A wireless high-dynamic real-time data relay control method and terminal based on LORA

Abstract

The invention discloses a wireless high-dynamic real-time data relay control method and terminal based on LORA, including a host, a relay and at least one slave, constructing a time-division communication network of a communication system, setting a communication combination frame, defining each frame structure and timing, the host is used to slice the time, the communication combination frame includes a heartbeat frame and a task frame, in the communication process, each communication combination frame occupies a time slice, at the starting point of a time slice, query the task list, in each time slice with a communication task, calculate the time slot in each communication combination frame, set the slave number and the slave reply sequence in each communication combination frame, according to the reply sequence, receive the report frame sent by the slave related to the communication frame instruction or / and relay forwarded at the corresponding time point, and communicate with the corresponding slave; according to the content of the report frame, the host determines the next communication strategy. Time-division communication is adopted to dynamically allocate time slots and improve transmission efficiency.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a LORA-based wireless high-dynamic real-time data relay control method and terminal. Background Art

[0002] Usually, the establishment of a LORA local area network requires a server, namely a host, and a certain number of terminals, namely communication nodes or slaves. The slaves are distributed within the communication distance covered by the host. The slaves can cooperate with peripheral sensors to complete certain data collection or other tasks. The host transmits signals through radio to monitor the status of the slaves. The slaves can also actively report information to the host, thereby completing two-way communication.

[0003] When a relay device is added to a local area network, the existing technical solution usually networks the terminal and the relay device. After the terminal and the relay device communicate and handshake with each other, the relay device will mount the terminal under its own communication network topology. The base station can communicate with the terminal through the relay, which can extend the communication distance of the base station to a certain extent.

[0004] Based on the above characteristics, LORA is usually used in scenarios with long communication distance, small data volume, low real-time requirements, and relatively fixed terminal device locations, such as wireless meter reading, parking lot management, etc. Slave devices are usually in relatively fixed locations and do not move frequently. The slaves covered by the relay will establish a fixed network topology. The increase or decrease of mounted devices requires handshake confirmation, and the communication between the host and some slaves must be forwarded through the relay.

[0005] After the slave device comes online, it first needs to apply for network access. When the relay and the newly connected slave establish a connection through handshake communication, the system establishes a relatively fixed network topology, namely the tree topology.

[0006] As a subordinate node of the relay, the slave must forward its communication with the host through the relay. The relay will regularly maintain its own child nodes. Even if the slave is in the communication range of the relay and the host at the same time, it cannot communicate directly with the host.

[0007] When the slave is out of the communication range of the relay for some reason, it will enter the disconnected state. Even if the slave is in the communication range of other relays or the master, it cannot connect to the master in time until the slave disconnects and reconnects to the network and re-establishes the network topology, and the communication system can return to normal.

[0008] In terms of conflict strategy, when two relay child nodes initiate upload requests at the same time, network communication will conflict, the relay cannot receive any information completely, and the child node will delay a random time and re-initiate the upload. When there are too many child nodes uploading, network congestion will occur. When the network topology changes frequently, the number of network entry and exit requests increases, and the communication system is frequently occupied by handshake communication, it will seriously affect the normal communication of the system.

[0009] According to the existing technical background, when the locations of the host, relay, and terminal in the wireless network constructed by the device are mobile, the communication distance changes in real time, and the terminals covered by the host and relay (network topology) are changing with the location, the network needs to overcome the frequent communication interruptions caused by non-line-of-sight and obstacles during movement to meet real-time communication needs.

[0010] In the existing LORA communication protocol and in low-speed dynamic real-time application scenarios, the following impacts will be seen on communication quality: low communication efficiency, random waiting conflict countermeasures are difficult to solve the problem of communication congestion, and when the network congestion level is high, the communication delay will increase significantly; when the real-time communication requirements are high, some slaves may only have a short communication window, and it is difficult for the slave to complete the network access or network disconnection process with the relay within this time window, resulting in the relay being unable to maintain the accuracy of its own node list in time, affecting the communication quality, and even causing permanent communication loss; in the traditional fixed relay communication method, the host cannot communicate directly with the relay's child nodes. In a mobile network, the node may be at the edge of the relay's communication coverage, which will cause the node to frequently confirm network access or network exit, increasing the network burden.

[0011] Therefore, how to achieve efficient communication between slaves and hosts or relays is a problem that needs to be solved urgently. Summary of the invention

[0012] The purpose of the present invention is to provide a wireless high-dynamic real-time data relay control method and terminal based on LORA. The host constructs a communication combination frame, uses the information report frame in the communication combination frame as a heartbeat frame, slices the time, executes a communication combination frame in a time slice, and sends the heartbeat frame and the task frame at intervals. At the beginning of the time slice, the task list is queried, and the task is executed when there is a task in the task list. When there is no task, the heartbeat frame is sent. In the middle of the time slice, it is queried whether the report frame sent by the slave or / and relayed forwarded is received. After receiving the communication combination frame, the slave compares its own number and reply sequence. After confirming that the communication combination frame is related to itself, each slave delays the corresponding time according to the reply sequence, and sends an information confirmation report frame in the correct time slot. The report frame carries the number information and status information of the slave. After receiving all the report information, the host summarizes and analyzes the data, and based on this, determines the next communication strategy, dynamically allocates time slots on demand, and the relay node dynamically intervenes in and exits the uplink and downlink transmission between the center and the node, with zero waiting and no network interaction process, thereby improving the reliability of network transmission.

