Node synchronization system, method, device, equipment and storage medium

Abstract

The present invention discloses a node synchronization system, method, apparatus, device, and storage medium. The system includes: a master control node communicating with each slave control node and sending synchronization indication information to each slave control node; each slave control node generating a synchronization control signal and sending it to two corresponding radio frequency transceivers after receiving the synchronization indication information, wherein the two radio frequency transceivers have different frequencies; each radio frequency transceiver managing at least one managed node and sending a synchronization broadcast signal to each managed node at the corresponding frequency after receiving the synchronization control signal sent by the corresponding slave control node; each managed node receiving the synchronization broadcast signal at a current operating frequency, wherein the current operating frequency is determined based on the frequencies of the two corresponding radio frequency transceivers. This solves the problem of managed nodes being unable to synchronize quickly and improves communication efficiency by sending the synchronization broadcast signal at two different frequencies.

Description

Technical Field

[0001] The present invention relates to the field of synchronization technology, and in particular to a node synchronization system, method, apparatus, device and storage medium. Background Art

[0002] A system typically includes multiple nodes that work together, making synchronization between them crucial. For example, a wireless battery management system (BMS) uses real-time wireless monitoring of battery voltage, current, and temperature to understand the vehicle battery status and control battery charging, discharging, and heat dissipation. Electric vehicles typically use battery packs, comprised of hundreds of individual cells. A wireless BMS system requires that hundreds of battery nodes complete all data collection within a few milliseconds during each sampling cycle. Therefore, all slave nodes must be synchronized to the network before data collection can begin.

[0003] Most existing synchronization mechanisms rely on absolute timestamps, which can introduce errors due to crystal oscillator drift. This error accumulates over time, leading to synchronization failure and preventing all nodes from achieving data consistency within the time limit. Some existing systems can also transmit synchronization signals within their operating frequency bands, but these operating bands are highly susceptible to interference, resulting in low real-time communication performance. With a large number of subnodes, interference resistance is crucial for the entire system. If interference resistance is poor, some subnodes may not receive signals. Therefore, how to quickly synchronize all nodes in the system remains an unresolved issue. Summary of the Invention

[0004] The present invention provides a node synchronization system, method, apparatus, device and storage medium to solve the problem that nodes cannot complete synchronization quickly.

[0005] According to one aspect of the present invention, a node synchronization system is provided, comprising a master node, at least one slave node, at least one managed node, and at least two radio frequency transceivers, wherein each slave node corresponds to two of the radio frequency transceivers;

[0006] The master control node communicates with each of the slave control nodes and is used to send synchronization indication information to each of the slave control nodes;

[0007] Each of the slave control nodes is configured to generate a synchronization control signal and send the synchronization control signal to two corresponding radio frequency transceivers after receiving the synchronization indication information, wherein the two radio frequency transceivers have different frequencies;

[0008] Each of the radio frequency transceivers manages at least one managed node, and is configured to send a synchronous broadcast signal to each of the managed nodes via a corresponding frequency point after receiving a synchronous control signal sent by a corresponding slave node;

[0009] Each of the managed nodes is configured to receive the synchronous broadcast signal at a current operating frequency point, where the current operating frequency point is determined according to the frequencies of the two corresponding radio frequency transceivers.

[0010] According to another aspect of the present invention, a node synchronization method is provided, which is executed by a managed node in the node synchronization system according to any embodiment of the present invention, comprising:

[0011] Determine the frequencies of the two RF transceivers corresponding to the local device and use them as a set of candidate frequencies;

[0012] After entering the current detection cycle, determining a target frequency according to the candidate frequency set and setting the current operating frequency as the target frequency;

[0013] Determining whether a synchronous broadcast signal is received through the current operating frequency within the current detection period, and if so, determining that synchronization is completed;

[0014] Otherwise, determine a new target frequency, and switch the current working frequency according to the new target frequency in the next detection cycle, take the next detection cycle as the new current detection cycle and return to execute the step of determining whether the synchronous broadcast signal is received through the current working frequency during the current detection cycle.

