Control devices, piloted devices, communication systems

Abstract

To reduce a survey time required to measure the communication environment.SOLUTION: A control device includes a control unit that determines the selection order of channels in frequency hopping, a transmitting unit that transmits transmission data at a frequency corresponding to a selected channel selected on the basis of the selection order, and a receiving unit that corresponds to the transmission and receives reception data from a communication target device at a frequency corresponding to the selected channel, and the received data includes radio wave strength information for a measurement channel used in the frequency hopping and which is the measurement target.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a control device, a controlled device, and a communication system, and particularly relates to the field of a control device, a controlled device, and a communication system that perform communication while appropriately changing channels using frequency hopping. [Background Art]

[0002] For devices that are remotely operated via wireless communication, such as model airplanes and drones, the communication environment in the control area is important, and there is a problem that appropriate control cannot be performed when the communication environment is poor. For this reason, investigations have been conducted to measure the presence of interference waves in the control area in advance. For example, as disclosed in Patent Document 1 below, it is described that a measurer flies an unmanned aerial vehicle throughout a predetermined space (control area) to acquire radio field intensity data for the control area. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2018-155710 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, the method of flying an unmanned aerial vehicle throughout the planned control area as in Patent Document 1 requires a long time for advance measurement, and may not be appropriate in some cases. Furthermore, there are cases where it is not possible to set aside time for advance measurement in the first place.

[0005] The present invention has been made in view of such problems, and an object of the present invention is to reduce the investigation time for measuring a communication environment. [Means for Solving the Problem]

[0006] The control device according to the present invention comprises a control unit that determines the selection order of channels in frequency hopping, a transmission unit that transmits transmission data at a frequency corresponding to the selected channel selected based on the selection order, and a receiving unit that receives received data from a communication target device at a frequency corresponding to the selected channel, wherein the received data includes radio wave intensity information for the measurement channel that is the channel used in the frequency hopping and is the measurement target. For example, the communication target device is defined as a remotely controlled device such as a multi-rotor drone or a radio-controlled model. The control device is defined as a controller operated by the user to operate the remotely controlled device. In this case, control information (attitude control information) for controlling the target device is transmitted from the transmitting unit, and in response, control results from the target device and various telemetry information about the target device are received by the receiving unit. By using the transmission and reception of this information, it becomes possible to remotely control devices operated using a controller. These transmissions and receptions are, so to speak, normal transmission and reception operations for remotely controlling the target device, but with this configuration, radio wave strength information can be received from the target device during these normally performed transmissions and receptions.

[0007] The controlled device according to the present invention comprises: a receiving unit that receives received data at a frequency corresponding to a selected channel chosen from a plurality of channels used for frequency hopping; a control unit that measures radio wave strength information for a measurement channel that is a channel used for frequency hopping and is the target of measurement; and a transmitting unit that transmits data corresponding to the reception at a frequency corresponding to the selected channel used in the reception to the control device that transmitted the received data, wherein the transmitted data includes the radio wave strength information measured by the control unit between the reception of the received data and the transmission of the transmitted data.

[0008] The communication system according to the present invention is a communication system including a control device and a controlled device, wherein the control device includes a control unit that determines the selection order of channels in frequency hopping and a transmission unit that transmits transmission data at a frequency corresponding to the selected channel selected based on the selection order, and the controlled device includes a receiving unit that receives the transmission data at a frequency corresponding to the selected channel, a control unit that measures radio wave strength information for a measurement channel that is used in frequency hopping and is the channel to be measured, and a transmission unit that transmits transmission data including the radio wave strength information at a frequency corresponding to the selected channel to the control device, corresponding to the reception. The aforementioned effects and benefits can also be obtained through such controlled devices and communication systems. [Effects of the Invention]

[0009] According to the present invention, the time required for surveying the communication environment can be reduced. [Brief explanation of the drawing]

[0010] [Figure 1] This is a functional block diagram of the controller and controlled equipment that constitute the communication system of this embodiment. [Figure 2] This is a perspective view showing the appearance of the controller. [Figure 3] This figure shows an example of the data structure of a message packet as transmitted data. [Figure 4] This figure shows an example of the data structure of a message packet as return data. [Figure 5] This diagram illustrates the transmission and reception of data using frequency hopping. [Figure 6] This figure shows an example of a controller display unit that shows a spectrum based on radio wave strength information. [Figure 7] Figure 8 is a flowchart illustrating an example of the process executed by the controller. [Figure 8]It is a flowchart illustrating an example of processing executed by a controller following FIG. 7. [Figure 9] It is a flowchart illustrating an example of processing executed by a steered device together with FIG. 10. [Figure 10] It is a flowchart illustrating an example of processing executed by a steered device following FIG. 9. [Figure 11] It is a flowchart for an example of processing executed by a controller to perform spectrum display on a display unit. [Figure 12] It is a flowchart for an example of warning processing executed by a controller. [Figure 13] It is a flowchart for an example of warning condition setting executed by a controller. [Figure 14] It is a diagram for explaining transmission and reception of data by frequency hopping in the second embodiment. [Figure 15] It is a diagram for explaining transmission and reception of data by frequency hopping in the third embodiment. [Figure 16] It is a flowchart illustrating an example of processing executed by a controller in the third embodiment following FIG. 7. MODE FOR CARRYING OUT THE INVENTION

[0011] Hereinafter, embodiments will be described in the following order. <1. Configuration of Communication System> <2. Structure of Message Packet> <2-1. Transmission Data> <2-2. Return Data> <3. Measurement Timing for RSSI Values> <4. Spectrum Display> <5. Processing Flow> <6. Second Embodiment> <7. Third Embodiment> <8. Modifications> <9. Summary>

[0012] <1. Communication System Configuration> The communication system S of the first embodiment will be described below with reference to the drawings. The communication system S consists of a controller 1 and a controlled device 2 that is remotely controlled by the controller 1.

[0013] Controller 1 is a control device that transmits control information for operation to the controlled device 2. The controlled device 2 is a control target device that receives control information from Controller 1 and changes its attitude, etc.

[0014] The controller 1 includes an antenna 3 for wireless communication, a communication unit 4 that transmits and receives data via the antenna 3, a control unit 5 that performs various processing, an operation unit 6 that receives operation input from the operator, and a display unit 7 that presents various information to the operator.

[0015] Antenna 3 is capable of transmitting and receiving radio waves in the frequency band from approximately 2.4 GHz to approximately 2.5 GHz. Furthermore, the antenna 3 may be configured to transmit and receive radio waves in the vicinity of various frequency bands such as 27MHz, 40MHz, 72MHz, 73MHz, 429MHz, 920MHz, 1.2GHz (gigahertz), 5GHz, and 6GHz, and may also be configured to transmit and receive radio waves in multiple of these frequency bands. These frequency bands are based solely on the assumption that the communication system S will be used within Japan. Therefore, it is desirable that these frequency bands vary appropriately depending on the country or region in which the communication system S is used. In other words, it is desirable that the communication system S be equipped with an antenna 3 that corresponds to the usable frequency bands while complying with the law.

