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

Abstract

The invention belongs to the technical field of wireless control, and relates to an RF control system control delay self-measurement method and device, a storage medium and equipment, and the method comprises the steps: when the system clocks of an RF control system and an RF receiving system do not have the functions of recording and storing specific time points in real time, according to the operation action of a user, determining the time points of the RF control system and the RF receiving system; generating a control radio-frequency signal containing a data packet number, a receiving confirmation request and a radio-frequency signal for analyzing an output time consumption request, sending the radio-frequency signal to an RF receiving system, and determining transmission time consumption according to a sending time reference point of the control radio-frequency signal and a receiving time reference point of the receiving confirmation radio-frequency signal; and analyzing a radio frequency signal fed back by the RF receiving system to obtain a specific data packet number and specific analysis output time consumption, querying corresponding generation time consumption and transmission time consumption according to the specific data packet number, and determining the control delay of the RF control system according to the queried generation time consumption, transmission time consumption and analysis output time consumption. According to the invention, the control delay of the RF control system can be accurately measured.

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, RF control systems are key devices for controlling controlled models such as model airplanes, drones, and unmanned vehicles. The control accuracy of RF control systems is crucial to the safety and controllability of controlled models. Users or operators usually make user operation actions for RF control system controls based on the real-time status of the controlled model, so that the RF control system generates signals and sends them to the RF receiving system. The RF receiving system controls the controlled devices on the controlled model to perform corresponding actions based on the received signals. In practical applications, from the RF control system receiving the user operation action to controlling the controlled device to perform the corresponding action, instruction processing and signal transmission are required, that is, there is a certain delay in the control of the RF control system, causing the user or operator's operation action to be out of sync with the actual state of the controlled model, resulting in low control accuracy of the RF control system. However, there is currently no method for measuring the control delay of the RF control system. Therefore, how to accurately measure the control delay of the RF control system is a technical problem that needs to be solved in the field of wireless control technology. 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 an RF control system control delay self-measurement method, which is applied to the RF control system. 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, including: Collect user operation actions, generate a control RF signal including a data packet number according to the user operation action, and determine the generation time corresponding to the control RF signal; generate a corresponding RF signal for confirming a reception request and a RF signal for analyzing the output time request according to the control RF signal, wherein the analysis output time is the time taken for the RF receiving system to receive the control RF signal and transmit the channel bearer signal to the controlled device; Sending the control RF signal, the RF signal confirming the reception request, and the RF signal of the resolution output time consumption request to the RF receiving system; determining a sending time reference point corresponding to the control RF signal, determining a receiving time reference point corresponding to the RF signal confirming the reception fed back by the RF receiving system, and determining the transmission time consumption corresponding to the control RF signal according to the receiving time reference point and the sending time reference point; Receive and parse the analysis output time RF signal fed back by the RF receiving system to obtain a specific data packet number and a specific analysis output time; query the corresponding specific generation time and specific transmission time according to the specific data packet number, and determine the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time, wherein the control delay is the delay of the RF control system controlling the controlled device according to a specific user operation action.

[0005] Further, the collecting of user operation actions, generating a control radio frequency signal including a data packet number according to the user operation actions, and determining a 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 from collection to parsing to obtain the digital signals; According to the digital signal, generate a control channel signal including a data packet number by calculation; and determine the calculation time consumption corresponding to obtaining the control channel signal; Modulate the control channel signal into a control radio frequency signal including a data packet number, and determine the radio frequency driving time corresponding to the control channel 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: Determine a reception time reference point corresponding to the user operation action; and determine a generation time reference point corresponding to the control radio frequency signal; The generation time consumption corresponding to the control radio frequency signal is determined according to the reception time reference point corresponding to the user operation action and the generation time reference point corresponding to the control radio frequency signal.

[0006] The determining the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time comprises: Determine the sum of the specific generation time, the specific transmission time and the specific analysis output time as the control delay of the RF control system; Furthermore, the method further comprises: Display the control delay of the RF control system, the generation time, the transmission time, and the analysis and output time of the RF receiving system; 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 bearer signal transmitted to the controlled device and display them.

[0007] Furthermore, 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.