[0015] According to another aspect of the present invention, there is provided a node synchronization device, comprising:

[0016] The alternative frequency determination module is used to determine the frequencies of the two RF transceivers corresponding to the local device and form an alternative frequency set;

[0017] a target frequency determination module, configured to determine a target frequency according to the candidate frequency set and set the current operating frequency as the target frequency when entering a detection period;

[0018] The signal receiving module is used to determine whether a synchronous broadcast signal is received through the current working frequency during the current detection period. If so, it is determined that the synchronization is completed; otherwise, a new target frequency is determined, and the current working frequency is switched according to the new target frequency in the next detection period, and the next detection period is used as the new current detection period and returns to execute the step of determining whether a synchronous broadcast signal is received through the current working frequency during the current detection period.

[0019] According to another aspect of the present invention, an electronic device is provided, the electronic device serving as a managed node, including:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the node synchronization method described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the node synchronization method described in any embodiment of the present invention when executed.

[0024] An embodiment of the present invention provides a node synchronization system, comprising a master control node, at least one slave control node, at least one managed node, and at least two radio frequency transceivers, each of the slave control nodes corresponding to two of the radio frequency transceivers; the master control node communicates with each of the slave control nodes and is configured to send synchronization indication information to each of the slave control nodes; each of the slave control nodes is configured to, after receiving the synchronization indication information, generate a synchronization control signal and send it to the corresponding two radio frequency transceivers, the two radio frequency transceivers having different frequencies; each of the radio frequency transceivers manages at least one managed node and is configured to send a synchronization broadcast signal to each of the managed nodes it manages via the corresponding frequency after receiving the synchronization control signal sent by the corresponding slave control node; each of the managed nodes is configured to receive the synchronization broadcast signal at a current operating frequency, the current operating frequency being determined based on the frequencies of the corresponding two radio frequency transceivers. This solves the problem of managed nodes being unable to synchronize quickly and timely. Synchronous broadcast signals are sent via two RF transceivers with different frequencies. Managed nodes can receive these signals at their operating frequencies. The current operating frequency of the managed node is determined based on the frequencies of the two corresponding RF transceivers. This prevents the situation where a single RF transceiver could interfere with the synchronization broadcast signal and prevent it from being received. This ensures that each managed node can receive the synchronization broadcast signal and complete synchronization in a timely manner. This significantly improves the system's anti-interference capabilities, shortens the synchronization and communication cycles, and improves communication efficiency. Furthermore, the synchronization process does not rely on absolute timestamps, preventing errors from amplifying over time and leading to synchronization failures. Furthermore, the master node indirectly manages the managed nodes through the slave node, avoiding the low efficiency associated with direct management of a large number of managed nodes by the master node, thus saving time.

[0025] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a schematic diagram of the structure of a node synchronization system provided according to the first embodiment of the present invention;

[0028] Figure 2 This is a flowchart of a node synchronization method provided according to the second embodiment of the present invention;

[0029] Figure 3 This is a flowchart of a node synchronization method provided according to Embodiment 3 of the present invention;

[0030] Figure 4 This is a timing diagram of node synchronization provided according to the third embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of a node synchronization device provided according to a fourth embodiment of the present invention;

[0032] Figure 6 It is a structural diagram of an electronic device for implementing the node synchronization method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Example 1

[0036] Figure 1 A schematic diagram of the structure of a node synchronization system is provided for a first embodiment of the present invention. This embodiment is applicable to the case of quickly synchronizing nodes in a system. The system includes a master node 11, at least one slave node 12, at least one managed node 13, and at least two radio frequency transceivers 14. Each slave node 12 corresponds to two radio frequency transceivers 14.

[0037] The master control node 11 communicates with each slave control node 12 and is used to send synchronization indication information to each slave control node 12;

[0038] Each slave control node 12 is configured to generate a synchronization control signal and send it to two corresponding radio frequency transceivers 14 after receiving the synchronization indication information. The two radio frequency transceivers 14 have different frequencies.

[0039] Each RF transceiver 14 manages at least one managed node 13 and is configured to send a synchronous broadcast signal to each managed node 13 via the corresponding frequency after receiving the synchronous control signal sent by the corresponding slave node 12;

[0040] Each managed node 13 is configured to receive a synchronous broadcast signal at a current operating frequency point, where the current operating frequency point is determined according to the frequencies of the two corresponding radio frequency transceivers 14 .

[0041] In this embodiment, the master control node 11 can be specifically understood as the node that manages all nodes in the system. The master control node 11 can be a microcontroller unit (MCU). The slave control node 12 is managed by the master control node 11. The slave control node 12 can also be a microcontroller unit. The managed node 13 can be specifically understood as a managed node in the system, for example, a battery node in a wireless BMS system. The RF transceiver 14 can be specifically understood as a device that transmits RF signals.