[0016] In this embodiment, the communication system S changes the channel CH used each time the controller 1 and the controlled device 2 send a message packet. That is, after sending and receiving packets, the controller 1 performs frequency hopping to change the channel CH used for wireless communication.

[0017] The communication unit 4 is configured as an integrated circuit (IC), for example, with the transmitter unit 4S and the receiver unit 4R integrated into one unit. The communication unit 4 is configured as an integrated unit with a modulation unit, a power amplification unit, a high-frequency amplification unit, and a demodulation unit. The ICs constituting the transmitter unit 4S and the ICs constituting the receiver unit 4R may be provided as separate components.

[0018] In this embodiment, the communication unit 4 performs transmission and reception of each message packet.

[0019] The transmitting unit 4S executes the process of transmitting the message packet received from the control unit 5 to the controlled device 2.

[0020] The receiving unit 4R receives the message packet transmitted from the controlled device 2 and performs the process of passing it to the control unit 5.

[0021] The communication unit 4 may be configured to include a buffer memory for sending and receiving message packets.

[0022] The control unit 5 generates a message packet containing information to be transmitted to the controlled device 2, and supplies the generated message packet to the transmission unit 4S.

[0023] Furthermore, the control unit 5 analyzes the header portion of the message packets received from the controlled device 2 via the receiving unit 4R and performs various processing according to the situation. For example, the control unit 5 receives various measurement information about the controlled device 2, such as control voltage values ​​and battery level, as telemetry information and performs control according to the telemetry information. The telemetry information may also include current location information such as the latitude and longitude information of the controlled device 2, or altitude information if the controlled device 2 is an aircraft.

[0024] As will be described in more detail later, the control unit 5 calculates the presence or absence of interference waves and their intensity based on the radio wave strength information (RSSI (Received Signal Strength Indicator) value) contained in the message packet received from the controlled device 2.

[0025] Furthermore, the control unit 5 performs processes such as adaptively changing the frequency hopping pattern according to the intensity of the interference wave and changing the channel CH to be selected.

[0026] The control unit 5 is capable of performing warning processing and other actions in accordance with radio wave intensity information.

[0027] The control unit 5 performs various processes based on the operation signals detected by the operation unit 6 in response to the operator's operation of the operation unit 6. These processes include, for example, sending control information based on the operator's operation to the controlled device 2 in a message packet. In addition, the control unit 5 also performs other processes such as displaying menus in response to user menu operations and changing settings.

[0028] The control unit 6 may include, for example, controls for changing the attitude or direction of movement of the controlled device 2, controls for moving it in a predetermined direction, and controls provided in correspondence with the drive unit of the controlled device 2 (see Figure 2). The control unit 6 may also include a directional pad, a select button, a cancel button, and slide switches for operating the menu displayed on the display unit 7.

[0029] The operation unit 6 includes an operator that can set warning conditions for determining whether or not to execute the warning process described above.

[0030] The display unit 7 is configured to have a display that shows various images and data, and the display may have a touch panel function. If the display has a touch panel function, the display functions as both the display unit 7 and the operation unit 6.

[0031] The controlled device 2 includes an antenna 8 for wireless communication, a communication unit 9 that transmits and receives data via the antenna 8, a control unit 10 that performs various processing, and various drive units 11. In addition, the controlled device 2 may be equipped with other devices such as camera equipment, depending on the purpose.

[0032] Antenna 8 is capable of receiving radio waves transmitted from Antenna 3 of Controller 1. In other words, in this embodiment, Antenna 3 is capable of transmitting and receiving radio waves in the frequency band from approximately 2.4 GHz to approximately 2.5 GHz.

[0033] The communication unit 9 is configured as an integrated circuit (IC) with a transmitter 9S and a receiver 9R. The communication unit 9 also integrates a modulation unit, a power amplification unit, a high-frequency amplification unit, and a demodulation unit. The ICs constituting the transmitter 9S and the ICs constituting the receiver 9R may be provided as separate components.

[0034] The control unit 10 analyzes the header portion of the message packet received from the controller 1 via the receiving unit 9R and performs various processing according to the situation. For example, the control unit 10 drives the drive unit 11 based on the control information contained in the message packet. As a result, the attitude of the controlled device 2 changes, and the direction of movement and speed change.

[0035] The control unit 10 generates a message packet containing various measurement information for the controlled device 2, such as control voltage values ​​and battery level, as telemetry information, and provides it to the transmission unit 9S. As described above, the telemetry information may also include location information of the controlled device 2.

[0036] The control unit 10 acquires radio wave strength information for a predetermined channel CH in a predetermined band (e.g., 2.4 GHz band) received by the receiving unit 9R. The control unit 10 stores the radio wave strength information acquired along with the telemetry information in a predetermined area of ​​the message packet and transmits it to the controller 1 via the transmission unit 9S.

[0037] The drive unit 11 is provided in various configurations depending on the nature of the controlled device 2. For example, if the controlled device 2 is a multi-rotor such as a drone, it includes a motor for driving the propellers, and if the controlled device 2 is an aircraft with fixed wings, it includes a motor for driving the ailerons, rudder, elevator, etc. Furthermore, if the controlled device 2 is not an aircraft but a model vehicle resembling an automobile, it will include motors for driving the wheels and motors for steering.

[0038] <2. Structure of a message packet> An example of the message packet structure used in the communication system S will be explained with reference to Figures 3 and 4. <2-1. Data to be sent> Figure 3 shows an example of the message packet structure in the transmission data Ds sent from controller 1. From the perspective of the controlled device 2, this transmission data Ds can be considered received data.

[0039] The transmitted data Ds includes a synchronization code area F1, an ID (Identification) code area F2, a hopping pattern area F3, a channel enable / disable information area F4, a control data area F5, and a check area F6. Note that Figure 3 only shows a part of the data structure of a message packet, and other areas may also be included.

[0040] The synchronization code area F1 stores data for synchronizing communication with the controlled device 2.

[0041] The ID code area F2 is an area where an ID is stored to identify the device being communicated with; specifically, the ID of the controlled device 2 is stored there. In addition, an ID to identify the transmitting device, controller 1, may also be stored in the ID code area F2.

[0042] The hopping pattern area F3 is a region where a code for identifying the channel transition pattern (CH) in frequency hopping is stored. If, for example, N types of channel transition patterns (hereinafter referred to as "hopping patterns") are provided, a number from 1 to N will be stored in the hopping pattern area F3. The number of channel transition patterns can vary, from a few to several dozen. Increasing the number of available transition patterns increases the likelihood of avoiding communication collisions.

[0043] The hopping pattern may be, for example, a pattern in which channels CH0 to CH35 are selected in ascending or descending order, or a pattern in which channels such as CH21, CH4, CH31, CH18, CH26 are selected randomly or pseudo-randomly after the selection of channel CH0.

[0044] In the case of random patterns, a predetermined random pattern may be repeated, or the channels CH may be selected sequentially by complete randomness.

