Identity negotiation method, system and device based on cluster communication and storage medium

Abstract

This invention discloses an identity negotiation method, system, apparatus, and storage medium based on cluster communication, comprising: encoding multiple preset cluster members to obtain a first number for each cluster member; sending a first broadcast message through an initial master station during a token exchange time slot of a current preset time period; monitoring the first broadcast message through each initial substation within the current preset time period and sending a second broadcast message after the current preset time period ends; when an initial substation does not detect the first broadcast message or the first broadcast message does not include the master station's identity declaration, each initial substation compares its own first number with the first numbers of other initial substations, determining the initial substation with the smallest first number as the target master station, and determining the other initial substations and the initial master station as target substations. This invention improves the efficiency and reliability of identity negotiation in cluster communication, realizes flexible changes in cluster communication control, and can be widely applied in the field of cluster communication technology.

Description

Technical Field

[0001] This invention relates to the field of trunking communication technology, and in particular to an identity negotiation method, system, device and storage medium based on trunking communication. Background Technology

[0002] Token bus is a control method in a bus topology that uses tokens as control nodes to access a shared transmission medium. In a token bus network, any node can only send data on the shared bus after obtaining a token. If a node does not need to send data, it can pass the token to the next node. Compared to contention-based channel access methods, token passing has the advantages of eliminating node collisions and waiting time, and fully utilizing channel bandwidth when there is high demand. Its disadvantage is that even when communication demand is low, nodes still need to wait for a token before communicating, thus increasing latency. In the PROFIBUS communication protocol, if there are multiple masters in the network, master control is also passed using token passing so that each master can take turns operating.

[0003] In ship swarm scenarios, necessary collaboration between vessels is required, necessitating swarm communication. As the number of swarm members increases, an efficient and reliable negotiation method is urgently needed to determine the identity of each member and grant appropriate permissions. Particularly important is the ability to quickly establish a new master station to control other swarm members should the master station fail. Furthermore, if other swarm members actively request control, the current master station must respond quickly to determine whether to transmit a token. Summary of the Invention

[0004] The purpose of this invention is to at least partially solve one of the technical problems existing in the prior art.

[0005] Therefore, one objective of this invention is to provide an identity negotiation method based on cluster communication, which improves the efficiency and reliability of identity negotiation in cluster communication.

[0006] Another objective of this invention is to provide an identity negotiation system based on cluster communication.

[0007] To achieve the above-mentioned technical objectives, the technical solutions adopted in the embodiments of the present invention include:

[0008] In a first aspect, embodiments of the present invention provide an identity negotiation method based on cluster communication, comprising the following steps:

[0009] Encode multiple preset cluster members to obtain the first number of each cluster member, wherein the cluster members include an initial master station and multiple initial substations;

[0010] The preset time period is divided into token exchange time slots and instruction broadcast time slots in sequence. The initial master station sends a first broadcast message through the token exchange time slot of the current preset time period. The first broadcast message includes the first number of the initial master station.

[0011] Each of the initial substations monitors the first broadcast information during the current preset time period and sends a second broadcast information after the current preset time period ends. The second broadcast information includes the first number of the initial substation.

[0012] When the initial substation does not detect the first broadcast information or the first broadcast information does not include the main station identity declaration, each initial substation compares its own first number with the first numbers of other initial substations to determine the initial substation with the smallest first number as the target main station, and determines the other initial substations and the initial main station as the target substations;

[0013] The target master station sends a third broadcast message during the token exchange time slot in the next preset time period. The third broadcast message includes the first number of the target master station and the master station identity declaration. The instruction is broadcast during the instruction broadcast time slot in the next preset time period.

[0014] Furthermore, in one embodiment of the present invention, the identity negotiation method further includes the following steps:

[0015] When the initial substation detects the first broadcast information and the first broadcast information includes the main station's identity declaration, it determines that the initial main station is the target main station and the initial substation is the target substation.

[0016] Furthermore, in one embodiment of the present invention, the identity negotiation method further includes the following steps:

[0017] The target substation sends a fourth broadcast message during the token exchange time slot in the next preset time period. The fourth broadcast message includes the first number and token application statement of the target substation.

[0018] When the target master station approves the response to the token application statement, the target sub-station is determined to be the new target master station, and the target master station is determined to be the new target sub-station.