[0042] Synchronization indication information can be specifically understood as information instructing nodes in the system to synchronize. The master node 11 communicates with each slave node 12 and directly controls them. When system synchronization is required, the master node generates synchronization indication information and sends it to each slave node 12. The synchronization indication information can include specific information, such as a timestamp and slave node identifier, or simply contain characters such as 0 or 1, allowing the slave node 12 to determine whether to synchronize the managed node.

[0043] The synchronization control signal can be specifically understood as a signal that controls the RF transceiver 14 to synchronize the managed nodes 13. Each slave node 12 is communicatively connected to two RF transceivers 14, and the two RF transceivers 14 operate at different frequencies. After receiving the synchronization indication information, each slave node 12 generates a synchronization control signal and sends it to its two corresponding RF transceivers 14. Alternatively, the synchronization indication information can be directly forwarded to the two corresponding RF transceivers 14.

[0044] Specifically, the synchronization broadcast signal can be understood as a signal used to instruct each managed node to synchronize. Each slave node 12 manages a certain number of managed nodes 13 through its two corresponding RF transceivers 14. For example, if the certain number is K, both RF transceivers 14 manage K managed nodes. Therefore, each RF transceiver 14 communicates with the managed nodes 13 it manages. After receiving the synchronization control signal from the corresponding slave node 12, each RF transceiver 14 transmits a synchronization broadcast signal to each corresponding managed node 13 at its operating frequency.

[0045] It should be noted that the operating frequency of each RF transceiver 14 in the embodiment of the present application can be set to a different frequency, and each slave node 12 can pass through two RF transceivers 14 with different frequencies. Alternatively, the frequencies of the two RF transceivers 14 corresponding to each slave node 12 are different, and the frequencies of the RF transceivers corresponding to different slave nodes 12 can be the same. In this case, to ensure that the managed node 13 can normally receive the synchronized broadcast signal without interference from different RF transceivers 14 with the same frequency, this can be achieved by controlling the distance between the slave node 12, the RF transceiver 14, and the managed node 13.

[0046] The synchronization control signal in the embodiment of the present application can be a high or low level signal, and the meanings represented by the high and low levels are pre-agreed. For example, the high level controls the radio frequency transceiver to send a synchronous broadcast signal.

[0047] The current operating frequency can be specifically understood as the frequency at which the managed node 13 currently transmits and receives signals. Each managed node 13 receives the synchronized broadcast signal sent by the RF transceiver 14 at its current operating frequency. The current operating frequency of each managed node 13 is determined based on the frequencies of its two corresponding RF transceivers 14 and can be the frequency of either RF transceiver 14. After a managed node 13 receives the synchronized broadcast signal through one RF transceiver 14, subsequent communications will also be conducted through this RF transceiver 14.

[0048] The embodiment of the present invention provides a node synchronization system that solves the problem that managed nodes cannot synchronize quickly and timely. Synchronous broadcast signals are sent through two radio frequency transceivers with different frequencies. The managed nodes can receive the synchronous broadcast signals through the working frequency. The current working frequency of the managed node is determined according to the frequencies of the two corresponding radio frequency transceivers. This avoids the situation where the synchronous broadcast signal cannot be received due to interference when the synchronous broadcast signal is sent through one radio frequency transceiver. It ensures that each managed node can receive the synchronous broadcast signal in a timely manner and complete synchronization in a timely manner. The anti-interference ability of the system is greatly improved, the synchronization and communication cycle is shortened, and the communication efficiency is improved. The synchronization process does not rely on absolute timestamps, and the error will not be amplified as time accumulates, resulting in synchronization failure. In addition, the master control node indirectly manages the managed nodes through the slave control node, avoiding the low efficiency problem when the master control node directly manages a large number of managed nodes, saving time.

[0049] Optionally, the master control node 11 is further configured to generate synchronization termination information and send the information to each slave control node 12 when a synchronization termination condition is met.

[0050] In this embodiment, the synchronization end condition can be automatically triggered, for example, it can be automatically triggered after the time meets the preset conditions. The maximum sending time of the synchronization broadcast signal can be pre-set. When the synchronization broadcast signal starts to be sent, it is counted. When the sending time meets the maximum sending time, it is determined that the synchronization end condition is met; or, it is detected whether all managed nodes 13 have completed synchronization. If completed, it is determined that the synchronization end condition is met; or the synchronization end condition can be manually triggered by the user.