[0045] In addition to random patterns, channels CH may be selected every five from channel CH0. For example, channels may be selected sequentially in the order of channel CH0, channel CH5, channel CH10, ... channel CH35, channel CH4, channel CH9, ...

[0046] Alternatively, a hopping pattern may be provided that randomly transitions between 18 channels CH0 to CH17 to accommodate the presence of broadband interference waves, and another hopping pattern that randomly transitions between 18 channels CH18 to CH35. These hopping patterns may be used appropriately depending on the presence of interference waves. For example, if there is a relatively broadband interference wave affecting most of channels CH0 to CH17, the latter hopping pattern using channels CH18 to CH35 may be used.

[0047] The channel enable / disable information area F4 stores an enable or disable flag for each channel CH used in frequency hopping. For example, if 36 channels CH are used for frequency hopping, 36 bits of flag information will be stored in the channel enable / disable information area F4.

[0048] Control data area F5 stores control information for the controlled device 2. The control information may be, for example, data indicating the voltage applied to the controlled drive unit 11, or data indicating the drive amount (e.g., angle information) for the controlled drive unit 11. Furthermore, the control data area F5 contains instruction information for causing the controlled device 2 to perform a predetermined operation. For example, if the controlled device 2 is equipped with a camera, code information for instructing the camera to perform an imaging operation is stored in the control data area F5.

[0049] Check area F6 stores redundant codes for detecting errors in each data item included in the message packet. For example, check area F6 may store redundant codes for detecting errors only in control data, or it may store redundant codes for detecting errors in other areas. Error correction may also be performed regardless of the error checking method.

[0050] <2-2. Return Data> Figure 4 shows an example of the structure of a message packet in the received data Dr, which is the data returned from the controlled device 2 and received by the controller 1 from the controlled device 2.

[0051] The return data Dr includes the synchronization code area F11, the ID code area F12, the hopping pattern area F13, the first RSSI value area F14, the second RSSI value area F15, the telemetry data area F16, and the check area F17. Note that Figure 4 shows only a part of the data structure of the message packet, and other areas may also be provided.

[0052] The synchronization code area F11 stores data for synchronizing communication between controller 1 and controlled device 2.

[0053] The ID code area F12 is an area where IDs for identifying controller 1 and IDs for identifying controlled device 2 are stored.

[0054] The hopping pattern region F13 is the area where the code that identifies the hopping pattern in frequency hopping is stored.

[0055] The first RSSI value area F14 is the area where the measured RSSI value for the channel CH used for sending and receiving the message packet is stored. Here, the channel CH used for sending and receiving and selected by the controller 1 is referred to as "selected channel CHs".

[0056] The first RSSI value area F14 stores the RSSI value (first RSSI value) for the selected channel CHs, which is information about the radio wave strength when the previously transmitted data Ds was received.

[0057] The second RSSI value area F15 is the area where the RSSI value measured for a channel CH during a period when no message packets were being sent or received is stored. Here, the channel CH that was the target of the second RSSI value measurement is referred to as "measurement channel CHm".

[0058] The second RSSI value can be considered a numerical value that represents the result of measuring the noise level. Therefore, a lower second RSSI value is considered to indicate a better communication environment.

[0059] The selected channels CHs and the measured channel CHm may be the same channel CH, or they may be different channels CH. In this example, we will explain the case where the selected channels CHs and the measured channel CHm are the same channel CH.

[0060] The telemetry data area F16 is an area where information such as voltage values, current values, or battery level measured in the controlled device 2 is stored as telemetry information.

[0061] Check area F17 stores redundant codes for detecting errors in each piece of data contained in the message packet.

[0062] <3. Timing of RSSI value measurement> The state transitions of the controller 1 and the controlled device 2 related to communication, and the timing of measurement of the RSSI value in the controlled device 2, will be explained with reference to Figure 5.

[0063] The period during which the antenna is in the receiving state is defined as the receiving period Tr, and the period during which it is in the transmitting state is defined as the transmitting period Ts. Furthermore, the period during which the antenna is in a receiving state capable of receiving radio waves in the frequency band corresponding to channel CH0 is defined as the receiving period Tr0, and the period during which the antenna is in a receiving state capable of receiving radio waves in the frequency band corresponding to channel CH10 is defined as the receiving period Tr10. Similarly, the period during which the system is in a state where it can transmit radio waves in the frequency band corresponding to channel CH0 is defined as the transmission period Ts0, and the period during which the system is in a state where it can transmit radio waves in the frequency band corresponding to channel CH10 is defined as the transmission period Ts10.

[0064] As shown in Figure 5, the control unit 5 of the controller 1 provides a transmission period Ts10 that controls the antenna 3 to the transmission state according to the channel CH10 selected based on the hopping pattern, and causes the control unit to transmit the transmission data Ds to the controlled device 2.

[0065] Meanwhile, during the same period, the control unit 10 of the controlled device 2 provides a reception period Tr10 that controls the antenna 8 to a receiving state corresponding to channel CH10. As a result, the control unit 10 receives the transmitted data Ds via the receiving unit 9R. The control unit 10 also acquires the RSSI value at the time of reception of the transmitted data Ds as the first RSSI value.

[0066] Next, there is a communication pause between the controlled device 2 and the controller 1 when it sends back a message packet. During this time, the control unit 10 of the controlled device 2 sets up a reception period Tr10 again, controlling the antenna 8 to a receiving state corresponding to the measurement channel CHm (channel CH10 in this example), and obtains a second RSSI value. The second RSSI value obtained at this time is said to correspond to the noise level caused by communication between other devices.

[0067] When the communication pause ends, the control unit 10 of the controlled device 2 sets a transmission period Ts10 in which it controls the antenna 8 to a transmission state corresponding to channel CH10 in order to send a message packet back to the controller 1. As a result, the control unit 10 sends the return data Dr to the controller 1 via the transmission unit 9S. This return data Dr includes both the first RSSI value and the second RSSI value.

[0068] During the same period, the control unit 5 of the controller 1 provides a reception period Tr10 that controls the antenna 3 to a reception state corresponding to channel CH10. As a result, the control unit 5 receives the return data Dr via the receiving unit 4R.

[0069] During the transmission period Ts, when the control unit 5 of controller 1 controls antenna 3 to the transmission state, and the reception period Tr, when the control unit 5 controls antenna 3 to the reception state, the transmission and reception of transmission data Ds and the transmission and reception of return data Dr are completed. After the transmission and reception of the transmit data Ds and return data Dr are complete, the control unit 5 of the controller 1 and the control unit 10 of the controlled device 2 select the next channel CH as the selected channel CHs based on the hopping pattern. In the example shown in Figure 5, channel CH4 is selected as the selected channel CHs, and similarly thereafter, channels CH20 and CH8 are selected.

[0070] <4. Spectrum display> The control unit 5 of the controller 1 acquires the second RSSI value from the received return data Dr. As shown in Figure 5, when the transmission and reception of the transmission data Ds and the return data Dr are repeatedly performed between the controller 1 and the controlled device 2, the data of the second RSSI value for each channel CH is accumulated in the controller 1.