[0008] To achieve the above object, the present invention also provides an RF control system control delay self-measurement method, which is applied to an RF receiving system. 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, including: Receiving a control RF signal including a data packet number sent by the RF control system, a RF signal confirming a reception request corresponding to the control RF signal, and a RF signal requesting a time-consuming resolution output, wherein the time-consuming resolution output is the time taken for the RF receiving system to receive the control RF signal and transmit a channel-bearing signal to the controlled device; Feedback confirmation of receiving the 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 the sending time reference point corresponding to the control RF signal and the receiving time reference point of the confirmation of receiving the RF signal; Parsing the control radio frequency signal to obtain a control channel signal, parsing the control channel signal to obtain a channel bearer signal, transmitting the channel bearer signal to the controlled device, and determining the time consumption of parsing and outputting the control radio frequency signal; According to the specific data packet number and the specific analysis output time, the analysis output time RF signal is fed back to the RF control system, so that the RF control system can query the corresponding specific generation time and specific transmission time according to the specific data packet number, and determine the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time, wherein the control delay is the delay for the RF control system to control the controlled device according to the specific user operation action.

[0009] Furthermore, the method further comprises: receiving 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; Determine the channel time interval between two adjacent transmissions of the channel-bearing signal from the RF receiving system to the controlled device according to the sending time points of two adjacent transmissions of the channel-bearing signal to the controlled device, and feed back the channel time interval radio frequency signal to the RF control system, so that the RF control system can parse and display the channel time interval; Determine the number of received packet losses of a specific control RF signal received from the RF control system and the number of transmitted packet losses of a specific channel bearer signal transmitted to the controlled device, and feed back the packet loss data RF signal to the RF control system, so that the RF control system can parse the number of received packet losses and the number of transmitted packet losses and display them.

[0010] To achieve the above object, the present invention provides an RF control system control delay self-measurement device, the device is deployed in the RF control system, and neither the RF control system nor the RF receiving system has a clock module that meets the preset accuracy requirements, including: A generating unit is used to collect user operation actions, generate a control radio frequency signal including a data packet number according to the user operation action, and determine the generation time corresponding to the control radio frequency signal; generate a corresponding radio frequency signal for confirming a reception request and a radio frequency signal for analyzing the output time request according to the control radio frequency signal, wherein the analysis output time is the time taken for the RF receiving system to receive the control radio frequency signal and transmit 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 analyzing the output time consumption request to the RF receiving system; determine a sending time reference point corresponding to the control RF signal, determine a receiving time reference point corresponding to 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 receiving time reference point and the sending time reference point; A determination unit is used to receive and parse the analysis output time consumption radio frequency signal fed back by the RF receiving system to obtain a specific data packet number and a specific analysis output time consumption; according to the specific data packet number, query its corresponding specific generation time consumption and specific transmission time consumption, and determine the control delay of the RF control system according to the specific generation time consumption, the specific transmission time consumption and the specific analysis output time consumption, wherein the control delay is the delay of the RF control system controlling the controlled device according to a specific user operation action.

[0011] To achieve the above object, the present invention also provides an RF control system control delay self-measurement device, which is deployed in an RF receiving system. 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, including: A receiving unit, configured to receive a control RF signal including a data packet number sent by the RF control system, a RF signal confirming a reception request corresponding to the control RF signal, and a RF signal requesting a time-consuming resolution output, wherein the time-consuming resolution output is the time taken by the RF receiving system from receiving the control RF signal to transmitting a channel-bearing signal to the controlled device; a sending unit, configured to feed back a confirmation reception 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 sending time reference point corresponding to the control RF signal and a receiving time reference point of the confirmation reception RF signal; A response unit, configured 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 determine a time consumption for parsing and outputting the control RF signal; The sending unit is further used to feed back a radio frequency signal of the parsing output time to the RF control system according to a specific data packet number and a specific parsing output time, so that the RF control system can query the corresponding specific generation time and specific transmission time according to the specific data packet number, and determine the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific parsing output time, wherein the control delay is the delay for the RF control system to control the controlled device according to the specific user operation action.

[0012] 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 above-mentioned RF control system control delay self-measurement method are implemented.

[0013] 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.

[0014] 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, 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 containing a data packet number according to the user operation actions, 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; after receiving the control radio frequency signal, the RF receiving system feeds back confirmation of the reception of the radio frequency signal to the RF control system. Therefore, the RF control system can determine the transmission time corresponding to the control radio frequency signal based on the reception time reference point corresponding to the confirmation reception of the radio frequency signal and the transmission time reference point corresponding to the control radio frequency signal. In addition, by generating an RF signal requesting the time consumption for resolution output and sending it to the RF receiving system, the RF receiving system can determine the resolution output time consumption corresponding to the control RF signal and feed it back to the RF control system after receiving the RF signal requesting the time consumption for resolution output. Thus, the RF control system can complete the precise measurement of the control delay of the RF control system according to the generation time, transmission time and resolution output time, and can help the operator understand the time required for the actual resolution output of the controlled device to trigger the user operation action by operating the RF control system, so as to better grasp the operation timing and ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, thereby improving the control accuracy of the RF control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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; Figure 2 A flow chart of another RF control system control delay self-measurement method provided by an embodiment of the present invention; Figure 3A schematic diagram of the structure of a RF control system control delay self-measurement device provided by an embodiment of the present invention; 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; 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

[0016] 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.