[0019] Furthermore, in one embodiment of the present invention, the identity negotiation method further includes the following steps:

[0020] Multiple reserved numbers are determined. When the initial substation with the smallest first number is determined to be the target main station, the first number of the target main station is updated according to the reserved number.

[0021] Furthermore, in one embodiment of the present invention, the first number of the initial master station is less than the first number of the initial substation, and the reserved number is less than the first number of the initial master station.

[0022] Furthermore, in one embodiment of the present invention, the number of token exchange time slots is equal to the sum of the number of the first number and the number of the reserved number, each time slot of the token exchange time slot corresponds to one of the first number or one of the reserved number, and each of the cluster members sends broadcast information in the time slot corresponding to its own first number.

[0023] Furthermore, in one embodiment of the present invention, the broadcast information of each cluster member includes an identity code bit and an instruction code bit, wherein the identity code bit is located before the instruction code bit, and the identity code bit is used to represent the first number of the cluster member.

[0024] Secondly, embodiments of the present invention provide an identity negotiation system based on cluster communication, comprising:

[0025] The cluster member encoding module is used to encode multiple preset cluster members to obtain the first number of each cluster member, wherein the cluster members include an initial master station and multiple initial substations;

[0026] The master station broadcast module is used to divide a preset time period into token exchange time slots and instruction broadcast time slots in sequence, and send a first broadcast message through the initial master station in the token exchange time slot of the current preset time period. The first broadcast message includes the first number of the initial master station.

[0027] The substation broadcast module is used to monitor the first broadcast information through each of the initial substations during the current preset time period, and send the second broadcast information after the current preset time period ends. The second broadcast information includes the first number of the initial substation.

[0028] The identity determination module is used to determine the target main station by comparing its own first number with the first number of other initial substations when the initial substation does not detect the first broadcast information or the first broadcast information does not include the main station identity declaration. It also determines the other initial substations and the initial main station as target substations.

[0029] The instruction broadcast module is used to send a third broadcast message through the target master station in the token exchange time slot of the next preset time period. The third broadcast message includes the first number of the target master station and the master station identity declaration, and the instruction is broadcast in the instruction broadcast time slot of the next preset time period.

[0030] Thirdly, embodiments of the present invention provide an identity negotiation device based on cluster communication, comprising:

[0031] At least one processor;

[0032] At least one memory for storing at least one program;

[0033] When the at least one program is executed by the at least one processor, the at least one processor implements the above-described identity negotiation method based on cluster communication.

[0034] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing a processor-executable program, which, when executed by a processor, is used to perform the aforementioned identity negotiation method based on cluster communication.

[0035] The advantages and beneficial effects of the present invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention:

[0036] In this embodiment of the invention, by encoding cluster members and dividing token exchange and instruction broadcast time slots in cluster communication, the identities of each cluster member and substation can be quickly determined. When the master station fails, each substation can quickly negotiate a new master station for token transfer, avoiding cluster communication failure due to master station failure. When a substation needs cluster control, it can issue a token request, and the current master station will determine whether to transfer the token, improving the efficiency and reliability of identity negotiation in cluster communication and realizing flexible change of cluster communication control. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments of the present invention are described below. It should be understood that the drawings described below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A flowchart illustrating the steps of an identity negotiation method based on cluster communication provided in this embodiment of the invention;

[0039] Figure 2 A structural block diagram of an identity negotiation system based on cluster communication provided in an embodiment of the present invention;

[0040] Figure 3 This is a structural block diagram of an identity negotiation device based on cluster communication provided in an embodiment of the present invention. Detailed Implementation

[0041] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. The step numbers in the following embodiments are set only for ease of explanation, and there is no limitation on the order between the steps. The execution order of each step in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0042] In the description of this invention, "multiple" means two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art.

[0043] Reference Figure 1 This invention provides an identity negotiation method based on cluster communication, specifically including the following steps:

[0044] S101. Encode the multiple preset cluster members to obtain the first number of each cluster member. The cluster members include the initial master station and multiple initial sub-stations.

[0045] S102. Divide the preset time period into token exchange time slots and instruction broadcast time slots in sequence, and send the first broadcast information through the initial master station in the token exchange time slot of the current preset time period. The first broadcast information includes the first number of the initial master station.