[0071] The control unit 5 uses the accumulated second RSSI value to realize a spectrum display as shown in Figure 6 on the display unit 7.

[0072] The display shown in Figure 6 has frequency on the vertical axis and RSSI value on the horizontal axis, visualizing the noise level for each channel (each frequency).

[0073] As shown in the diagram, frequency bands with high RSSI values ​​are likely to be used for communication by other devices and are therefore unsuitable for communication between controller 1 and controlled device 2.

[0074] The control unit 5 determines the availability of each channel CH based on these frequency bands and reflects this in the selection of the next channel CHs.

[0075] <5. Processing Flow> Figures 7 and 8 show an example of the processing flow executed by the control unit 5 of the controller 1. It should be assumed that the selection of the hopping pattern and the sharing of the selected hopping pattern with the controlled device 2 have already been completed before executing the loop processing shown in Figures 7 and 8. Furthermore, in Figures 7 and 8, connectors C1 and C2 are used to represent connections between the drawings.

[0076] In step S101, the control unit 5 determines whether the next channel CH to be selected is active according to the hopping pattern.

[0077] If the next channel CH to be selected is flagged as invalid due to the presence of interference waves or other reasons, the control unit 5 determines that the channel CH to be selected is not valid, skips the channel CH to be selected in the following step S102, and returns to the processing in step S101.

[0078] On the other hand, if the disabled flag is not set for the channel CH to be selected and the control unit 5 determines that the channel CH to be selected is valid, the control unit 5 selects the channel CH to be selected as the selected channel CHs in step S103.

[0079] In step S104, the control unit 5 controls the antenna 3 to a transmission state where it can transmit radio waves of a frequency corresponding to the selected channel CHs.

[0080] In step S105, the control unit 5 generates transmission data Ds and sends it to the controlled device 2. The transmission data Ds generated at this time contains enabled / disabled information for each channel CH, corresponding to the disabled flag that is set or disabled in steps S111 and S112 described later. The transmission data Ds also contains control information for controlling the controlled device 2.

[0081] In step S106, the control unit 5 controls the antenna 3 to a receiving state where it can receive radio waves of a frequency corresponding to the selected channel CHs in order to receive the return data Dr from the controlled device 2. The control unit 5 may also provide a waiting time corresponding to a predetermined pause time before processing in step S106.

[0082] Next, in step S107 of Figure 8, the control unit 5 determines whether or not it has received the return data Dr. If it determines that it has not received the return data Dr, the control unit 5 determines in step S108 whether or not a predetermined time has elapsed. A predetermined time elapsed without receiving the return data Dr is, for example, when the return data Dr from the controlled device 2 could not be properly received due to the presence of interference waves. In this case, the control unit 5 sends new transmission data Ds from the controller 1 using the next selected channel CHs selected based on the hopping pattern.

[0083] Therefore, if the control unit 5 determines in step S108 that a predetermined time has elapsed, in step S109 it skips the selected channel CHs in preparation for transmitting the next transmission data Ds and returns to step S101. This allows for a valid determination of the next channel CH to be selected based on the hopping pattern.

[0084] On the other hand, if it is determined that the return data Dr has not been received and the predetermined time has not elapsed, the control unit 5 returns to step S107 and confirms receipt of the return data Dr.

[0085] If the control unit 5 determines that it has received the return data Dr, it proceeds to step S110. As will be explained in more detail later, the return data Dr received here contains the first RSSI value, which is the radio wave strength information for the selected channel CHs measured when the transmission data Ds was sent and received, and the second RSSI value, which is the radio wave strength information indicating the noise level for the measured channel CHm (in this example, the same channel as the selected channel CHs).

[0086] In step S110, the control unit 5 determines whether the degree of interference for the selected channels CHs is below a threshold. Specifically, the control unit 5 quantifies the degree of interference by comparing the difference obtained by subtracting the second RSSI value for the selected channels CHs from the first RSSI value for the selected channels CHs with the threshold.

[0087] If the difference value is below the threshold, it can be determined that the environment is not suitable for proper communication because the reception level and noise level when the transmitted data Ds is received by the controlled device 2 are close. In this case, the control unit 5 determines in step S110 that the degree of interference is above the threshold, and in the following step S111, it sets an invalid flag for the selected channel CHs. This prevents the selected channel CHs from being selected again in future frequency hopping. In step S111, instead of setting the invalid flag, you may also remove the enable flag.

[0088] On the other hand, if the difference value is greater than the threshold, it can be determined that the environment is suitable for receiving the transmitted data Ds. Therefore, in step S110, the control unit 5 determines that the degree of interference is less than the threshold, and in the subsequent step S112, it sets the enabled flag for the selected channel CHs. Alternatively, instead of setting the enabled flag in step S112, the disabled flag may be deactivated.

[0089] Furthermore, even if the noise level is high, if the signal strength for the transmitted data Ds is relatively high, the difference value will be large, and therefore the channel CH will be determined to be valid. On the other hand, even if the noise level is low, if the signal strength for the transmitted data Ds is low, the difference value will also be small, and the channel CH will be determined to be invalid.

[0090] Next, Figures 9 and 10 show examples of processes executed by the control unit 10 of the controlled device 2 in response to the control of the control unit 5 of the controller 1 shown in Figures 7 and 8. In Figures 9 and 10, connectors C3 and C4 are used to indicate connections between processes in the drawings.

[0091] In step S201, the control unit 10 of the controlled device 2 determines whether the channel CH to be selected is valid or not. If the channel CH to be selected has an invalid flag set, the control unit 10 determines that the channel CH to be selected is not valid and skips the channel CH to be selected in step S202.

[0092] On the other hand, if the control unit 10 determines that the channel CH to be selected is valid, it selects the channel CH to be selected as the selected channel CHs in step S203.

[0093] In step S204, the control unit 10 controls the antenna 8 to a receiving state corresponding to the selected channel CHs.

[0094] In step S205, the control unit 10 determines whether or not it has received the transmission data Ds. If the control unit 10 determines that the data has not been received, it determines in step S206 whether a predetermined time has elapsed. If a predetermined time has elapsed without receiving the transmission data Ds, for example, the transmission data Ds from the controller 1 could not be properly received due to the presence of interference waves. In this case, the control unit 10 sends new transmission data Ds from the controller 1 using the next selected channel CHs selected based on the hopping pattern.

[0095] Therefore, if the control unit 10 determines in step S206 that a predetermined time has elapsed, in step S207 it skips the selected channel CHs in preparation for receiving the next transmission data Ds and returns to step S201. This allows the validity of the next channel CH to be selected to be determined based on the hopping pattern.

[0096] On the other hand, if the control unit 10 determines that it has not received the transmission data Ds and that the predetermined time has not elapsed, it returns to step S205 and checks for the reception of the transmission data Ds.