[0051] Synchronization termination information can be specifically understood as information indicating the end of synchronization for each node. When synchronization termination conditions are met, the master node 11 generates synchronization termination information according to pre-set rules and sends it to each slave node 12 under its management. Synchronization termination information can include only agreed-upon characters, such as 0 / 1 or true / false, indicating the end of synchronization. It can also include other information. The information type included can be pre-set, and the corresponding information is obtained based on the information type when generating the synchronization termination information.

[0052] Optionally, each slave control node 12 is further configured to: after receiving the synchronization termination information, control the corresponding two radio frequency transceivers 14 to stop sending the synchronization broadcast signal.

[0053] In this embodiment, the RF transceiver 14 continues to send the synchronization broadcast signal after receiving the synchronization control signal. After receiving the synchronization termination information, the slave node 12 determines to terminate synchronization and further controls the two RF transceivers 14 corresponding to the slave node 12 to stop sending the synchronization broadcast signal.

[0054] The RF transceiver 14 in the embodiment of the present application can also send a synchronous broadcast signal according to a certain period, for example, after receiving the synchronization control signal, it continuously sends a synchronous broadcast signal for 5 seconds. If the synchronization control signal is received again at the end or before the end, it continues to send. This method requires the master control node 11 to periodically send synchronization indication information to the slave control node 12 at a certain time interval. After receiving the synchronization indication information, the slave control node 12 sends a synchronization control signal to the RF transceiver 14 so that the RF transceiver 14 continues to send a synchronous broadcast signal. In this way, the RF transceiver 14 receives the synchronization control signal and continuously sends the synchronous broadcast signal. If the transmission of the synchronous broadcast signal of this cycle has been completed and the next synchronous broadcast signal is not received, the transmission of the synchronous broadcast signal is stopped and the synchronization is ended. Alternatively, the RF transceiver 14 is set to send a synchronous broadcast signal according to a certain period, and the cycle length is reasonably set to ensure that all managed nodes 13 can complete synchronization within this cycle. After the cycle ends, the RF transceiver 14 automatically stops sending the synchronous broadcast signal.

[0055] Optionally, each radio frequency transceiver 14 and managed node 13 is provided with a transceiver antenna for transmitting and receiving signals.

[0056] What you need to know is, Figure 1 The connection relationship shown in can be a cable connection or a communication connection. For example, the RF transceiver 14 and the managed node 13 transmit and receive signals through antennas to achieve data interaction. Therefore, the connection relationship between them is a communication connection.

[0057] The present application determines whether to end synchronization by judging whether a synchronization end condition is met. When the synchronization end condition is met, the master control node controls the RF transceiver through the slave control node to stop sending the synchronization broadcast signal in time to avoid resource waste.

[0058] Example 2

[0059] Figure 2This is a flowchart of a node synchronization method provided by the second embodiment of the present invention. This embodiment is applicable to the case of fast synchronization of nodes. The method can be executed by a node synchronization device. The node synchronization device can be implemented in the form of hardware and / or software. The node synchronization device is configured in the managed node. Figure 2 As shown, the method includes:

[0060] S201: Determine the frequencies of two radio frequency transceivers corresponding to the local device and form a set of candidate frequencies.

[0061] In this embodiment, the candidate frequency set can be specifically understood as frequencies that a managed node can select as operating frequencies. The two RF transceivers corresponding to the managed node are determined, and their corresponding frequencies are then determined. The frequencies of the RF transceivers can be pre-set, that is, the frequency of each RF transceiver is pre-set, and the managed node managed by each RF transceiver is determined. The relationship between the RF transceiver and the managed node can be set by the user and automatically saved. The two frequencies are respectively used as the first frequency and the second frequency to form the candidate frequency set.

[0062] S202: After entering the current detection cycle, determine a target frequency according to the candidate frequency set and set the current operating frequency as the target frequency.

[0063] In this embodiment, the current detection period can be specifically understood as the current signal detection period. To save resources, the managed node starts detection at regular intervals to detect whether there is a broadcast signal. The target frequency can be specifically understood as the operating frequency pre-selected for the managed node.