[0017] 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 control system. 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. Specifically, the method can be applied to a self-measuring device for controlling delay of an RF control system deployed in an RF receiving system, including: Step 101: collect user operation actions, generate a control RF signal including a data packet number according to the user operation actions, and determine the generation time corresponding to the control RF signal; generate a corresponding RF signal for confirming a reception request and a RF signal for analyzing an output time request according to the control RF signal.

[0018] 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.

[0019] Alternatively, the time difference recording function can be realized through a pulse signal generator set inside the RF control system, or a timer or a program written on a single-chip microcomputer. 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.

[0020] 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 the user operation action. 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.

[0021] 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 to obtain a 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.

[0022] Among them, the generation time corresponding to the control RF signal is the time taken by the RF control system from collecting the user operation action to generating the control RF signal. The embodiment of the present invention can realize that the RF control system determines the generation time. Specifically, the first receiving time reference point and the preset sending time reference point can be determined by executing the acquisition function of the generation time, and the first difference between the first receiving time reference point and the preset sending time reference point can be determined, and half of the first difference can be determined 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. The analysis output time is the time taken by the RF receiving system from receiving the control RF signal to transmitting the channel bearer signal to the controlled device; it can also be the time taken by the RF receiving system to respond to the control RF signal, from receiving the control RF signal, parsing the control RF signal to obtain the control channel signal, parsing the control channel signal to obtain the channel bearer signal, to transmitting the channel bearer signal to the controlled device. The analysis output time can be calculated based on the transmission time point of the channel bearer signal to the controlled device and the reception time reference point of the control RF signal. The RF signal of the analysis output time request can be used to request the RF receiving system to obtain the analysis output time of the control RF signal.

[0023] 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.

[0024] 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.

[0025] Step 102: Send the control RF signal, the RF signal for confirming the reception request, and the RF signal for analyzing the output time consumption request to the RF receiving system; determine the sending time reference point corresponding to the control RF signal, determine the receiving time reference point corresponding to 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 receiving time reference point and the sending time reference point.

[0026] In an embodiment of the present invention, step 102 may specifically be: sending a control RF signal, a RF signal for confirming a reception request, and a RF signal for parsing an output time consumption request to an RF receiving system, and determining a sending time reference point corresponding to the control RF signal; receiving a RF signal for confirming reception fed back by the RF receiving system, determining a receiving time reference point corresponding to the confirmed reception RF signal, and determining the transmission time consumption corresponding to the control RF signal based on the receiving time reference point and the sending time reference point.

[0027] 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 receiving time reference point and the sending time reference point" can specifically include: calculating the difference between the receiving time reference point and the sending time reference point, and then determining half of the difference as the transmission time corresponding to the control RF signal. Specifically, the receiving time reference point can be recorded as T2, and the sending time reference point can be recorded as T1, then the transmission time can be: (T2-T1) / 2. In the example of the present invention, the RF control system determines the receiving time reference point corresponding to the confirmed reception of the RF signal by sending an RF signal to the RF receiving system to confirm the reception request, and determines the transmission time corresponding to the control RF signal according to the receiving time reference point and the sending 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 precision synchronous clock between the RF control system and the RF receiving system.

[0028] In the embodiments of the present disclosure, the RF control system usually collects many different user operation actions, generates different control RF signals containing different data packet numbers, 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 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 containing different data packet numbers. When calculating the control delay corresponding to a certain user operation action, the accurate generation time, transmission time and analysis output time are matched between the RF control system and the RF receiving system through the data packet number contained in the control RF signal corresponding to the certain user operation action.

[0029] Step 103, receiving and parsing the analysis output time RF signal fed back by the RF receiving system, and obtaining a specific data packet number and a specific analysis output time; querying the corresponding specific generation time and specific transmission time according to the specific data packet number, and determining the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time, wherein the control delay is the delay of the RF control system controlling the controlled device according to a specific user operation action.

[0030] In a specific embodiment of the present disclosure, the step of "collecting user operation actions, generating a control RF signal including a data packet number according to the user operation actions, and determining the generation time corresponding to the control RF signal" may specifically include: parsing the user operation action into a digital signal, and determining the sampling time corresponding to the user operation action; generating a control channel signal including a data packet number according to the digital signal; and determining the calculation time corresponding to the digital signal; modulating the control channel signal into a control RF signal including a data packet number, and determining the RF driving time corresponding to the control channel signal; and determining the generation time corresponding to the control RF signal according to the sampling time, calculation time, and RF driving time.