[0097] If the control unit 10 determines in step S205 that it has received the transmission data Ds, it measures the radio wave strength information at the time of receiving the transmission data Ds in step S208 of Figure 10. This allows the first RSSI value for the selected channel CHs to be obtained.

[0098] The received transmission data Ds contains enabled / disabled information for each channel CH. Accordingly, in step S209, the control unit 10 updates the enabled / disabled information for each channel CH.

[0099] In step S210, the control unit 10 controls the antenna 8 to a receiving state corresponding to the measurement channel CHm. In this example, since the selected channel CHs and the measurement channel CHm are the same channel CH, switching to a receiving state corresponding to the measurement channel CHm may be unnecessary.

[0100] In step S211, the control unit 10 measures the radio wave intensity information of the measurement channel CHm. This obtains the second RSSI value for the measurement channel CHm.

[0101] In step S212, the control unit 10 controls the antenna 8 to a transmission state corresponding to the selected channel CHs.

[0102] In step S213, the control unit 10 generates return data Dr and transmits it to the controller 1. The generated return data Dr contains the first RSSI value for the selected channel CHs and the second RSSI value for the measurement channel CHm. Various telemetry information, such as battery level, is also stored in the return data Dr.

[0103] The control unit 5 of controller 1 executes not only the series of processes shown in Figures 7 and 8, but also other processes in parallel. The processes that the control unit 5 of controller 1 executes in parallel with each of the processes shown in Figures 7 and 8 will be explained with reference to the respective figures.

[0104] Figure 11 shows an example of the processing performed by the control unit 5 of the controller 1 in order to display a spectrum as shown in Figure 6 on the display unit 7 of the controller 1.

[0105] In step S301, the control unit 5 determines whether or not a new second RSSI value has been acquired from the controlled device 2. If it determines that it has not been acquired, the control unit 5 repeats the process of step S301.

[0106] On the other hand, if the control unit 5 determines that a new second RSSI value has been acquired, it updates the spectrum display on the display unit 7 in step S302. The process shown in Figure 11 is executed, for example, every few milliseconds or seconds, so that the spectrum display showing the latest noise level for each frequency is displayed on the display unit 7.

[0107] The control unit 5 of the controller 1 determines, for example, that it is highly likely that proper control will be difficult if broadband interference waves are present, and performs a warning process to notify the operator accordingly.

[0108] Figure 12 shows an example of the processing performed by the control unit 5 in relation to the warning processing.

[0109] In step S401, the control unit 5 calculates the number of invalid channels that have been determined to be invalid.

[0110] In step S402, the control unit 5 determines whether the number of invalid channels is greater than or equal to a predetermined number. The determination threshold used here is set, for example, according to the number of channels used in frequency hopping.

[0111] Specifically, the determination threshold may be set such that the number of active channels is greater than or equal to a predetermined number, or it may be set based on the proportion of inactive channels to the total number of channels.

[0112] If the control unit 5 determines that the number of invalid channels is less than a predetermined number, it returns to step S401 without performing the warning process in step S403. On the other hand, if the control unit 5 determines that the number of invalid channels is greater than or equal to a predetermined number, it performs a warning process in step S403.

[0113] Various methods are possible for handling warnings. For example, this can be achieved by displaying a warning message on the display unit 7 of the controller 1 to prompt landing or stopping, or by outputting a predetermined warning sound or voice message from the speaker provided by the controller 1 to prompt landing.

[0114] Alternatively, notification may be achieved by vibrating a vibrator built into controller 1 as a warning process, thereby appealing to the operator's sense of touch.

[0115] In addition, in parallel with the warning process, a process to safely stop the controlled device 2 may be performed. For example, if the controlled device 2 is an aircraft such as a drone, the drive unit 11 of the controlled device 2 may be automatically driven to move closer to the operator, thereby encouraging a safe landing on the ground near the operator.

[0116] The warning conditions (the conditions used in step S402 in Figure 12), which are the conditions for activating the warning process, may be set as appropriate by the operator or other personnel. An example of the process that the control unit 5 performs regarding the setting of warning conditions is shown in Figure 13.

[0117] In step S501, the control unit 5 determines whether or not it has detected an operation to set a warning condition. An operation to set a warning condition is an operation such as pressing a specific button or selecting a specific menu. Alternatively, if voice input operation is possible, a specific voice input operation may be detected as an operation to set a warning condition.

[0118] The control unit 5 periodically executes the process of step S501 until it detects an operation to set a warning condition.

[0119] If the control unit 5 determines that an operation to set a warning condition has been detected, in step S502, it displays the warning condition input screen on the display unit 7.

[0120] In step S503, the control unit 5 determines whether the input of the warning condition has been completed. Completion of the input of the warning condition is achieved, for example, by pressing the complete button or the set button.

[0121] If the control unit 5 determines that the input of the warning condition has not been completed, it repeats the process in step S503. If a cancellation operation is detected, the control unit 5 returns to the process in step S501.

[0122] On the other hand, if the control unit 5 determines that the input of the warning condition has been completed, it sets the newly inputted warning condition in step S504.

[0123] The warning conditions set here may be the number of invalid channels, the ratio of invalid channels to the total number of channels, or the intensity of the interfering wave. In addition, along with setting warning conditions, it may be possible to set a threshold for determining whether a channel is invalid or valid, which is the threshold used in step S110 of Figure 8.

[0124] <6. Second Embodiment> The second embodiment is an example in which the measurement channel CHm is different from the selected channel CHs. The relationship between the selected channel CHs and the measurement channel CHm in this embodiment is shown in Figure 14.

[0125] As shown in Figure 14, the selection order of the selected channels CHs is the same as in Figure 5 in the first embodiment. However, the measurement channel CHm, which is the target of acquiring radio wave strength information between the reception of the transmitted data Ds and the transmission of the returned data Dr in the controlled device 2, is selected in ascending order from channel CH0, regardless of the selected channels CHs.

[0126] In this embodiment, the processing performed by the control unit 10 of the controlled device 2 is the same as that shown in Figures 9 and 10.

[0127] However, the radio wave intensity information measured in step S208 is the first RSSI value for the selected channel CHs. Furthermore, the radio wave intensity information measured in step S211 is a second RSSI value for a measurement channel CHm that is different from the selected channel CHs. Specifically, the selected channel CHs will be channel CH10, and the measurement channel CHm will be channel CH0.

[0128] At this time, the return data Dr generated in step S213 contains the first RSSI value for channel CH10 and the second RSSI value for channel CH0.

[0129] Accordingly, the control unit 5 of the controller 1 determines whether the degree of interference for the selected channels CHs is below a threshold value in the process of step S110 shown in Figure 8. The degree of interference for the selected channels CHs used in this process is the degree of interference for channel CH10, and uses the first RSSI value for channel CH10 stored in the return data Dr received in the previous step S107, and the second RSSI value for channel CH10 stored as the second RSSI value for the measured channel CHm in the return data Dr received in the step before that, S108. In other words, as in the first embodiment, the processing in step S110 cannot be performed using the first RSSI value and the second RSSI value contained in a single return data Dr.