[0064] Specifically, the working time of the managed node is pre-set. For example, the working time set by the managed node is divided into a detection cycle, a sleep cycle and a preparation cycle. During the detection cycle, the managed node monitors whether there is a synchronous broadcast signal; during the sleep cycle, the managed node enters sleep mode and does not perform any work; during the preparation cycle, the managed node is awakened and ready to communicate with the slave node to transmit information. The embodiment of the present application can set the cycle length of the detection cycle and the sleep cycle according to demand. The managed node enters the detection cycle according to a certain periodic cycle, and after entering the current detection cycle, selects a frequency point from the set of alternative frequencies as the target frequency point. The target frequency point can be selected randomly or according to certain rules. The current working frequency point of the managed node is set as the target frequency point. The managed node sends and receives signals at the current working frequency point.

[0065] S203: Determine whether a synchronous broadcast signal is received via the current working frequency within the current detection period. If so, execute S204; otherwise, execute S205.

[0066] The managed node receives an external broadcast signal at the current working frequency, and determines whether a synchronous broadcast signal is received within the current detection period. If a synchronous broadcast signal is received, S204 is executed; if no synchronous broadcast signal is received within the current detection period, S205 is executed.

[0067] S204: Determine whether synchronization is completed.

[0068] After receiving the synchronization broadcast signal, the managed node determines that the synchronization is completed.

[0069] S205: Determine a new target frequency, and switch the current operating frequency according to the new target frequency in the next detection cycle.

[0070] If the synchronous broadcast signal has not been received within the current detection cycle, synchronization is not completed at this time. In order to ensure timely synchronization, the managed node selects a new frequency from the alternative frequency set as the new target frequency, and after entering the next detection cycle, sets the current working frequency according to the new target frequency to complete the switching of the current working frequency. The managed node can receive signals through the current working frequency after switching.

[0071] S206: Set the next detection cycle as the new current detection cycle, and return to execute S203.

[0072] The embodiment of the present invention provides a node synchronization method that solves the problem that managed nodes cannot synchronize quickly and timely. When a managed node receives a signal through the current working frequency, if it does not receive a synchronous broadcast signal within the current detection cycle, it can switch the current working frequency in the next detection cycle. The managed node can receive the synchronous broadcast signal through two different frequencies, avoiding the situation where the synchronous broadcast signal cannot be received when receiving the synchronous broadcast signal through one frequency due to interference. The frequency switching ensures that each managed node can receive the synchronous broadcast signal in a timely manner and complete synchronization in a timely manner. The system's anti-interference ability is greatly improved, the synchronization and communication cycle is shortened, and the communication efficiency is improved. In addition, the synchronization process does not rely on absolute timestamps, and the error will not be amplified over time, resulting in synchronization failure.

[0073] Example 3

[0074] Figure 3 This is a flowchart of a node synchronization method provided in the third embodiment of the present invention. This embodiment is refined based on the previous embodiment. Figure 3 Shown, including:

[0075] S301: Determine the frequencies of two radio frequency transceivers corresponding to the local device and form a set of candidate frequencies.

[0076] Two frequency points in the candidate frequency point set are respectively used as the first frequency point and the second frequency point.

[0077] S302: After entering the current detection cycle, determine a target frequency according to the candidate frequency set and set the current operating frequency as the target frequency.

[0078] S303. Determine whether a synchronous broadcast signal is received through the current working frequency in the current detection period. If not, if the target frequency is the first frequency, execute S304; if the target frequency is the second frequency, execute S305; if yes, execute S308.

[0079] Determine whether a synchronized broadcast signal is received at the current operating frequency within the current detection period. If not, a frequency switch is required. The target frequency is considered during the frequency switch. If the target frequency is different, the switched frequency is also different. If the target frequency is the first frequency, execute S304; if the target frequency is the second frequency, execute S305.

[0080] S304: Determine the new target frequency as the second frequency.

[0081] S305: Determine the new target frequency as the first frequency.

[0082] S306: After entering the next detection cycle, the current operating frequency is set as a new target frequency.

[0083] Because managed nodes have different operating cycles and different states for each operating cycle, managed nodes switch between different operating cycles. After the current detection cycle ends, they wait for the next detection cycle to begin. After entering the next detection cycle, the managed node's current operating frequency is set to the new target frequency, completing the frequency switch.

[0084] As an optional embodiment of this embodiment, this optional embodiment is further optimized to include controlling the machine to enter a sleep cycle before entering the next detection cycle.

[0085] After entering the sleep cycle, the managed node enters the sleep state and does not need to receive any signals.

[0086] S307: Set the next detection cycle as the new current detection cycle, and return to execute S303.