[0031] 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 "determining the generation time corresponding to the control RF signal" can specifically include: determining the reception time reference point corresponding to the user operation action; and determining the generation time reference point corresponding to the control RF signal; according to the reception time reference point corresponding to the user operation action and the generation time reference point corresponding to the control RF signal, determine the generation time corresponding to the control RF signal.

[0032] 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 embodiments of the present invention only take 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, which are not limited here.

[0033] In an optional embodiment of the present disclosure, in order to more accurately determine the control delay of the RF control system and allow the user to know the control delay, the step of "determining the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time" can specifically include: determining the sum of the specific generation time, the specific transmission time and the specific analysis output time as the control delay of the RF control system and displaying it. In order to more accurately determine the process delay of the RF control system, the RF control system control delay self-measurement method also includes: displaying the generation time, the transmission time and the analysis output time.

[0034] It should be noted that the RF control system can also establish a correlation between the data packet number, the sampling time, calculation time, and RF drive time corresponding to the control RF signal containing the data packet number, and establish a correlation between the data packet number and the transmission time of the corresponding control RF signal; so that the RF control system saves the sampling time, calculation time, specific RF drive time, generation time, and transmission time corresponding to different data packet numbers and different control RF signals containing different data packet numbers. When calculating the control delay corresponding to a certain user operation action, the accurate generation time, transmission time, and analysis output time are matched between the RF control system and the RF receiving system through the data packet number contained in the control RF signal corresponding to the certain user operation action. Correspondingly, the control delay of the RF control system for a specific user operation action can be: according to the specific data packet number, query the corresponding specific sampling time, specific calculation time, specific RF drive time, specific transmission time, and specific analysis output time, and calculate the sum of the specific sampling time, specific calculation time, specific RF drive time, specific transmission time, and specific analysis output time, and determine the obtained sum as the control delay of the RF control system for the specific user operation action. Specifically, the control delay time td=sampling time t1+computation time t2+RF driving time t3+transmission time t4+analysis output time t5.

[0035] 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 last time the channel bearer signal was transmitted to the controlled device at the sending time point T3, and the current time point of the channel bearer signal transmitted to the controlled device at the sending time point T4, then the channel time interval t6=T4-T3.

[0036] 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:

[0037] In an embodiment of the present invention, in order to enable a user or operator to obtain 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, operation 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 of a specific digital signal received by parsing a specific user operation action and displaying it; determining the number of operation packet losses of a specific digital signal generated by operating a specific digital signal and displaying it; determining the number of transmission packet losses of a specific control RF signal to be sent to the RF receiving system and displaying it.

[0038] 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: 1. Total delay: td; 2. Process delay: t1, t2, t3, t4, t5; 3. Channel time interval of RF receiving system: t6; 4. The sampling time interval actually used by the RF control system: t7; 5. Number of packet losses during the process: L1, L2, L3, L4, L5.

[0039] 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, t5, 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.

[0040] An embodiment of the present invention provides a method for self-measuring control delay of an 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, the RF control system can determine the time taken to generate a control RF signal based on the user operation action; can generate and send a RF signal confirming the reception request to the RF receiving system; and enable the RF receiving system to feed back confirmation of the reception of the RF signal to the RF control system after receiving the control RF signal. Therefore, the RF control system can determine the transmission time taken to control the RF signal based on the reception time reference point corresponding to the confirmation reception of the RF signal and the transmission time reference point corresponding to the control RF signal. In addition, by generating an RF signal requesting the time consumption for resolution output and sending it to the RF receiving system, the RF receiving system can determine the resolution output time consumption corresponding to the control RF signal and feed it back to the RF control system after receiving the RF signal requesting the time consumption for resolution output. Thus, the RF control system can complete the precise measurement of the control delay of the RF control system according to the generation time, transmission time and resolution output time, and can help the operator understand the time required for the actual resolution output of the controlled device to trigger the user operation action by operating the RF control system, so as to better grasp the operation timing and ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, thereby improving the control accuracy of the RF control system.

[0041] Please refer to Figure 2 The embodiment of the present invention further provides an RF control system control delay self-measurement method, which is applied to an RF receiving system, and is specifically applied to an RF control system control delay self-measurement device deployed in the RF receiving 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, including: Step 201: receiving a control radio frequency signal including a data packet number, a radio frequency signal for confirming a reception request corresponding to the control radio frequency signal, and a radio frequency signal for analyzing and outputting a time-consuming request, sent by an RF control system.