[0130] Therefore, the control unit 5 of the controller 1 needs to store the second RSSI value for the measurement channel CHm included in the return data Dr received in step S108 in the storage unit of the controller 1 until the next time the data is needed, the processing in step S110 is performed.

[0131] <7. Third Embodiment> The third embodiment is an example in which the channel CH to be selected after the currently selected channel CHs based on the hopping pattern is set as the measurement channel CHm. The relationship between the selected channel CHs and the measurement channel CHm in this embodiment is shown in Figure 15.

[0132] As shown in Figure 15, the selection order of the selected channels CHs is the same as in Figure 5 in the first embodiment. However, the measurement channel CHm, which is the target of acquiring radio wave strength information between the reception of the transmitted data Ds and the transmission of the returned data Dr in the controlled device 2, is the channel CH to be selected next.

[0133] For example, when the selected channel CHs changes from channel CH10 to channel CH4 to channel CH20, when channel CH10 is selected as the selected channel CHs, the measurement channel CHm that will be used to measure the second RSSI value will be channel CH4, which is the next channel to be selected.

[0134] In other words, the idea is to measure the noise level of channel CH4, which is the next channel to be selected, in advance.

[0135] In this case, when the controller 1 receives the return data Dr, the control unit 5 may not only determine the invalidity of the selected channel CHs using the first RSSI value for the selected channel CHs included in the return data Dr, but may also determine the invalidity of the measurement channel CHm using the second RSSI value for the measurement channel CHm included in the return data Dr.

[0136] This allows for an appropriate determination of whether to select the next channel CH or skip it.

[0137] Figure 16 shows an example of the processing performed by the control unit 5.

[0138] Note that Figure 16 shows the process following Figure 7 in the first embodiment, and some of the processes in Figure 8 are different. Therefore, in Figure 16, the same steps as in Figure 8 are assigned the same step numbers, and the explanations are simplified as appropriate.

[0139] After determining in step S107 that it has received the return data Dr, the control unit 5 determines in step S110 whether the degree of interference for the selected channel CHs is below a threshold.

[0140] Then, depending on the determination result of step S110, the control unit 5 sets an enabled flag or an disabled flag for the selected channel CHs in step S111 or step S112.

[0141] Next, in step S131, the control unit 5 determines whether the radio wave intensity information of the measurement channel CHm, i.e., the second RSSI value, is less than a threshold. The threshold used in step S131 is different from the threshold used in step S110.

[0142] As mentioned above, the second RSSI value is radio wave strength information measured during periods when no transmission or reception of transmitted data Ds or returned data Dr is taking place, and it indicates the noise level.

[0143] If the control unit 5 determines that the second RSSI value is above the threshold, it sets an invalid flag for the measurement channel CHm in step S132.

[0144] On the other hand, if the second RSSI value is determined to be less than the threshold, the control unit 5 sets a valid flag for the measurement channel CHm in step S133.

[0145] This sets either an enabled or disabled flag for the next channel CH to be selected. Then, in step S101 of Figure 7, the control unit 5 determines the flag of the next channel CH to be selected and decides whether or not to skip it.

[0146] The determination process in step S131 determines whether to enable or disable a channel CH that is different from the currently selected channel CHs. Therefore, the measurement channel CHm being measured may currently have the disabled flag set. Therefore, the determination process in step S131 can be described as a process that determines whether or not to reconfigure the channel CH, which is currently considered an invalid channel, as an active channel CH.

[0147] In other words, by performing the series of processes shown in Figures 7 and 16, it is possible to reactivate the channel CH that was once disabled due to the presence of interference waves. Therefore, it is possible to reduce the possibility that the number of invalid channels will increase too much, making proper frequency hopping impossible.

[0148] In the example shown in Figure 16, if the second RSSI value for an invalid channel falls below the threshold, a process to immediately change the invalid channel to an valid channel is executed in step S133. However, this is not limited to the above; the second RSSI value for a single invalid channel may be acquired a predetermined number of times, and if all of these values ​​are below the threshold, that invalid channel may be changed to an active channel. In other words, the determination result for a particular channel may not fluctuate frequently between invalid and active channels due to the influence of unstable interference waves.

[0149] <8. Variation> I will now explain some variations of the examples mentioned above. Regarding the invalidation determination for the measurement channel CHm, as explained with reference to Figure 16, only the second RSSI value was used. However, for the selected channel CHs, the invalidation determination in step S110 of Figure 8 may also be performed using only the second RSSI value and not the first RSSI value. In other words, for each channel CH, the invalidation determination of the channel CH may be performed using only the second RSSI value corresponding to the noise level measurement result.

[0150] In this case, the measurement of radio wave intensity information in step S208 of Figure 10 is unnecessary.

[0151] In the example shown in Figure 3, the hopping pattern area F3 of the message packet, which is the transmitted data Ds, contains code information for identifying the hopping pattern. In addition to the above, information about the channel CH to be selected may be stored in the hopping pattern region F3. Furthermore, considering the possibility that the next channel CH to be selected may be unavailable due to interference waves, etc., information about multiple channels in the order they will be selected may be stored in the hopping pattern region F3.

[0152] For example, in the case where channel CH is selected in the order shown in Figure 5, the hopping pattern region F3 of the transmission data Ds transmitted from controller 1 during the transmission period Ts10 may sequentially store information for channels CH4, CH20, and CH8.

[0153] This allows the controlled device 2 to perform a predetermined number of frequency hops even if it does not fully understand the hopping pattern.

[0154] In each of the examples described above, we showed how to measure the second RSSI value for one measurement channel CHm during the reception period Tr in the controlled device 2 when it receives the transmitted data Ds and during the transmission period Ts when it transmits the corresponding return data Dr. This is not the only option; the second RSSI value for multiple measurement channels CHm may also be measured between the reception period Tr and the transmission period Ts.

[0155] In that case, the return data Dr transmitted during the transmission period Ts may store the second RSSI values ​​measured for multiple measurement channels CHm. In addition, the controller 1 may perform valid or invalid determinations for multiple measurement channels CHm based on multiple second RSSI values.

[0156] Furthermore, an example was shown in which the second RSSI value for the measurement channel CHm is measured between the reception of the transmitted data Ds and the transmission of the returned data Dr. In addition to this, the second RSSI value for the measurement channel CHm may be measured during the period between the transmission of the return data Dr and the reception of the next transmission data Ds. Furthermore, a second RSSI value for different measurement channels CHm may be measured during both the period between receiving the transmitted data Ds and transmitting the return data Dr, and the period between transmitting the return data Dr and receiving the next transmitted data Ds.

[0157] This allows for the determination of channel invalidity using only the second RSSI value, enabling the determination of a larger number of channels. Therefore, it becomes possible to quickly determine which channels CH should be disabled, and the likelihood of sending and receiving data Ds and return data Dr using channels CH capable of good communication is increased.

