Adaptive wireless two-way communication method and communication device for rock and soil underground engineering

Abstract

The present invention discloses an adaptive wireless two-way communication method and communication device for geotechnical underground engineering, including two working modes. The first working mode is for a sensing node arranged inside the geotechnical underground engineering to directly establish communication with an edge gateway on the ground; the second working mode is for a sensing node arranged inside the geotechnical underground engineering to establish communication with the edge gateway via a relay node arranged in the middle of the geotechnical underground engineering. The advantages of the present invention are: improving the time and frequency utilization efficiency of the system, providing reliable wireless network support for geotechnical underground engineering multi-point, wide coverage, and real-time automated monitoring scenarios; achieving two-way communication between wireless sensing nodes, wireless relay nodes, and edge gateways, enabling users to actively control various monitoring sensors in real time, and actively obtain sensor data when abnormalities occur in the monitoring data; supporting two working modes at the same time, wireless automated monitoring can still be achieved even in environments with poor communication conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic monitoring of rock and soil underground engineering, and in particular relates to an adaptive wireless two-way communication method and a communication device for rock and soil underground engineering. Background Art

[0002] As deep underground space development continues to expand in depth, the number of engineering monitoring points continues to increase and their locations are discrete. Traditional manual monitoring can no longer meet the information management and control requirements of deep foundation pit projects. In recent years, the continuous development of Internet of Things (IoT) technology has led to the widespread application of automated monitoring in geotechnical underground engineering. Automated monitoring involves using customized sensors to accurately sense the state of a structure (stress, deformation, etc.). These sensors are connected to IoT data collection devices via wired or wireless connections. The IoT data collection devices transmit the sensor data to a remote monitoring system, which stores, calculates, and analyzes the collected data and notifies relevant construction units of the data and analysis results via reports, text messages, and emails.

[0003] However, there are major flaws in the existing technology: on the one hand, a large number of scattered sensor nodes are still connected to the IoT gateway through wired connections to the collection equipment. The sensor cables are easily damaged by construction and difficult to restore after damage, resulting in the inability to ensure the timeliness of automated monitoring data; on the other hand, the existing wireless IoT technology is not adaptable enough to deep foundation pit projects. For example, the wireless networking communication based on ZigBee is affected by the newly built structures in the construction of rock and soil underground projects, and data packet loss often occurs when the wireless sensing nodes communicate with the gateway; and the existing NB-IoT narrow bandwidth technology is limited by the operator's base station, and is prone to no signal at the bottom of some rock and soil underground projects; although the traditional LoRaWAN protocol has the advantage of long-distance communication, it cannot meet the application requirements of long-cycle, adaptability, and low power consumption in two-way communication. Summary of the Invention

[0004] The purpose of the present invention is to provide an adaptive wireless two-way communication method and a communication device for geotechnical underground engineering based on the above-mentioned deficiencies of the prior art. The communication method realizes wireless two-way communication between sensing nodes, relay nodes and edge gateways by considering random avoidance technology on the basis of adaptive time-frequency multiplexing technology; by setting a relay node in the middle position of the geotechnical underground engineering to support two working modes at the same time, wireless automatic monitoring can be achieved even in an environment with poor communication conditions.

[0005] The purpose of the present invention is achieved by the following technical solutions:

[0006] An adaptive wireless two-way communication method for underground rock and soil engineering, characterized in that the communication method includes two working modes, wherein:

[0007] The first working mode is that the sensing nodes arranged inside the rock and soil underground engineering directly establish communication with the edge gateway arranged on the ground;

[0008] The second working mode is that the sensing node arranged inside the geotechnical underground engineering establishes communication with the edge gateway arranged on the ground via the relay node arranged in the middle position of the geotechnical underground engineering.

[0009] The number of edge gateways is n, and the n edge gateways divide the given communication frequency band into frequency points; the number of available frequency points of a single edge gateway is p, and the p available frequency points are divided into the uplink frequency point and the downlink frequency point according to the p u :p d The number of edge gateways n≤p*p d / (p u +p d ); Each of the edge gateways is in a continuous uplink listening state to receive access requests initiated by the relay node or the sensing node at any time.