[0042] The analysis output time is the time taken by the RF receiving system to transmit the channel-bearing signal to the controlled device in response to the control RF signal. Specifically, it can be the time taken from receiving the control RF signal, parsing the control RF signal to obtain the control channel signal, parsing the control channel signal to obtain the channel-bearing signal, to transmitting the channel-bearing signal to the controlled device.

[0043] Step 202: Feedback confirmation of receiving 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 sending time reference point corresponding to the control RF signal and the receiving time reference point of the confirmation of receiving the RF signal.

[0044] In an embodiment of the present invention, the RF receiving system can feed back confirmation of the reception of the 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 emission time reference point corresponding to the control RF signal and the reception time reference point of the confirmation of the reception of the RF signal. Step 202 may specifically include: the RF module of the RF receiving system converts the received RF signal into a digital signal, parses the received digital signal, and extracts key information therein, such as data packet number, control instructions, etc. Based on the parsed information, a corresponding confirmation reception RF signal is generated. The confirmation reception RF signal usually contains information of successful reception, such as a confirmation flag, the original data packet number, etc., to inform the RF control system that the corresponding control signal has been successfully received. The generated confirmation reception RF signal is sent back to the RF control system through the RF module and the antenna.

[0045] Step 203: 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 determine the time consumption of parsing and outputting the control RF signal.

[0046] 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. The RF receiving system records the receiving time of the control RF signal while receiving the control RF signal. When sending the channel-bearing signal to the controlled device, it records the sending time of the channel-bearing signal. The time difference between the sending time of the channel-bearing signal and the receiving time of the control RF signal is the analysis output time.

[0047] Step 204: Feedback the analysis output time RF signal to the RF control system based on the specific data packet number and the specific analysis output time, so that the RF control system can query the corresponding specific generation time and specific transmission time based on the specific data packet number, and determine the control delay of the RF control system based on the specific generation time, the specific transmission time and the specific analysis output time.

[0048] The control delay is the delay of the RF control system controlling the controlled device according to a specific user operation. The RF receiving system can query the specific generation time and specific transmission time corresponding to a specific data packet number by feeding back the RF control system the radio frequency signal of the analysis output time, and determine the control delay of the RF control system according to the specific generation time, specific transmission time and specific analysis output time.

[0049] In an embodiment of the present invention, 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: 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 between two adjacent transmissions of the channel bearer signal to the controlled device by the RF receiving system according to the sending time points of two adjacent transmissions of the channel bearer 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 and display the channel time interval; determining the number of reception packet losses of receiving a specific control RF signal from the RF control system and the number of transmission packet losses of transmitting a specific channel bearer signal 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 and display the number of reception packet losses and the number of transmission packet losses.

[0050] An embodiment of the present invention provides another RF control system control delay self-measurement method. 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 determines and collects user operation actions, generates the generation time of the control RF signal according to the user operation actions, and can generate and send an RF signal to the RF receiving system to confirm the reception request; after receiving the control RF signal, the RF receiving system can feed back confirmation of the reception of the 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 reception time reference point corresponding to the confirmation of the reception of the RF signal and the sending time reference point corresponding to the control RF signal. In addition, the RF receiving system, by receiving the RF signal of the time-consuming request generated and sent by the RF control system, can determine the resolution output time corresponding to the control RF signal and feed it back to the RF control system after receiving the RF signal of the resolution output time request, thereby enabling the RF control system to complete the accurate measurement of the control delay of the RF control system according to the generation time, transmission time and resolution output time, and can help the operator understand the time required for the actual resolution output of the controlled device to trigger the user operation action by operating the RF control system, so as to 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.

[0051] 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, 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, including: The generation unit 31 can be used to collect user operation actions, generate a control RF signal including a data packet number according to the user operation actions, and determine the generation time corresponding to the control RF signal; generate a corresponding RF signal for confirming a reception request and a RF signal for parsing an output time request according to the control RF signal, wherein the parsing output time is the time taken for the RF receiving system to receive the control RF signal and transmit the channel-bearing signal to the controlled device.

[0052] The transmission unit 32 can be used to send the control RF signal, the RF signal for confirming the reception request, and the RF signal for parsing the output time consumption request to the RF receiving system; determine the sending time reference point corresponding to the control RF signal, determine the receiving time reference point corresponding to 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 based on the receiving time reference point and the sending time reference point.

[0053] The determination unit 33 can be used to receive and parse the analysis output time RF signal fed back by the RF receiving system to obtain a specific data packet number and a specific analysis output time; according to the specific data packet number, query its corresponding specific generation time and specific transmission time, and determine the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time, wherein the control delay is the delay of the RF control system controlling the controlled device according to a specific user operation action.