[0046] S103. Monitor the first broadcast information through each initial substation during the current preset time period, and send the second broadcast information after the current preset time period ends. The second broadcast information includes the first number of the initial substation.

[0047] S104. When the initial substation does not detect the first broadcast information or the first broadcast information does not include the master station's identity declaration, each initial substation compares its own first number with the first numbers of other initial substations to determine the initial substation with the smallest first number as the target master station, and determines the other initial substations and the initial master station as the target substations.

[0048] S105. The target master station sends a third broadcast message through the token exchange time slot of the next preset time period. The third broadcast message includes the first number of the target master station and the master station identity declaration, and broadcasts the instruction in the instruction broadcast time slot of the next preset time period.

[0049] In this embodiment of the invention, the master station is the cluster member that has been granted control permissions, the sub-station is the cluster member that has been granted controlled permissions, the token is the identity identifier owned by the master station in the cluster, and the number of members is the sum of the number of master stations and sub-stations in the cluster.

[0050] Taking a cluster communication with 90 members as an example, the cluster members are coded, and 90 numbers from 11 to 100 are selected to correspond to the 90 cluster members respectively. The initial number of the master station is 11; numbers 1 to 10 are reserved numbers for subsequent sub-stations to apply for tokens.

[0051] The preset duration is 1 second, meaning that 1 second is a communication cycle. The 1 second is divided into 1000 time slots and numbered to obtain time slots 1 to 1000. Time slots 1 to 100 are used as token exchange time slots, and time slots 101 to 1000 are used as instruction broadcast time slots.

[0052] After the cluster communication is established, the initial master station broadcasts in time slot 11 corresponding to its own number, and the broadcast information includes its own number 11; the initial sub-stations only monitor during the first communication cycle, and after the first communication cycle ends, all initial sub-stations broadcast their own numbers.

[0053] If an initial substation does not detect a broadcast message sent by the initial master station, or if the broadcast message it detects does not contain a master station identity declaration, then each initial substation will compare the number of other initial substations it receives with its own number. If its own number is the smallest, it will automatically be promoted to the target master station, and the initial master station will be demoted to the target substation.

[0054] For example, if the initial master station 11 fails and fails to broadcast its identity in time slot 11, the initial sub-station 12 will confirm that its own number is the smallest after one communication cycle and automatically become the target master station. It will broadcast its identity in time slot 1 of time slots 1 to 10 (corresponding to the reserved time slots of the reserved number) in the next communication cycle (at the same time, the number of the target master station will be updated to 1), and broadcast instructions in time slots 101 to 1000.

[0055] It can be understood that in the embodiments of the present invention, identity negotiation is performed at the beginning of each cluster communication to determine the target master station and target sub-station of this cluster communication. In the next cluster communication, identity negotiation needs to be performed again. Correspondingly, the target master station and target sub-station of the previous communication also automatically become the initial master station and initial sub-station of the next cluster communication.

[0056] As an optional implementation, the identity negotiation method further includes the following steps:

[0057] S106. When the initial substation detects the first broadcast information and the first broadcast information includes the identity declaration of the master station, it determines that the initial master station is the target master station and the initial substation is the target substation.

[0058] Specifically, if the initial substation detects a broadcast message sent by the initial master station and the broadcast message includes the master station's identity declaration, then it determines itself as the target substation and the initial master station as the target master station, and proceeds with subsequent cluster communication.

[0059] As an optional implementation, the identity negotiation method further includes the following steps:

[0060] S107. The target substation sends a fourth broadcast message through the token exchange time slot of the next preset time period. The fourth broadcast message includes the first number of the target substation and a token application statement.

[0061] S108. When the target master station approves the response token application statement, the target sub-station is determined as the new target master station.

[0062] Specifically, if a target substation wants to request control of the cluster communication, it can broadcast the request in the time slot corresponding to its own number in the next communication cycle. The current master station will approve or reject the request. If the master station approves the request, the master station's token identity will be cleared and it will be downgraded to a new target substation. At the same time, the substation whose control request has been approved will be upgraded to a new target master station and will obtain a token identity.

[0063] As an optional implementation, the identity negotiation method further includes the following steps:

[0064] Multiple reserved numbers are determined. When the initial substation with the smallest first number is determined to be the target main station, the first number of the target main station is updated according to the reserved number.