[0010] The number of relay nodes is m; a single relay node has the same number of available frequencies p as the edge gateway, and the p available frequencies are divided into the uplink frequency and the downlink frequency p. u :p d The ratio of distribution; using time division to keep n relay nodes providing relay services at the same time point; the number of relay nodes m≤s*n, where n is the number of edge gateways and s is the designed time slot.

[0011] The number of the sensing nodes is k; a single sensing node has the same number of available frequencies p as the edge gateway, and the p available frequencies are divided into the uplink frequency and the downlink frequency p. u :p d The sensing node initiates an uplink communication request on demand, and the communication frequency of the sensing node occupies the required uplink frequency in an adaptive manner within the optional uplink frequency; the upper limit of the number of sensing nodes accessed by the same edge gateway is T / t, and the total number of sensing nodes supported by n edge gateways is k≤T*n / t; wherein T is the minimum request time interval of each sensing node, and t is the processing and communication time of the sensing node.

[0012] In the first working mode, the wireless two-way communication between each edge gateway and the corresponding sensing node is implemented based on an array polling mechanism of a time window, including the following steps: a single edge gateway accesses N sensing nodes, and the edge gateway synchronously sends downlink communication instructions to the corresponding N sensing nodes; the sensing node divides the subsequent time into N time windows based on the downlink broadcast time of the edge gateway, and the interval of each time window is T+t seconds, where T is the minimum request time interval of each sensing node, and t is the processing and communication time of the sensing node; the edge gateway allocates the time window sequence of each sensing node in advance based on the number of each sensing node, and each sensing node sends data to the edge gateway in the corresponding time window; if any sensing node has not completed data collection or missed the uplink communication within its corresponding designated time window, the sensing node will be postponed to the N+2th time window to wait for uplink communication with the edge gateway.

[0013] When a plurality of the edge gateways send downlink communication instructions to the corresponding perception nodes at the same time, an array of time windows is formed between the perception nodes of different edge gateways to synchronously report uplink data to the corresponding edge gateways.

[0014] Each time the edge gateway sends a downlink communication instruction to the perception node, the time between the edge gateway, the perception node and the relay node is synchronized; time synchronization is completed between different edge gateways through the built-in Beidou / GPS synchronization module.

[0015] The edge gateway completes the time synchronization with the relay node by periodically sending time synchronization data packets; using the time synchronization data packet, after completing the preliminary link establishment handshake based on the preamble code, at the end of the preamble code, the relay node and the edge gateway simultaneously record the timestamp and complete their respective time exchanges, recording the edge gateway time as G and the relay node time as L. Through multiple time exchanges, the formula G=k*L+Offset multi-point linear fitting is used to obtain the fixed offset Offset and frequency deviation k between the relay node and the edge gateway to complete the time synchronization between the relay node and the edge gateway.

[0016] In the first working mode, the sensing node completes time synchronization through the edge gateway; in the second working mode, the sensing node completes time synchronization through the relay node.

[0017] A communication device involving any of the above-mentioned adaptive wireless two-way communication methods for rock and soil underground engineering, characterized in that the communication device includes an edge gateway, a relay node and a sensing node;

[0018] The edge gateway includes a power module, an edge processing module, a first local storage module, a Beidou / GPS synchronization module, a forwarding communication module, and several first access communication modules; the power module supplies power to each module in the edge gateway; the edge processing module includes an edge computing unit and a first time synchronization unit and a first communication control unit connected to the edge computing unit; the first local storage module stores the localized data of the edge gateway; the Beidou / GPS synchronization module realizes the timing synchronization of the edge gateway, and realizes the time synchronization with the relay node and the perception node through the first time synchronization unit; the forwarding communication module is controlled by the first communication control unit to forward the data to the computing service platform; the first access communication module is controlled by the first communication control unit to access the communication with the relay node and the perception node;

[0019] The relay node includes a second battery power supply module, a second local storage module, a relay processing module, a relay communication module and a second access communication module; the second battery power supply module supplies power to each module in the relay node; the second local storage module stores the localized data of the relay node; the relay processing module includes a relay calculation unit and a second time synchronization unit and a second communication control unit connected to the relay calculation unit, the second time synchronization unit realizes time synchronization with the edge gateway; the relay communication module is controlled by the second communication control unit to realize communication with the edge gateway; the second access communication module is controlled by the second communication control unit to realize communication with the sensing node;

[0020] The perception node includes a third battery power supply module, a third local storage module, a perception processing module and a third access communication module; the third battery power supply module supplies power to each module in the perception node; the third local storage module is used to store the localized data of the perception node; the perception processing module includes a perception computing unit and a third time synchronization unit and a third communication control unit connected to the perception computing unit; the third communication control unit controls the access communication between the third access communication module and the relay node or the edge gateway; the third time synchronization unit realizes time synchronization between the perception node and the relay node or the edge gateway.