[0054] In an embodiment of the present disclosure, the generating unit 31 can be specifically used to collect user operation actions, parse the user operation actions into digital signals, and determine the sampling time from collection to parsing to obtain the digital signals; based on the digital signals, calculate and generate a control channel signal including a data packet number; and determine the calculation time corresponding to the control channel signal; modulate the control channel signal into a control RF signal including a data packet number, and determine the RF driving time corresponding to the control channel signal; and determine the generation time corresponding to the control RF signal based on the sampling time, the calculation time, and the RF driving time.

[0055] In an embodiment of the present disclosure, the generation unit 31 can also be specifically used to determine a reception time reference point corresponding to the user operation action; and determine a generation time reference point corresponding to the control RF signal; and determine the generation time corresponding to the control RF signal according to the reception time reference point corresponding to the user operation action and the generation time reference point corresponding to the control RF signal.

[0056] In an embodiment of the present disclosure, the determination unit 33 may be specifically configured to determine the sum of the specific generation time, the specific transmission time and the specific analysis output time as the control delay of the RF control system.

[0057] In an embodiment of the present disclosure, the RF control system controls the delay self-measurement device and may further include: The display unit can be used to display the control delay of the RF control system.

[0058] 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; The parsing unit may be used to receive and parse the channel interval radio frequency signal fed back by the RF receiving system to obtain the channel time interval between two adjacent transmissions of the channel bearing signal by the RF receiving system to the controlled device; The parsing unit may also be used to receive and parse the packet loss data radio frequency signal fed back by the RF receiving system, and obtain 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 signal carried by the transmission channel to the controlled device; 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.

[0059] In an embodiment of the present disclosure, the determination unit 33 may also be used to determine two adjacent sampling time reference points corresponding to the acquisition and resolution of the user operation action as a digital signal, and determine the difference between the two adjacent sampling time reference points as the sampling time interval; or may also be used to determine the number of sampling packet losses when a specific user operation action is received and resolved into a specific digital signal; or may also be used to determine the number of operation packet losses when a specific digital signal is operated to generate a specific control channel signal; or may also be used to determine the number of transmission packet losses when a specific control radio frequency signal is sent to an RF receiving system.

[0060] The display unit can also 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.

[0061] An RF control system control delay self-measurement device provided by an embodiment of the present invention can be deployed in an 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, the RF control system can determine the time consumed for collecting user operation actions and, based on the user operation actions, generate a control RF signal; can generate and send a RF signal confirming a reception request to the RF receiving system; and enable the RF receiving system to feed back confirmation of the reception of the RF signal to the RF control system after receiving the control RF signal. Therefore, the RF control system can determine the transmission time consumed corresponding to the control RF signal based on the reception time reference point corresponding to the confirmation reception of the RF signal and the transmission time reference point corresponding to the control RF signal. In addition, by generating an RF signal requesting the time consumption for resolution output and sending it to the RF receiving system, the RF receiving system can determine the resolution output time consumption corresponding to the control RF signal and feed it back to the RF control system after receiving the RF signal requesting the time consumption for resolution output. Thus, the RF control system can complete the precise measurement of the control delay of the RF control system according to the generation time, transmission time and resolution output time, and can help the operator understand the time required for the actual resolution output of the controlled device to trigger the user operation action by operating the RF control system, so as to better grasp the operation timing and ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, thereby improving the control accuracy of the RF control system.

[0062] Please refer to Figure 4To achieve the above purpose, the embodiment of the present invention further provides another RF control system control delay self-measurement device, which can be deployed in the RF receiving 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, including: The receiving unit 41 may be used to receive a control RF signal including a data packet number, a RF signal confirming a reception request corresponding to the control RF signal, and a RF signal requesting a time-consuming resolution output, wherein the time-consuming resolution output is the time taken by the RF receiving system from receiving the control RF signal to transmitting a channel-bearing signal to the controlled device; The sending unit 42 may be configured to feed back a confirmation reception 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 the sending time reference point corresponding to the control RF signal and the receiving time reference point of the confirmation reception RF signal; The parsing unit 43 may be 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 determine the parsing output time of the control RF signal; The sending unit 42 can also be used to feed back a radio frequency signal of the analysis output time to the RF control system based on a specific data packet number and a specific analysis output time, so that the RF control system can query the corresponding specific generation time and specific transmission time based on the specific data packet number, and determine the control delay of the RF control system based on the specific generation time, the specific transmission time and the specific analysis output time. The control delay is the delay for the RF control system to control the controlled device according to a specific user operation action.