[0065] Specifically, in this embodiment of the invention, when a substation becomes a target master station (including applying for control to become a new target master station), the number of the target master station is updated to an early, unused number among the reserved numbers. In this embodiment of the invention, the numbers of the master station and substations are dynamically changing. Since the time slot used for identity broadcasting corresponds to its own number, the dynamically changing number ensures that cluster members who become target master stations broadcast their identities in the early time slots.

[0066] As an optional implementation, the first number of the initial master station is less than the first number of the initial substation, and the reserved number is less than the first number of the initial master station.

[0067] As an optional implementation, the number of token exchange slots is equal to the sum of the number of first numbers and reserved numbers. Each token exchange slot corresponds to a first number or a reserved number, and each cluster member sends broadcast information in the slot corresponding to its own first number.

[0068] As an optional implementation, the broadcast information of each cluster member includes an identity code bit and an instruction code bit, with the identity code bit preceding the instruction code bit, and the identity code bit is used to indicate the first number of the cluster member.

[0069] Specifically, the fixed field preceding the broadcast information is a reserved field for identity encoding, used to indicate the current number of the cluster member, and the fixed-length field following it is the instruction encoding bit of each frame of the message, used to indicate the message instructions of the cluster member, such as control instructions issued by the master station, and instructions issued by the substation to request control rights, etc.

[0070] The method steps of the embodiments of the present invention have been described above. It is understood that, in cluster communication, the embodiments of the present invention, through encoding cluster members and dividing token exchange time slots and instruction broadcast time slots, allow each cluster member to quickly determine the identity of the master station and sub-stations. When the master station fails, each sub-station can quickly negotiate a new master station for token transfer, avoiding cluster communication failure due to master station failure. When a sub-station needs cluster control, it can issue a token request, and the current master station determines whether to transfer the token, improving the efficiency and reliability of identity negotiation in cluster communication and realizing flexible changes in cluster communication control.

[0071] Reference Figure 2 This invention provides an identity negotiation system based on cluster communication, comprising:

[0072] The cluster member encoding module is used to encode multiple preset cluster members to obtain the first number of each cluster member. The cluster members include the initial master station and multiple initial sub-stations.

[0073] The master station broadcast module is used to divide a preset time period into token exchange time slots and instruction broadcast time slots in sequence. The initial master station sends the first broadcast information through the token exchange time slot of the current preset time period. The first broadcast information includes the first number of the initial master station.

[0074] The substation broadcast module is used to monitor the first broadcast information through each initial substation during the current preset time period, and send the second broadcast information after the current preset time period ends. The second broadcast information includes the first number of the initial substation.

[0075] The identity determination module is used to determine the target master station by comparing its own first number with the first number of other initial substations when the initial substation does not detect the first broadcast information or the first broadcast information does not include the master station's identity declaration. It also determines the other initial substations and the initial master station as target substations.

[0076] The instruction broadcast module is used to send third broadcast information through the target master station in the token exchange time slot of the next preset time period. The third broadcast information includes the first number of the target master station and the master station identity declaration, and the instruction is broadcast in the instruction broadcast time slot of the next preset time period.

[0077] The content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0078] Reference Figure 3 This invention provides an identity negotiation device based on cluster communication, comprising:

[0079] At least one processor;

[0080] At least one memory for storing at least one program;

[0081] When the above-mentioned at least one program is executed by the above-mentioned at least one processor, the above-mentioned at least one processor implements the above-mentioned identity negotiation method based on cluster communication.

[0082] The content of the above method embodiments is applicable to the device embodiments. The specific functions implemented by the device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0083] This invention also provides a computer-readable storage medium storing a processor-executable program that, when executed by a processor, performs the aforementioned identity negotiation method based on cluster communication.

[0084] A computer-readable storage medium according to an embodiment of the present invention can execute an identity negotiation method based on cluster communication provided in an embodiment of the present invention, and can execute any combination of implementation steps of the method embodiment, and has the corresponding functions and beneficial effects of the method.

[0085] This invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform... Figure 1 The method shown.

[0086] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the aforementioned blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0087] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the aforementioned functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0088] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0090] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the aforementioned program can be printed, because the aforementioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or, if necessary, processing in other suitable ways, and then stored in computer memory.