[0021] The advantages of the present invention are:

[0022] (1) It greatly improves the time and frequency utilization efficiency of the system, providing reliable wireless network support for multi-point, wide-coverage, and real-time automated monitoring scenarios in geotechnical underground engineering;

[0023] (2) Realize two-way communication between wireless sensing nodes, wireless relay nodes and edge gateways, which can enable users to actively control various monitoring sensors in real time and actively obtain sensor data when abnormal monitoring data occurs;

[0024] (3) It can support two working modes at the same time, and can realize wireless automatic monitoring even in an environment with poor communication conditions, which greatly improves the applicability of the present invention in rock and soil underground engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the implementation of multi-node access of the edge gateway in the present invention;

[0026] Figure 2 Schematic diagram of the implementation of uplink communication between the sensing node and the edge gateway in the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the implementation device of the edge gateway in the present invention;

[0028] Figure 4 Schematic diagram of the structure of the implementation device of the relay node in the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of the device for implementing the sensing node in the present invention. DETAILED DESCRIPTION

[0030] The features of the present invention and other related features are further described in detail below through embodiments in conjunction with the accompanying drawings to facilitate understanding by those skilled in the art:

[0031] Example: Figure 1 、 2 As shown in Figures 3, 4, and 5, this embodiment specifically relates to an adaptive wireless two-way communication method for geotechnical underground engineering. Based on adaptive time-frequency multiplexing technology, it utilizes random avoidance technology to implement wireless two-way communication between sensing nodes, relay nodes, and edge gateways. Taking into account the depth and complexity of geotechnical underground engineering, the wireless communication method supports two operating modes. In the first operating mode, sensing nodes communicate directly with edge gateways; in the second operating mode, sensing nodes communicate with edge gateways via relay nodes. In both operating modes, data exchange is accomplished through edge gateways and computing service platforms. These two operating modes ensure the overall coverage and flexibility of the system.

[0032] like Figure 1 、 2As shown, the wireless two-way communication method in this embodiment includes available frequency band frequency point slicing and random avoidance to achieve multi-node access of the edge gateway, and array polling based on the time window to achieve uplink communication between the perception node and the edge gateway, which is specifically implemented by the first working mode and the second working mode. That is, the first working mode is for the perception node arranged inside the geotechnical underground project to directly establish communication with the edge gateway arranged on the ground; the second working mode is for the perception node arranged inside the geotechnical underground project to establish communication with the edge gateway arranged on the ground via the relay node arranged in the middle position of the geotechnical underground project.

[0033] N edge gateways are responsible for accessing all sensing nodes and relay nodes. To avoid frequency interference between edge gateways, for a given communication frequency band, frequency point segmentation and protection interval setting between n edge gateways are used to ensure frequency interference-free access of the entire system. For a single edge gateway, the number of available frequency points is p. The p available frequency points are divided into uplink frequency points and downlink frequency points. u :p d The number of edge gateways designed for the entire communication device is n≤p*p d / (p u +p d ); Each edge gateway in the entire communication device is in a continuous uplink monitoring state to receive access requests initiated by relay nodes or sensing nodes at any time. In this embodiment, the number of edge gateways n=8, the number of available frequency points of a single edge gateway p=24, and the number of uplink frequency points p is 24. u =16 and downlink frequency p d =8 ratio for distribution.

[0034] A single relay node has the same number of available frequencies p as the edge gateway, and the p available frequencies are divided into uplink frequencies and downlink frequencies p. u :p d Since the relay nodes do not need to monitor continuously, a time division method is used to keep n relay nodes providing relay services at the same time point; the number of relay nodes is m, and m≤s*n, where n is the number of edge gateways and s is the system design time slot of the communication device. In this embodiment, the number of available frequency points of a single relay node is p=24, according to the uplink frequency point p u =16 and downlink frequency p d = 8. A time division method is used to keep n = 8 relay nodes providing relay services at the same time point; the system design time slot of the communication device is s = 3, and the number of relay nodes m ≤ 24.