[0087] The next detection cycle is used as a new current detection cycle to re-detect whether the synchronous broadcast signal is received through the current working frequency point after switching.

[0088] S308: Determine whether synchronization is completed.

[0089] S309: Control the machine to enter a ready state to receive data acquisition instructions.

[0090] After completing synchronization, the managed node enters a ready state, awaiting data collection instructions from the slave node. These instructions instruct the managed node to collect data and provide feedback to the slave node. The slave node then feeds this feedback back to the master node, which analyzes the status of each managed node and then performs data analysis and processing to manage each managed node. After receiving a synchronized broadcast signal via a radio frequency transceiver, the managed node enters a ready state, preparing to receive data collection instructions. This radio frequency transceiver then receives data collection instructions and feeds data and information back to the master node.

[0091] It can be known that the managed node in this application sets the current working frequency after entering the current detection cycle, and receives the synchronous broadcast signal through the current working frequency. If the synchronous broadcast signal is not received within the current detection cycle, a new target frequency can be determined and the sleep cycle can be entered. After the sleep cycle ends, the next detection cycle is entered, the current working frequency is set to the new target frequency, and the frequency switching is completed. The next detection cycle serves as the new current detection cycle, and the synchronous broadcast signal continues to be received through the switched current working frequency. If the synchronous broadcast signal is received, it is determined that the synchronization is completed, and the state enters the ready state, waiting to receive the data acquisition instruction. If the synchronous broadcast signal is not received, the switch continues.

[0092] In the node synchronization method provided in the embodiment of the present application, all managed nodes periodically detect the synchronous broadcast signal at the first frequency point and the second frequency point. For example, the managed node first detects the synchronous broadcast signal at the first frequency point. If the synchronous broadcast signal is detected, it enters the ready state and waits to receive the data acquisition instruction. If the synchronous broadcast signal is not detected, the synchronous broadcast signal is detected at the second frequency point in the next cycle. If the synchronous broadcast signal is still not detected at the second frequency point in the next cycle, it switches back to the first frequency point for detection. Normally, after the end of two cycles, all nodes will detect the synchronous broadcast signal, enter the ready state, start detecting the data acquisition instruction, and perform data acquisition, thereby achieving the synchronization of all managed nodes and completing the purpose of data acquisition of all nodes within the time limit. The node synchronization method provided in the present application greatly shortens the detection time and solves the problem of slow synchronization. By switching between two frequencies to receive the broadcast synchronization signal, if one frequency point is interfered with, the other frequency point can also ensure normal communication, thereby improving the stability of the system.

[0093] For example, Figure 4This embodiment provides a timing diagram of node synchronization. Take a slave node corresponding to two RF transceivers and n managed nodes as an example. The two RF transceivers are RF1 and RF2, and the managed nodes are S1, S2...Sn. Figure 4 As shown, RF1 and RF2 are at T brodcast Start sending synchronous broadcast signals at time T wakeup_signal Time, wherein RF1 sends a synchronous broadcast signal at the first frequency point F1, and RF2 sends a synchronous broadcast signal at the second frequency point F2, Figure 4 Each hexagon in the can be regarded as a synchronous broadcast signal. S1 to Sn are respectively detected according to the detection period t detect_cycle Periodic detection, where the detection period t detect_cycle Including detection period t wakeup and sleep cycle t sleep Taking S1 as an example, in the first detection cycle t detect_cycle The detection period t wakeup During this period, neither RF1 nor RF2 sends a synchronous broadcast signal and enters the sleep cycle t sleep , sleep cycle t sleep After the end, enter the new detection cycle t wakeup , in the new detection period t wakeup In the T, S1 switches the current working frequency and detects the synchronous broadcast signal at F1, wakes up, and enters the ready state. Sn detects the pilot synchronous broadcast signal at F2 and enters the ready state. RF1 and RF2 are in T wakeup_signal Continuously send synchronous broadcast signals within T wakeup_signal After the time is up, the slave node receives the control and stops sending the synchronization broadcast signal. At this time, S1-Sn have both been synchronized to the network. S1-Sn enters the ready state and waits for T wait_broadcast Time, T that different managed nodes wait for wait_broadcast Different time, such as Figure 4 As shown. RF1 and RF2 are delayed by T delay After the delay T is set, the Sx broadcast signal for data collection is sent. delay Time is used to prevent the managed node that joins the network last from not receiving the Sx broadcast signal in time. After receiving the Sx broadcast signal, S1-Sn feeds back the corresponding Rx broadcast signal.