[0091] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0092] In the foregoing description of this specification, references to terms such as "one embodiment," "another embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0093] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0094] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. An identity negotiation method based on cluster communication, characterized in that, Includes the following steps: Encode multiple preset cluster members to obtain the first number of each cluster member, wherein the cluster members include an initial master station and multiple initial substations; The preset time period is divided into token exchange time slots and instruction broadcast time slots in sequence. The initial master station sends a first broadcast message through the token exchange time slot of the current preset time period. The first broadcast message includes the first number of the initial master station. Each of the initial substations monitors the first broadcast information during the current preset time period and sends a second broadcast information after the current preset time period ends. The second broadcast information includes the first number of the initial substation. When the initial substation does not detect the first broadcast information or the first broadcast information does not include the main station identity declaration, each initial substation compares its own first number with the first numbers of other initial substations to determine the initial substation with the smallest first number as the target main station, and determines the other initial substations and the initial main station as the target substations; The target master station sends a third broadcast message during the token exchange time slot in the next preset time period. The third broadcast message includes the first number of the target master station and the master station identity declaration. The instruction is broadcast during the instruction broadcast time slot in the next preset time period.

2. The identity negotiation method based on cluster communication according to claim 1, characterized in that, The identity negotiation method also includes the following steps: When the initial substation detects the first broadcast information and the first broadcast information includes the main station's identity declaration, it determines that the initial main station is the target main station and the initial substation is the target substation.

3. The identity negotiation method based on cluster communication according to claim 1 or 2, characterized in that, The identity negotiation method also includes the following steps: The target substation sends a fourth broadcast message during the token exchange time slot in the next preset time period. The fourth broadcast message includes the first number and token application statement of the target substation. When the target master station approves the response to the token application statement, the target sub-station is determined to be the new target master station, and the target master station is determined to be the new target sub-station.

4. The identity negotiation method based on cluster communication according to claim 1, characterized in that, The identity negotiation method also includes the following steps: Multiple reserved numbers are determined. When the initial substation with the smallest first number is determined to be the target main station, the first number of the target main station is updated according to the reserved number.

5. The identity negotiation method based on cluster communication according to claim 4, characterized in that: The first number of the initial master station is less than the first number of the initial substation, and the reserved number is less than the first number of the initial master station.

6. The identity negotiation method based on cluster communication according to claim 5, characterized in that: The number of token exchange slots is equal to the sum of the number of the first number and the number of the reserved number. Each token exchange slot corresponds to one of the first number or one of the reserved number. Each cluster member sends broadcast information in the slot corresponding to its own first number.

7. The identity negotiation method based on cluster communication according to claim 1, characterized in that, The broadcast information of each cluster member includes an identity code bit and an instruction code bit, wherein the identity code bit is located before the instruction code bit, and the identity code bit is used to represent the first number of the cluster member.

8. An identity negotiation system based on cluster communication, characterized in that, include: The cluster member encoding module is used to encode multiple preset cluster members to obtain the first number of each cluster member, wherein the cluster members include an initial master station and multiple initial substations; The master station broadcast module is used to divide a preset time period into token exchange time slots and instruction broadcast time slots in sequence, and send a first broadcast message through the initial master station in the token exchange time slot of the current preset time period. The first broadcast message includes the first number of the initial master station. The substation broadcast module is used to monitor the first broadcast information through each of the initial substations during the current preset time period, and send the second broadcast information after the current preset time period ends. The second broadcast information includes the first number of the initial substation. The identity determination module is used to determine the target main station by comparing its own first number with the first number of other initial substations when the initial substation does not detect the first broadcast information or the first broadcast information does not include the main station identity declaration. It also determines the other initial substations and the initial main station as target substations. The instruction broadcast module is used to send a third broadcast message through the target master station in the token exchange time slot of the next preset time period. The third broadcast message includes the first number of the target master station and the master station identity declaration, and the instruction is broadcast in the instruction broadcast time slot of the next preset time period.

9. An identity negotiation device based on cluster communication, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements an identity negotiation method based on cluster communication as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a processor-executable program, characterized in that, The processor-executable program, when executed by the processor, is used to perform an identity negotiation method based on cluster communication as described in any one of claims 1 to 7.

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