[0035] The sensing node has the same number of available frequencies p as the edge gateway, and divides the p available frequencies into uplink frequencies and downlink frequencies p. u :p dThe sensing node initiates an uplink communication request on demand, and the communication frequency of the sensing node occupies the required uplink frequency in an adaptive manner within the optional uplink frequency. The upper limit of the number of sensing nodes connected to the same edge gateway is T / t, and the total number of sensing nodes supported by n edge gateways is k≤T*n / t; where T is the minimum request time interval for each sensing node, and t is the processing and communication time of the sensing node. In this embodiment, the number of available frequency points of the sensing node is p=24, and according to the uplink frequency p u =16 and downlink frequency p d =8. Sensing nodes initiate uplink communication requests on demand, selecting communication frequencies randomly or through round-robin within the available uplink frequencies. The minimum request interval T for each sensing node is 60 seconds, and the sensing node processing and communication time t is allocated at 2.5 seconds. Therefore, the upper limit for the number of sensing nodes that can be connected to the same edge gateway is 24, and the total number of sensing nodes supported by the system's eight edge gateways is k≤192.

[0036] In the first working mode, wireless two-way communication between each edge gateway and the corresponding sensing node is implemented based on an array polling mechanism of a time window, which includes the following steps: a single edge gateway is connected to 24 sensing nodes, and the edge gateway can synchronously send downlink communication instructions to the corresponding 24 sensing nodes; the sensing node divides the subsequent time into 24 time windows based on the downlink broadcast time of the edge gateway; to ensure that each sensing node can accurately execute the downlink instructions and complete the uplink communication with the edge gateway, the interval between each time window is 2 seconds. The edge gateway allocates the time window sequence of each sensing node in advance based on the node number. Each sensing node sends data uplink to the edge gateway in the corresponding time window. Under theoretical conditions, within a 50-second period, all sensing nodes of the corresponding edge gateway can complete the uplink data reporting work; if a sensing node has not completed data collection or missed communication in a specified time window, the sensing node will be postponed to the time window after the 52nd second in the specified order to wait for uplink communication with the edge gateway.

[0037] In this embodiment, different edge gateways use inconsistent communication channels, and the uplink communications of the perception nodes of different edge gateways do not affect each other. Therefore, when multiple edge gateways send downlink instructions to the corresponding perception nodes at the same time, an array-like time window can be formed between the perception nodes of different edge gateways to synchronously report the uplink data to the corresponding edge gateway, greatly improving the communication efficiency of the uplink data.

[0038] To ensure the reliability of uplink and downlink communications based on the time multiplexing mechanism, each time the edge gateway sends a downlink instruction to each sensing node, it is necessary to ensure time synchronization between the edge gateway, the sensing node, and the relay node. Time synchronization between different edge gateways can be achieved through the Beidou / GPS synchronization module built into each edge gateway.

[0039] Time synchronization is achieved by periodically sending time synchronization packets to the corresponding relay nodes through the edge gateway. Using the time synchronization packet, after completing the initial link establishment handshake based on the preamble, at the end of the preamble, the relay node and edge gateway simultaneously record the timestamp and complete their respective time exchanges, recording the edge gateway time as G and the relay node time as L. Through two time exchanges, the fixed offset Offset and frequency deviation k between the relay node and edge gateway are obtained using the formula G = k * L + Offset multi-point linear fit, thus completing the time synchronization of the relay node and edge gateway.

[0040] The sensing nodes in the first working mode complete time synchronization through the edge gateway, and the synchronization method refers to the synchronization method between the relay node and the edge gateway. The sensing nodes in the second working mode complete time synchronization through the relay node, and the synchronization method refers to the synchronization method between the relay node and the edge gateway.