[0094] The embodiment of the present invention provides a node synchronization method that solves the problem of long node multi-synchronization cycles and slow synchronization. Managed nodes can complete synchronization quickly and timely. Managed nodes can receive synchronous broadcast signals by switching between a first frequency point and a second frequency point, avoiding the situation where a synchronous broadcast signal cannot be received due to interference when receiving the synchronous broadcast signal through one frequency point. Frequency switching ensures that each managed node can receive the synchronous broadcast signal in a timely manner and complete synchronization in a timely manner. This method greatly improves the system's anti-interference capability, reduces the impact of instantaneous interference on system communications, shortens the synchronization and communication cycles, and improves communication efficiency. In addition, the synchronization process does not rely on absolute timestamps, and will not cause errors to amplify over time, leading to synchronization failure.

[0095] Example 4

[0096] Figure 5 This is a schematic diagram of the structure of a node synchronization device provided by the fourth embodiment of the present invention. Figure 5 As shown, the device includes: an alternative frequency point determination module 41, a target frequency point determination module 42 and a signal receiving module 43.

[0097] The candidate frequency determination module 41 is used to determine the frequencies of the two RF transceivers corresponding to the local device and form a candidate frequency set;

[0098] A target frequency determination module 42 is configured to determine a target frequency according to the candidate frequency set and set the current operating frequency as the target frequency when entering a detection period;

[0099] The signal receiving module 43 is used to determine whether a synchronous broadcast signal is received through the current working frequency during the current detection period. If so, it is determined that the synchronization is completed; otherwise, a new target frequency is determined, and the current working frequency is switched according to the new target frequency in the next detection period, and the next detection period is used as the new current detection period and returns to execute the step of determining whether a synchronous broadcast signal is received through the current working frequency during the current detection period.

[0100] The embodiment of the present invention provides a node synchronization device that solves the problem that managed nodes cannot be synchronized quickly and timely. When a managed node receives a signal through the current working frequency, if it does not receive a synchronous broadcast signal within the current detection cycle, it can switch the current working frequency in the next detection cycle. The managed node can receive the synchronous broadcast signal through the first frequency or the second frequency, avoiding the situation where the synchronous broadcast signal cannot be received due to interference when receiving the synchronous broadcast signal through one frequency. The frequency switching ensures that each managed node can receive the synchronous broadcast signal in a timely manner and complete synchronization in a timely manner. The anti-interference ability of the system is greatly improved, the synchronization and communication cycle is shortened, and the communication efficiency is improved. In addition, the synchronization process does not rely on absolute timestamps, and the error will not be amplified over time to cause synchronization failure.

[0101] Optionally, the candidate frequency set includes a first frequency and a second frequency, and the signal receiving module 43 includes:

[0102] a first frequency updating unit, configured to, when the target frequency is the first frequency, determine a new target frequency as the second frequency;

[0103] a second frequency updating unit, configured to, when the target frequency is the second frequency, determine a new target frequency as the first frequency;

[0104] The new frequency setting unit is configured to set the current operating frequency as the new target frequency after entering the next detection cycle.

[0105] Optionally, the device further includes:

[0106] The sleep cycle entry module is used to control the machine to enter the sleep cycle before entering the next detection cycle.

[0107] Optionally, the device further includes:

[0108] The ready state entry module is used to control the machine to enter the ready state after the synchronization is determined to be completed, so as to receive the data collection instruction.

[0109] The node synchronization device provided in the embodiment of the present invention can execute the node synchronization method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0110] Example 5

[0111] Figure 6A schematic diagram of the structure of an electronic device 50 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0112] like Figure 6 As shown, the electronic device 50 includes at least one processor 51 and a memory, such as a read-only memory (ROM) 52, a random access memory (RAM) 53, etc., which is communicatively connected to the at least one processor 51. The memory stores a computer program that can be executed by the at least one processor. The processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or the computer program loaded from the storage unit 58 into the random access memory (RAM) 53. Various programs and data required for the operation of the electronic device 50 can also be stored in the RAM 53. The processor 51, ROM 52, and RAM 53 are connected to each other via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0113] Multiple components in the electronic device 50 are connected to the I / O interface 55, including an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a magnetic disk, an optical disk, etc.; and a communication unit 59, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0114] The processor 51 can be a variety of general-purpose and / or specialized processing components with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as the node synchronization method.