[0063] In an embodiment of the present invention, the RF control system controls the delay self-measurement device further comprising: a determination unit; 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; The determination unit may be used to determine the channel time interval between two adjacent transmissions of the channel bearer signal from the RF receiving system to the controlled device according to the sending time points of the two adjacent transmissions of the channel bearer signal to the controlled device; or may 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 bearer signal to the controlled device; 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 number of received packet losses and the number of transmitted packet losses and display them.

[0064] Another RF control system control delay self-measurement device provided by an embodiment of the present invention is deployed in an RF receiving 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, the embodiment of the present invention determines and collects user operation actions through the RF control system, generates the generation time of the control RF signal according to the user operation actions, and can generate and send an RF signal of confirming the reception request to the RF receiving system; after receiving the control RF signal, the RF receiving system can feed back confirmation of the reception of the 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 reception time reference point corresponding to the confirmation of the reception of the RF signal and the sending time reference point corresponding to the control RF signal. In addition, the RF receiving system, by receiving the RF signal of the time-consuming request generated and sent by the RF control system, can determine the resolution output time corresponding to the control RF signal and feed it back to the RF control system after receiving the RF signal of the resolution output time request, thereby enabling the RF control system to complete the accurate measurement of the control delay of the RF control system according to the generation time, transmission time and resolution output time, and can help the operator understand the time required for the actual resolution output of the controlled device to trigger the user operation action by operating the RF control system, so as to 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.

[0065] In addition, to achieve the above-mentioned purpose, an embodiment of 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-mentioned RF control system control delay self-measurement method.

[0066] 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.

[0067] 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 RF control system control delay self-measurement method embodiment in combination with its hardware.

[0068] 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.

[0069] like Figure 5 As shown, the RF control system controls the delay self-measurement device 500 and may include: 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.

[0070] For example, the processor 520 may be configured to execute the above method embodiments according to instructions in the computer program.

[0071] In some embodiments of the present invention, the processor 520 may include but is not limited to: 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.

[0072] In some embodiments of the present invention, the memory 510 includes but is not limited to: 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).

[0073] 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.

[0074] like Figure 5 As shown, the RF control system delay self-measurement device 500 may also include: The transceiver 530 may be connected to the processor 520 or the memory 510 .

[0075] 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.

[0076] 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.

[0077] The embodiment of the present invention provides a 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 determine the time taken to generate a control RF signal based on the collected user operation actions; can generate and send a RF signal to the RF receiving system to confirm the reception request; and enable the RF receiving system to feedback confirmation of the reception of the RF signal to the RF control system after receiving the control RF signal. Therefore, the RF control system can determine the transmission time taken to control the RF signal based on the reception time reference point corresponding to the confirmation reception of the RF signal and the transmission time reference point corresponding to the control RF signal. In addition, by generating an RF signal requesting the time consumption for resolution output and sending it to the RF receiving system, the RF receiving system can determine the resolution output time consumption corresponding to the control RF signal and feed it back to the RF control system after receiving the RF signal requesting the time consumption for resolution output. Thus, the RF control system can complete the precise measurement of the control delay of the RF control system according to the generation time, transmission time and resolution output time, and can help the operator understand the time required for the actual resolution output of the controlled device to trigger the user operation action by operating the RF control system, so as to better grasp the operation timing and ensure that the operation control action of the RF control system is synchronized with the actual state of the controlled device, thereby improving the control accuracy of the RF control system.

[0078] 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: Applied to RF control system, the system clock of the RF control system and the RF receiving system does not have the function of real-time recording and saving specific time points, but has the function of recording time differences, including: Collect user operation actions, generate a control RF signal including a data packet number according to the user operation action, and determine the generation time corresponding to the control RF signal; generate a corresponding RF signal for confirming a reception request and a RF signal for analyzing the output time request according to the control RF signal, wherein the analysis output time is the time taken for the RF receiving system to receive the control RF signal and transmit the channel bearer signal to the controlled device; Sending the control RF signal, the RF signal confirming the reception request, and the RF signal of the resolution output time consumption request to the RF receiving system; determining a sending time reference point corresponding to the control RF signal, determining a receiving time reference point corresponding to the RF signal confirming the reception fed back by the RF receiving system, and determining the transmission time consumption corresponding to the control RF signal according to the receiving time reference point and the sending time reference point; Receive and parse the analysis output time RF signal fed back by the RF receiving system to obtain a specific data packet number and a specific analysis output time; query the corresponding specific generation time and specific transmission time according to the specific data packet number, and determine the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time, wherein the control delay is the delay of the RF control system controlling the controlled device according to a specific user operation action.

