point corresponding to the user operation action; and determining a generation time reference point of the control radio frequency signal; Determining the generation time consumption corresponding to the control radio frequency signal according to the acquisition time reference point and the generation time reference point; The method further comprises: Display the sampling time, the calculation time, and the RF driving time; Determine two adjacent acquisitions and resolve the user operation action into sampling time reference points corresponding to digital signals; The difference between two adjacent sampling time reference points is determined as the sampling time interval and displayed; Determine and display the number of sampled packet losses for parsing a specific user operation action received into a specific digital signal; Determine and display the number of lost packets generated by computing a specific digital signal including a specific control channel signal; The number of transmit packet losses for sending a specific control RF signal to the RF receiving system is determined and displayed.

4. The method according to claim 1, characterized in that The method further comprises: When both the RF control system and the RF receiving system are provided with an external clock module with the function of real-time recording and saving specific time points, a control RF signal including a data packet number and a RF signal of a request for a time point of sending a corresponding channel-bearing signal are generated according to the user operation action, and the collection time point corresponding to the user operation action is determined; Sending the control radio frequency signal and the radio frequency signal for issuing a time point request to the RF receiving system; Receive and analyze the radio frequency signal at the sending time point fed back by the RF receiving system to obtain a specific data packet number and a specific sending time point, wherein the specific sending time point is the sending time point of the channel bearing signal corresponding to the control radio frequency signal containing the specific data packet number; Determining a specific collection time point corresponding to a specific user operation action according to the specific data packet number; A control delay of the RF control system is determined according to the specific acquisition time point and the specific emission time point.

5. The method according to claim 1, characterized in that The method further comprises: Displaying the control delay of the RF control system; Determine the RF receiving system parsing output time consumption according to the second receiving time reference point and the first receiving time reference point; or determine the RF receiving system parsing output time consumption according to the preset sending time reference point, the second receiving time reference point and the transmission time consumption; Display the generation time, the transmission time, and the RF receiving system analysis and output time; Sending a radio frequency signal of a channel spacing request and a radio frequency signal of a packet loss data request to the RF receiving system; Receive and analyze the channel interval radio frequency signal fed back by the RF receiving system, obtain the channel time interval between two adjacent transmissions of the channel bearing signal by the RF receiving system to the controlled device and display it; Receive and analyze the packet loss data RF signal fed back by the RF receiving system, obtain the number of received packet losses of the RF receiving system receiving the control RF signal and the number of transmitted packet losses of the channel carrying signal to the controlled device and display them.

6. A method for self-measuring delay control in an RF control system, characterized in that: Applied to RF receiving systems, including: When the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points, but have the function of recording time differences, receiving a control RF signal including a data packet number and a preset sending time reference point, a RF signal corresponding to the control RF signal confirming a reception request, and a RF signal confirming a control request, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device; Feedback a received RF signal to the RF control system for the control RF signal, so that the RF control system determines the transmission time corresponding to the control RF signal according to a preset sending time reference point corresponding to the control RF signal and a first receiving time reference point of the received RF signal; The control RF signal is parsed to obtain a control channel signal, the control channel signal is parsed to obtain a channel bearer signal, the channel bearer signal is transmitted to the controlled device, and a RF signal for confirmation control is generated and fed back to the RF control system, so that the RF control system obtains a specific data packet number and a specific preset sending time reference point according to the specific RF signal for confirmation control, determines a second receiving time reference point corresponding to the specific RF signal for confirmation control, queries the corresponding generation time and transmission time according to the specific data packet number obtained by the parsing, and determines the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the preset sending time reference point, wherein the control delay is the delay for the RF control system to control the controlled device according to a specific user operation action.

7. A RF control system control delay self-measurement device, characterized in that: The device is deployed in an RF control system and includes: A generating unit, configured to collect user operation actions when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving specific time points but have the function of recording time differences, generate a control RF signal including a data packet number and a preset sending time reference point according to the user operation action, and determine the generation time consumption corresponding to the control RF signal; generate a corresponding RF signal for confirming a reception request and a RF signal for confirming a control request according to the control RF signal, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed the control action from receiving the control RF signal to transmitting the channel-bearing signal to the controlled device; A transmission unit, configured to send the control RF signal, the RF signal for confirming the reception request, and the RF signal for confirming the control request to the RF receiving system according to the preset sending time reference point; determine a first receiving time reference point of the RF signal for confirming reception fed back by the RF receiving system, and determine the transmission time corresponding to the control RF signal according to the preset sending time reference point and the first receiving time reference point; A parsing unit, configured to receive and parse the radio frequency signal of the specific confirmation control fed back by the RF receiving system, obtain a specific data packet number and a specific preset sending time reference point, and determine a second receiving time reference point corresponding to the radio frequency signal of the specific confirmation control; A determination unit is used to query the corresponding generation time and transmission time according to the specific data packet number, and determine the control delay of the RF control system according to the queried generation time, the queried transmission time, the second receiving time reference point and the specific preset sending time reference point, wherein the control delay is the delay for the RF control system to control the controlled device according to a specific user operation action.

8. A RF control system control delay self-measurement device, characterized in that: The device is deployed in an RF receiving system and is characterized by comprising: A receiving unit, configured to receive a control RF signal including a data packet number and a preset sending time reference point, a RF signal for confirming a reception request and a RF signal for confirming a control request corresponding to the control RF signal, when the system clocks of the RF control system and the RF receiving system do not have the function of real-time recording and saving a specific time point but have the function of recording a time difference, wherein the confirmation control is used to indicate confirmation that the RF receiving system has completed a control action from receiving the control RF signal to transmitting a channel-bearing signal to the controlled device; a sending unit, configured to feed back a radio frequency signal confirming receipt to the RF control system with respect to the control radio frequency signal, so that the RF control system determines the transmission time corresponding to the control radio frequency signal according to a preset sending time reference point corresponding to the control radio frequency signal and a first receiving time reference point of the radio frequency signal confirming receipt; A parsing unit is used to parse the control RF signal to obtain a control channel signal, parse the control channel signal to obtain a channel bearer signal, transmit the channel bearer signal to the controlled device, and generate a RF signal for confirming the control and feed it back to the RF control system, so that the RF control system can parse the specific RF signal for confirming the control to obtain a specific data packet number and a specific preset sending time reference point, and query the corresponding generation time and transmission time according to the specific data packet number obtained by the parsing, and determine the control delay of the RF control system according to the queried generation time, the queried transmission time, the first receiving time reference point and the preset sending time reference point, wherein the control delay is the delay of the RF control system controlling the controlled device according to the specific user operation action.

9. A storage medium, characterized in that: The storage medium stores an RF control system control delay self-measurement program, and when the program is executed by the processor, the steps of the RF control system control delay self-measurement method according to any one of claims 1 to 6 are implemented.

10. An RF control system controls a delay self-measurement device, characterized in that: The RF control system control delay self-measurement device includes: a memory, a processor, and an RF control system control delay self-measurement program stored in the memory and executable on the processor. When the RF control system control delay self-measurement program is executed by the processor, the steps of the RF control system control delay self-measurement method as described in any one of claims 1 to 6 are implemented.

Images