[0041] like Figure 3-5 As shown, the communication device of the adaptive wireless two-way communication method for rock and soil underground engineering in this embodiment includes an edge gateway, a relay node and a sensing node;

[0042] like Figure 3 As shown, the edge gateway includes a power module, an edge processing module, a first local storage module, a Beidou / GPS synchronization module, a forwarding communication module, and several first access communication modules; the power module supplies power to each module in the edge gateway; the edge processing module includes an edge computing unit and a first time synchronization unit and a first communication control unit connected to the edge computing unit, and the edge computing unit is responsible for all computing work of the edge gateway; the first local storage module stores the localized data of the edge gateway; the Beidou / GPS synchronization module realizes the time synchronization of the edge gateway, and realizes the time synchronization with the relay node and the perception node through the first time synchronization unit; the forwarding communication module is controlled by the first communication control unit to forward the data to the computing service platform; the scheduling of L first access communication modules is controlled by the first communication control unit to realize access communication with the relay node and the perception node.

[0043] like Figure 4As shown, the relay node includes a second battery power supply module, a second local storage module, a relay processing module, a relay communication module and a second access communication module; the second battery power supply module supplies power to each module in the relay node; the second local storage module stores the localized data of the relay node; the relay processing module includes a relay computing unit and a second time synchronization unit and a second communication control unit connected to the relay computing unit. All computing work of the relay node is completed by the relay computing unit, and the second time synchronization unit realizes time synchronization with the edge gateway; the relay communication module is controlled by the second communication control unit to realize communication with the edge gateway; the second access communication module is controlled by the second communication control unit to realize communication with the perception node.

[0044] like Figure 5 As shown, the perception node includes a third battery power supply module, a third local storage module, a perception processing module and a third access communication module; the third battery power supply module supplies power to each module in the perception node; the third local storage module is used to store localized data of the perception node; the perception processing module includes a perception computing unit and a third time synchronization unit and a third communication control unit connected to the perception computing unit, and all computing work of the perception node is completed by the perception computing unit; the third communication control unit controls the access communication of the third access communication module with the edge gateway in the first working mode and the access communication with the relay node in the second working mode; the third time synchronization unit realizes time synchronization of the perception node with the edge gateway in the first working mode and with the relay node in the second working mode.

[0045] The beneficial effects of this embodiment are:

[0046] (1) It greatly improves the time and frequency utilization efficiency of the system, providing reliable wireless network support for multi-point, wide-coverage, and real-time automated monitoring scenarios in geotechnical underground engineering;

[0047] (2) Realize two-way communication between wireless sensing nodes, wireless relay nodes and edge gateways, which can enable users to actively control various monitoring sensors in real time and actively obtain sensor data when abnormal monitoring data occurs;

[0048] (3) It can support two working modes at the same time, and can realize wireless automatic monitoring even in an environment with poor communication conditions, which greatly improves the applicability of the present invention in rock and soil underground engineering.

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Various modifications are possible. Any simple, equivalent changes and modifications made in accordance with the claims and description of the present invention are within the scope of protection of the patent claims. Anything not fully described in this invention is conventional technology.

Claims

1. An adaptive wireless two-way communication method for underground rock and soil engineering, characterized in that The communication method includes two working modes, wherein: The first working mode is that the sensing nodes arranged inside the rock and soil underground engineering directly establish communication with the edge gateway arranged on the ground; The second working mode is that the sensing node arranged inside the rock and soil underground engineering establishes communication with the edge gateway arranged on the ground via the relay node arranged in the middle position of the rock and soil underground engineering; The number of edge gateways is n, and the n edge gateways divide the given communication frequency band into frequency points; the number of available frequency points of a single edge gateway is p, and the p available frequency points are divided into the uplink frequency point and the downlink frequency point according to the p u :p d The number of edge gateways n≤p*p d / (p u +p d ); Each of the edge gateways is in a continuous uplink listening state to receive access requests initiated by the relay node or the sensing node at any time; The number of relay nodes is m; a single relay node has the same number of available frequencies p as the edge gateway, and the p available frequencies are divided into the uplink frequency and the downlink frequency p. u :p d The proportion of distribution; using time division to keep n relay nodes providing relay services at the same time point; the number of relay nodes m≤s*n, where n is the number of edge gateways and s is the designed time slot; The number of the sensing nodes is k; a single sensing node has the same number of available frequencies p as the edge gateway, and the p available frequencies are divided into the uplink frequency and the downlink frequency p. u :p d The sensing node initiates an uplink communication request on demand, and the communication frequency of the sensing node occupies the required uplink frequency in an adaptive manner within the optional uplink frequency; the upper limit of the number of sensing nodes connected to the same edge gateway is T / t, and the total number of sensing nodes supported by n edge gateways is k≤T*n / t; where T is the minimum request time interval of each sensing node, and t is the processing and communication time of the sensing node; In the first working mode, the wireless two-way communication between each edge gateway and the corresponding sensing node is implemented based on an array polling mechanism of a time window, including the following steps: a single edge gateway accesses N sensing nodes, and the edge gateway synchronously sends downlink communication instructions to the corresponding N sensing nodes; the sensing node divides the subsequent time into N time windows based on the downlink broadcast time of the edge gateway, and the interval of each time window is T+t seconds, where T is the minimum request time interval of each sensing node, and t is the processing and communication time of the sensing node; the edge gateway allocates the time window sequence of each sensing node in advance based on the number of each sensing node, and each sensing node sends data to the edge gateway in the corresponding time window; if any sensing node has not completed data collection or missed the uplink communication within its corresponding designated time window, the sensing node will be postponed to the N+2th time window to wait for uplink communication with the edge gateway.