[0115] In some embodiments, the node synchronization method can be implemented as a computer program that is tangibly contained in a computer-readable storage medium, such as a storage unit 58. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 50 via the ROM 52 and / or the communication unit 59. When the computer program is loaded into the RAM 53 and executed by the processor 51, one or more steps of the node synchronization method described above can be performed. Alternatively, in other embodiments, the processor 51 can be configured to perform the node synchronization method in any other appropriate manner (e.g., by means of firmware).

[0116] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0117] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0118] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0119] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0120] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0121] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0122] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0123] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A node synchronization system, characterized in that: It includes a master control node, at least one slave control node, at least one managed node and at least two radio frequency transceivers, and each of the slave control nodes corresponds to two of the radio frequency transceivers; The master control node communicates with each of the slave control nodes and is configured to send synchronization indication information to each of the slave control nodes; Each of the slave control nodes is configured to generate a synchronization control signal and send the synchronization control signal to two corresponding radio frequency transceivers after receiving the synchronization indication information, wherein the two radio frequency transceivers have different frequencies; Each of the radio frequency transceivers manages at least one managed node, and is configured to send a synchronous broadcast signal to each of the managed nodes via a corresponding frequency point after receiving a synchronous control signal sent by a corresponding slave node; Each of the managed nodes is configured to receive the synchronized broadcast signal at a current operating frequency, where the current operating frequency is determined according to the frequencies of the two corresponding radio frequency transceivers; By controlling the distance between the slave node, the RF transceiver and the managed node, the managed node is protected from interference from different RF transceivers at the same frequency.

2. The system according to claim 1, wherein: The master control node is further configured to generate synchronization termination information when a synchronization termination condition is met, and send the information to each of the slave control nodes.

3. The system according to claim 2, characterized in that Each of the slave control nodes is further configured to: after receiving the synchronization termination information, control the corresponding two radio frequency transceivers to stop sending the synchronization broadcast signal.

4. A node synchronization method, characterized in that: Executed by a managed node in the node synchronization system according to any one of claims 1 to 3, comprising: Determine the frequencies of the two RF transceivers corresponding to this device and form a set of alternative frequencies; After entering the current detection cycle, determining a target frequency according to the candidate frequency set and setting the current operating frequency as the target frequency; Determining whether a synchronous broadcast signal is received through the current operating frequency within the current detection period, and if so, determining that synchronization is completed; Otherwise, determine a new target frequency, and switch the current working frequency according to the new target frequency in the next detection cycle, take the next detection cycle as the new current detection cycle and return to execute the step of determining whether the synchronous broadcast signal is received through the current working frequency during the current detection cycle.

5. The method according to claim 4, characterized in that The candidate frequency set includes a first frequency and a second frequency, determining a new target frequency, and switching the current operating frequency according to the new target frequency in a next detection period, including: When the target frequency is the first frequency, determining the new target frequency as the second frequency; When the target frequency is the second frequency, determining a new target frequency as the first frequency; After entering the next detection cycle, the current operating frequency is set as the new target frequency.

6. The method according to claim 5, characterized in that Before entering the next detection cycle, it also includes: Control the machine to enter the sleep cycle.

7. The method according to any one of claims 4 to 6, characterized in that After the synchronization is determined to be complete, the method further includes: Control the machine to enter the ready state to receive data collection instructions.

8. A node synchronization device, characterized in that: The device is configured in a managed node in the node synchronization system according to any one of claims 1 to 3, and includes: The alternative frequency determination module is used to determine the frequencies of the two RF transceivers corresponding to the local device and form an alternative frequency set; a target frequency determination module, configured to determine a target frequency according to the candidate frequency set and set the current operating frequency as the target frequency after entering the current detection cycle; The signal receiving module is used to determine whether a synchronous broadcast signal is received through the current working frequency during the current detection period. If so, it is determined that the synchronization is completed; otherwise, a new target frequency is determined, and the current working frequency is switched according to the new target frequency in the next detection period, and the next detection period is used as the new current detection period and returns to execute the step of determining whether a synchronous broadcast signal is received through the current working frequency during the current detection period.

9. An electronic device, characterized in that: The electronic device serves as a managed node and includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the node synchronization method according to any one of claims 4 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the node synchronization method according to any one of claims 4 to 7 when executed.

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