2. The method according to claim 1, characterized in that The collecting of user operation actions, generating a control radio frequency signal including a data packet number according to the user operation actions, and determining a 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 from collection to parsing to obtain the digital signals; According to the digital signal, generate a control channel signal including a data packet number by calculation; and determine the calculation time consumption corresponding to obtaining the control channel signal; Modulate the control channel signal into a control radio frequency signal including a data packet number, and determine the radio frequency driving time corresponding to the control channel 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: Determine a reception time reference point corresponding to the user operation action; and determine a generation time reference point corresponding to the control radio frequency signal; Determine the generation time consumption corresponding to the control radio frequency signal according to the reception time reference point corresponding to the user operation action and the generation time reference point corresponding to the control radio frequency signal; The determining the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time comprises: The sum of the specific generation time, the specific transmission time and the specific analysis output time is determined as the control delay of the RF control system.

3. The method according to claim 1, characterized in that The method further comprises: Display the control delay of the RF control system, the generation time, the transmission time, and the analysis 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.

4. The method according to claim 2, characterized in that 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.

5. A method for self-measuring control delay of an RF control system, characterized in that: Applied to the RF receiving system, 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, including: Receiving a control RF signal including a data packet number sent by the RF control system, a RF signal confirming a reception request corresponding to the control RF signal, and a RF signal requesting an output time resolution, wherein the output time resolution is the time taken for the RF receiving system to transmit a channel-bearing signal to the controlled device in response to the control RF signal; Feedback confirmation of receiving the 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 the sending time reference point corresponding to the control RF signal and the receiving time reference point of the confirmation of receiving the RF signal; Parsing the control radio frequency signal to obtain a control channel signal, parsing the control channel signal to obtain a channel bearer signal, transmitting the channel bearer signal to the controlled device, and determining the time consumption of parsing and outputting the control radio frequency signal; According to the specific data packet number and the specific analysis output time, the analysis output time RF signal is fed back to the RF control system, so that the RF control system can query the corresponding specific generation time and specific transmission time according to the specific data packet number, and determine the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time, wherein the control delay is the delay for the RF control system to control the controlled device according to the specific user operation action.

6. The method according to claim 5, characterized in that The method further comprises: receiving 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; Determine the channel time interval between two adjacent transmissions of the channel-bearing signal from the RF receiving system to the controlled device according to the sending time points of two adjacent transmissions of the channel-bearing signal to the controlled device, and feed back the channel time interval radio frequency signal to the RF control system, so that the RF control system can parse and display the channel time interval; Determine the number of received packet losses of a specific control RF signal received from the RF control system and the number of transmitted packet losses of a specific channel bearer signal transmitted to the controlled device, and feed back the packet loss data RF signal to the RF control system, so that the RF control system can parse the number of received packet losses and the number of transmitted packet losses and display them.

7. A RF control system control delay self-measurement device, characterized in that: The device is deployed in the RF control system. 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, including: A generating unit is used to collect user operation actions, generate a control radio frequency signal including a data packet number according to the user operation action, and determine the generation time corresponding to the control radio frequency signal; generate a corresponding radio frequency signal for confirming a reception request and a radio frequency signal for analyzing the output time request according to the control radio frequency signal, wherein the analysis output time is the time taken for the RF receiving system to receive the control radio frequency signal and transmit 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 parsing the output time consumption request to the RF receiving system; determine a sending time reference point corresponding to the control RF signal, a receiving time reference point corresponding to 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 receiving time reference point and the sending time reference point; A determination unit is used to receive and parse the analysis output time consumption radio frequency signal fed back by the RF receiving system to obtain a specific data packet number and a specific analysis output time consumption; according to the specific data packet number, query its corresponding specific generation time consumption and specific transmission time consumption, and determine the control delay of the RF control system according to the specific generation time consumption, the specific transmission time consumption and the specific analysis output time consumption, wherein the control delay is the delay of the RF control system controlling 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 the RF receiving system. 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, including: A receiving unit, configured to receive a control RF signal including a data packet number sent by the RF control system, a RF signal confirming a reception request corresponding to the control RF signal, and a RF signal requesting a time-consuming resolution output, wherein the time-consuming resolution output is the time taken by the RF receiving system from receiving the control RF signal to transmitting a channel-bearing signal to the controlled device; a sending unit, configured to feed back a confirmation reception 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 sending time reference point corresponding to the control RF signal and a receiving time reference point of the confirmation reception RF signal; A response unit, configured 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 determine a time consumption for parsing and outputting the control RF signal; The sending unit is also used to feed back a radio frequency signal of the analysis output time to the RF control system according to the specific data packet number and the specific analysis output time, so that the RF control system can query the corresponding specific generation time and specific transmission time according to the specific data packet number, and determine the control delay of the RF control system according to the specific generation time, the specific transmission time and the specific analysis output time, 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.

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