[0158] <9. Summary> As described above, the control device as controller 1 comprises a control unit 5 that determines the selection order of channels CH in frequency hopping, a transmission unit 4S that transmits transmission data Ds at frequencies corresponding to the selected channels CHs selected based on the selection order, and a reception unit 4R that corresponds to the transmission and receives received data (return data Dr) from the communication target device (controlled device 2) at frequencies corresponding to the selected channels CHs. Furthermore, the received data (returned data Dr) includes radio wave intensity information for the measurement channel CHm, which is the channel used for frequency hopping and is the channel being measured. For example, the controlled device 2, which is the communication target device, is a device that is remotely controlled, such as a multi-rotor drone or a radio-controlled model. The control device (controller 1) is a controller that the user operates in order to control the device that is remotely controlled. In this case, control information (attitude control information) for controlling the controlled device 2 is transmitted from the transmitter 4S, and in response, control results and various telemetry information are received from the controlled device 2 by the receiver 4R. By using the transmission and reception of this information, it becomes possible to remotely control the controlled device 2 using the controller 1. These transmissions and receptions are, so to speak, normal transmission and reception operations for remotely controlling the controlled device 2, but with this configuration, radio wave strength information can be received from the controlled device 2 during these normally performed transmissions and receptions. Therefore, it becomes unnecessary to fly another device to investigate radio interference, or to fly the piloted device 2 in advance for investigation. In other words, it becomes possible to reduce or eliminate the time required to investigate the communication environment. Furthermore, by ensuring that radio wave strength information for the channel CH used for frequency hopping is always available under normal operating conditions, it becomes possible to adaptively change the selected channel CHs for frequency hopping, enabling stable control of the controlled device 2. In particular, if the controlled device 2 is an aerial device, the possibility of losing control can be reduced, improving flight safety. Furthermore, by including only the signal strength information for the measurement channel CHm and the selected channel CHs in the received data (returned data Dr), it becomes possible to measure signal strength information in time for short pauses between normal transmissions and receptions when no communication is taking place. In other words, it becomes easier to acquire signal strength information in conjunction with normal use.

[0159] As explained in the configuration of the communication system S with reference to Figure 1, etc., the transmission data Ds transmitted by the transmission unit 4S of the control device as controller 1 includes control information (data stored in the control data area F5) that controls the attitude or operation of the communication target device (controlled device 2), and the received data (return data Dr) received by the receiver unit 4R may include telemetry information (data stored in the telemetry data area F16) and radio wave strength information (data stored in the second RSSI value area F15) about the communication target device (controlled device 2). As a result, radio wave strength information is received during normal transmission and reception for controlling the movement of the controlled device 2. Therefore, it becomes possible to detect radio interference that would render the controlled device 2 uncontrollable and to perform appropriate frequency hopping.

[0160] As explained with reference to Figures 5 and 8, the received data (return data Dr) received by the receiving unit 4R in the control device acting as controller 1 may include radio wave strength information measured after the transmission corresponding to the received data. As a result, the communication target device (controlled device 2) receives data, measures radio wave strength information, and transmits data including that information. Therefore, there is no need to separately transmit and receive radio wave strength information to the control device (controller 1), thus improving communication efficiency. Furthermore, by receiving received data (return data Dr) containing radio wave strength information measured between corresponding transmissions and receptions, the control device (controller 1) can obtain the most recent radio wave strength information measured for the measurement channel CHm, and this latest radio wave strength information can be used to select the selected channel CHs in frequency hopping. Therefore, it is possible to increase the likelihood of maintaining good communication conditions.

[0161] As explained with reference to Figures 5 and 8, in the control device acting as controller 1, the measurement channel CHm, which is the target of measurement for radio wave intensity information, may be the currently selected channel CHs. For example, when a channel CH is selected for transmission and reception, the signal strength information for that channel CH is measured between transmissions, and the received data (return data Dr) includes that signal strength information (second RSSI value). Specifically, the communication target device (controlled device 2) waits in receive mode on the selected channel CHs to receive the transmission data Ds from the control device (controller 1). After receiving the transmission data Ds, it continues in receive mode without changing the selected channel CHs to measure the radio wave strength information for that selected channel CHs. Then, after measuring the radio wave strength information, it switches to transmit mode without changing the selected channel CHs and transmits the data containing the radio wave strength information to the control device (controller 1). Therefore, the communication target device (controlled device 2) can receive data, measure radio wave strength information, and transmit data without changing the channel CH, thereby reducing the processing load.

[0162] As described in the second and third embodiments with reference to Figures 14 and 15, etc., in the control device acting as controller 1, the measurement channel CHm targeted for measurement of radio wave strength information may be a channel CH other than the currently selected channel CHs. This makes it possible to obtain signal strength information for any desired channel CH, not just the currently selected channel CHs during frequency hopping. This provides information that can help in selecting the appropriate channels (CHs) during frequency hopping.

[0163] As described in the third embodiment with reference to Figures 15 and 16, in the control device acting as controller 1, the measurement channel CHm targeted for measurement of radio wave strength information may be the channel CH selected after the currently selected channel CHs. By obtaining signal strength information for the next channel (CH) to be selected in advance, it becomes possible to quickly change the next selected channel (CHs). Communication environments can change moment by moment. By configuring the system to allow the selected channel CHs to be changed as appropriate based on the most recently measured radio wave strength information, as in this configuration, good communication with the communication target device (controlled device 2) can be achieved, and the possibility of the communication target device (controlled device 2) becoming uncontrollable can be reduced.

[0164] As described in the third embodiment with reference to Figure 16, the control unit 5 in the control device acting as controller 1 may determine whether or not to disable the measurement channel CHm based on radio wave intensity information (second RSSI value) for the measurement channel CHm, and may select a channel CH other than the disabled channel determined to be disabled when selecting the selected channel CHs. Channels CH that are determined to be unusable due to the presence of interference waves are identified as invalid channels, making it possible to recreate the frequency hopping pattern by excluding the invalid channels. Therefore, it is possible to create a frequency hopping pattern that uses only channels CH with less interference, enabling good communication.

[0165] As described in the third embodiment with reference to Figures 7 and 16, the control unit 5 in the control device acting as controller 1 may determine whether or not to activate an invalid channel when it receives again received data (return data Dr) that includes radio wave strength information for an invalid channel. This will enable any disabled channels as needed. Therefore, it is possible to prevent an increase in invalid channels and a continuous decrease in available channels, thereby maintaining a good communication environment.

[0166] As described in the configuration of the communication system S with reference to Figures 1, 6, etc., the control device as the controller 1 may be equipped with a display unit 7 capable of displaying information based on radio wave strength information (for example, spectrum information shown in Figure 6). This makes it possible, for example, to present interference wave intensity information to the user based on radio wave intensity information. Therefore, the user can understand the possibility of losing control and safely terminate remote operation of the communication target device (controlled device 2).

[0167] As explained in the configuration and flowchart of the communication system S with reference to Figures 1, 7, etc., the control unit 5 in the control device acting as controller 1 may calculate the intensity of the interference wave for the measurement channel CHm based on the radio wave intensity information. This makes it possible to avoid using the measurement channel CHm in the future when the interference wave intensity is strong.