2. The adaptive wireless two-way communication method for underground rock and soil engineering according to claim 1, characterized in that When a plurality of the edge gateways send downlink communication instructions to the corresponding perception nodes at the same time, an array of time windows is formed between the perception nodes of different edge gateways to synchronously report uplink data to the corresponding edge gateways.

3. The adaptive wireless two-way communication method for underground rock and soil engineering according to claim 1, characterized in that Each time the edge gateway sends a downlink communication instruction to the perception node, the time between the edge gateway, the perception node and the relay node is synchronized; time synchronization is completed between different edge gateways through the built-in Beidou / GPS synchronization module.

4. The adaptive wireless two-way communication method for underground rock and soil engineering according to claim 3, characterized in that The edge gateway completes the time synchronization with the relay node by periodically sending time synchronization data packets; using the time synchronization data packet, after completing the preliminary link establishment handshake based on the preamble code, at the end of the preamble code, the relay node and the edge gateway simultaneously record the timestamp and complete their respective time exchanges, recording the edge gateway time as G and the relay node time as L. Through multiple time exchanges, the formula G=k*L+Offset multi-point linear fitting is used to obtain the fixed offset Offset and frequency deviation k between the relay node and the edge gateway to complete the time synchronization between the relay node and the edge gateway.

5. The adaptive wireless two-way communication method for underground rock and soil engineering according to claim 4, characterized in that In the first working mode, the sensing node completes time synchronization through the edge gateway; in the second working mode, the sensing node completes time synchronization through the relay node.

6. A communication device according to any one of claims 1 to 5, characterized in that The communication device includes an edge gateway, a relay node and a sensing node; The edge gateway includes a power module, an edge processing module, a first local storage module, a Beidou / GPS synchronization module, a forwarding communication module, and several first access communication modules; the power module supplies power to each module in the edge gateway; the edge processing module includes an edge computing unit and a first time synchronization unit and a first communication control unit connected to the edge computing unit; the first local storage module stores the localized data of the edge gateway; the Beidou / GPS synchronization module realizes the time synchronization of the edge gateway, and realizes the time synchronization with the relay node and the perception node through the first time synchronization unit; the forwarding communication module is controlled by the first communication control unit to forward the data to the computing service platform; The first access communication module is controlled by the first communication control unit to access and communicate with the relay node and the sensing node; The relay node includes a second battery power supply module, a second local storage module, a relay processing module, a relay communication module and a second access communication module; the second battery power supply module supplies power to each module in the relay node; the second local storage module stores the localized data of the relay node; the relay processing module includes a relay calculation unit and a second time synchronization unit and a second communication control unit connected to the relay calculation unit, the second time synchronization unit realizes time synchronization with the edge gateway; the relay communication module is controlled by the second communication control unit to realize communication with the edge gateway; the second access communication module is controlled by the second communication control unit to realize communication with the sensing node; The perception node includes a third battery power supply module, a third local storage module, a perception processing module and a third access communication module; the third battery power supply module supplies power to each module in the perception node; the third local storage module is used to store the localized data of the perception node; the perception processing module includes a perception computing unit and a third time synchronization unit and a third communication control unit connected to the perception computing unit; the third communication control unit controls the access communication between the third access communication module and the relay node or the edge gateway; the third time synchronization unit realizes time synchronization between the perception node and the relay node or the edge gateway.

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