[0168] As explained with reference to Figures 1 and 12, the control unit 5 in the control device acting as controller 1 may perform warning processing according to the calculated degree of interference. The degree of interference refers to the number of channels CH affected by the interfering wave, which may be the number of invalid channels or the intensity of the interfering wave. This allows the operator to safely terminate remote control of the communication target device (controlled device 2) before it becomes uncontrollable.

[0169] As explained with reference to Figures 12 and 13, the control unit 5 in the control device acting as controller 1 may set warning conditions in response to the operation of the operation unit 6 and perform warning processing according to the set warning conditions. This allows the pilot to set conditions they deem appropriate and to perform the warning actions they intend.

[0170] As explained with reference to Figures 12 and 13, the control unit 5 in the control device acting as controller 1 may determine whether or not to disable the measurement channel CHm based on radio wave intensity information (second RSSI value) for the measurement channel CHm, and may execute a warning process if the number of disabled channels determined to be disabled by this determination exceeds a predetermined number. This allows for a warning process to be initiated when the number of available channels (CH) decreases during frequency hopping. Therefore, appropriate warning processing can be performed before the response speed of the communication target device (controlled device 2) to remote control decreases, or before the communication target device (controlled device 2) becomes uncontrollable.

[0171] As described above, the received data (return data Dr) received by the receiver 4R in the control device acting as controller 1 may include not only radio wave strength information (second RSSI value) for the measurement channel CHm but also radio wave strength information (first RSSI value) for the selected channel CHs. This makes it possible to efficiently measure radio wave intensity information for multiple channels (CH).

[0172] As described above, the controlled device, as the controlled device 2, includes a receiving unit 9R that receives received data (transmitted data Ds from controller 1) at a frequency corresponding to selected channels CHs selected from a plurality of channels CH used for frequency hopping, a control unit 10 that measures radio wave strength information (second RSSI value) for the measurement channel CHm, which is a channel CH used for frequency hopping and is the target of measurement, and a transmitting unit 9S that transmits data (returned data Dr) at a frequency corresponding to the selected channels CHs used for reception to the control device (controller 1) that transmitted the received data (transmitted data Ds from controller 1). Furthermore, the transmitted data (return data Dr) includes radio wave intensity information measured by the control unit 10 between the reception of the received data (transmitted data Ds from controller 1) and the transmission of the transmitted data (return data Dr).

[0173] Furthermore, the communication system S includes a control device (controller 1) and a controlled device (controlled equipment 2). The control device (controller 1) includes a control unit 5 that determines the selection order of channels CH in frequency hopping, and a transmission unit 4S that transmits transmission data Ds at frequencies corresponding to the selected channels CHs selected based on the selection order. Furthermore, the controlled device (controlled equipment 2) includes a receiving unit 9R that receives transmission data Ds at a frequency corresponding to the selected channel CHs, a control unit 10 that measures radio wave strength information for the measurement channel CHm which is the channel used for frequency hopping, and a transmitting unit 9S that transmits return data Dr, which includes radio wave strength information, to the control device (controller 1) at a frequency corresponding to the selected channel CHs.

[0174] The various effects and benefits described above can also be obtained through such controlled devices and communication systems S.

[0175] Furthermore, the examples described above can be combined in any way, and the various effects and benefits described above can be obtained even when using various combinations. [Explanation of Symbols]

[0176] S communication system. 1. Controller (control device) 2 Maneuvered equipment (controlled equipment) 4S transmitter 4R Receiver 5. Control Unit 6 Control section 7 Display section 9S Transmitter 9R Receiver 10 Control Unit CHm measurement channel CHs Selected Channels Dr. Returned Data (Received Data) Ds transmission data

Claims

1. A control unit that determines the channel selection order in frequency hopping, A transmitting unit that transmits transmission data at a frequency corresponding to the selected channel selected based on the aforementioned selection order, The receiving unit, which corresponds to the transmission, receives received data from the communication target device at a frequency corresponding to the selected channel, The transmission data transmitted by the transmission unit includes control information that controls the attitude or operation of the communication target device, The received data includes telemetry information about the communication target device and radio wave intensity information about the measurement channel used for frequency hopping. Control device.

2. The received data includes the radio wave intensity information measured after the transmission corresponding to the reception. The control device according to claim 1.

3. The measurement channel was designated as the selected channel. The control device according to claim 2.

4. The measurement channel was set to a channel other than the selected channel. The control device according to claim 2.

5. The measurement channel was set to be the channel selected next to the currently selected channel. The control device according to claim 4.

6. The control unit, Based on the radio wave strength information, it is determined whether or not to disable the measurement channel on which the radio wave strength information was measured. In selecting the channel, select a channel other than the invalid channel that was determined to be invalid. The control device according to claim 1.

7. The control unit determines whether or not to activate the invalid channel when it receives the received data again, which includes the signal strength information for the invalid channel. The control device according to claim 6.

8. The system includes a display unit capable of presenting information based on the aforementioned radio wave strength information. The control device according to claim 1.

9. The control unit calculates the intensity of the interference wave for the measurement channel based on the radio wave intensity information. The control device according to claim 1.

10. The control unit performs a warning process according to the calculated degree of interference. The control device according to claim 9.

11. The control unit, The warning conditions are set according to the operation of the control unit. Perform the warning process according to the aforementioned warning conditions. The control device according to claim 10.

12. The control unit, Based on the radio wave strength information, it is determined whether or not to disable the measurement channel on which the radio wave strength information was measured. The warning process is executed when the number of invalid channels determined to be invalid by the above determination exceeds a predetermined number. The control device according to claim 10.

13. The received data includes, in addition to the radio wave strength information for the measurement channel, radio wave strength information for the selected channel. The control device according to claim 1.

14. A receiving unit that receives received data at a frequency corresponding to the selected channel chosen from multiple channels used for frequency hopping, A control unit that measures radio wave intensity information for a measurement channel that is used for frequency hopping and is the channel to be measured, A transmission corresponding to the reception, comprising a transmission unit that transmits transmission data to the control device that transmitted the received data at a frequency corresponding to the selected channel used in the reception, The transmitted data includes the radio wave intensity information measured by the control unit between the reception of the received data and the transmission of the transmitted data. Maneuvered device.

15. A communication system including a control device and a controlled device, The aforementioned control device is A control unit that determines the channel selection order in frequency hopping, The unit includes a transmitting unit that transmits transmission data, which includes control information for controlling the attitude or operation of the controlled device, at a frequency corresponding to the selected channel selected based on the selection order, The controlled device is A receiving unit that receives the transmitted data at a frequency corresponding to the selected channel, A control unit that measures radio wave intensity information for a measurement channel that is used for frequency hopping and is the channel to be measured, A transmission unit that corresponds to the reception and transmits return data to the control device at a frequency corresponding to the selected channel, including telemetry information and radio wave strength information about the controlled device. Communication system.

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