[0013] In the first aspect, the above-mentioned invention object of the present invention is achieved through the following technical solutions:

[0014] A wireless high-dynamic real-time data relay control method based on LORA, a communication system comprising a host, a relay and at least one slave, a time-division communication network of the communication system is constructed, a communication combination frame is set, and the structure and timing of each frame are defined. The host is used to slice the time, and the communication combination frame comprises a heartbeat frame and a task frame. During the communication process, each communication combination frame occupies a time slice. When there is a task, the heartbeat frame and the task frame are sent at intervals. At the starting point of a time slice, a task list is queried, and in each time slice with a communication task, the time slot in each communication combination frame is calculated, and a slave number and a slave reply sequence are set in each communication combination frame. According to the reply sequence, a report frame sent by a slave related to the communication frame instruction is received at a corresponding time point, or / and a report frame sent by a slave related to the communication frame instruction and forwarded by a relay within the communication range is received, and communication is performed with the corresponding slave; according to the content of the report frame, the host determines the next communication strategy.

[0015] In a second aspect, the above-mentioned object of the present invention is achieved through the following technical solutions:

[0016] A wireless high-dynamic real-time data relay control method based on LORA, the communication system includes a host, a relay and at least one slave, the host is used to build a time-division communication network of the communication system, set a communication combination frame, and define the structure and timing of each frame, each slave is used to wake itself up from sleep at the beginning of the communication time slice, enter a listening state, obtain the communication combination frame information sent by the host or / and the communication combination frame information forwarded by the relay, judge whether the communication combination frame of the current time slice is related to the slave, ignore the combination frame information that is not related to the slave, enter sleep, judge the task type of the communication combination frame information related to the slave, and send a report frame to the host or / and the relay at the corresponding reply time node according to the reply sequence in the communication combination frame information.

[0017] In a third aspect, the above-mentioned object of the present invention is achieved through the following technical solutions:

[0018] A wireless high-dynamic real-time data relay control method based on LORA, the communication system includes a host, a relay and at least one slave, the host is used to build a time-division communication network of the communication system, set communication combination frames, and define the structure and timing of each communication combination frame; the relay is used for monitoring or data processing, and when the communication combination frame information from the host or the data uplink frame information from the slave is obtained, the communication object list is recorded, the data frame is packaged, the frame source information is modified, and forwarded; when the report frame information from the slave is obtained, the report frame information is collected, and a summary report frame is constructed. After the confirmation frame sending time slot of the host and the slave ends, the summary report frame is sent to the host.

[0019] In a fourth aspect, the above-mentioned object of the present invention is achieved through the following technical solutions:

[0020] A wireless high-dynamic real-time data relay control terminal based on LORA includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in the present application is implemented.

[0021] Compared with the prior art, the beneficial technical effects of this application are:

[0022] 1. This application controls the TDD time division communication of the entire network through the host, dynamically allocates time slots on demand, effectively controls the stability of network delay, and avoids disordered network transmission and reception conflicts;

[0023] 2. Furthermore, the present application realizes zero waiting and no network interaction process by setting the relay to dynamically intervene and exit during the uplink and downlink transmission between the host and the slave, thereby improving the reliability of network transmission and avoiding the complex and frequent relay switching interactions and time slot collision caused by the fixed relay network topology structure under the condition of dynamic changes and instability of the wireless link;

[0024] 3. Furthermore, the present application realizes dynamic on-demand seamless switching by dynamically calculating time slots for direct communication between the slave and the host, and indirect communication between the slave and the host through relays, effectively avoiding the loss of transmission efficiency caused by fixed relays;

[0025] 4. Furthermore, in the communication network of the present application, the relay only needs to assemble and forward the received data frames to ensure the integrity of the communication. There is no need to judge the communication content between the master and the slave. The slave does not need to confirm network entry and exit with the relay, which improves communication efficiency.

[0026] 5. Furthermore, the present application ensures the synchronization and consistency of the entire network time slots through the collaborative work of the host and the relay, and increases the sleep time of network nodes without increasing transmission and response delays, which helps to reduce node power consumption and avoid additional response delays caused by sleep asynchrony in fixed relay networks. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the communication network structure of a specific embodiment of the present application;

[0028] Figure 2 It is a schematic diagram of the communication sequence structure of a specific embodiment of the present application;

[0029] Figure 3 It is a schematic diagram of the host communication process of a specific embodiment of the present application;

[0030] Figure 4 This is a schematic diagram of a host executing a task flow in a specific embodiment of the present application;

[0031] Figure 5 This is a schematic diagram of the slave communication process of a specific embodiment of the present application;

[0032] Figure 6 It is a schematic diagram of the relay communication process of a specific embodiment of the present application;

[0033] FIG7 is a schematic diagram of the timing sequence of an information confirmation frame according to a specific embodiment of the present application;

[0034] FIG8 is a timing diagram of a broadcast command frame according to a specific embodiment of the present application;

[0035] FIG9 is a schematic diagram of a command frame timing of a slave 2 according to a specific embodiment of the present application;

[0036] Fig.10 This is a schematic diagram of the command frame communication timing of slave 3 in a specific embodiment of the present application;

[0037] Fig.11 This is a schematic diagram of the timing sequence of downlink data frames of a specific embodiment of the present application;

[0038] Fig.12 It is a schematic diagram of relay timing of a specific embodiment of the present application;

[0039] Fig.13 It is a schematic diagram of the master-slave communication timing of a specific embodiment of the present application. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0041] The present application discloses a LORA-based wireless high-dynamic real-time data relay control method, which includes a host, a relay and at least one slave. The slave communicates with the host and / or the relay in a time-division communication manner. The host constructs a communication combination frame, sets a communication time slot in the communication combination frame, and divides the time into time slices. The length and content of each time slice are determined by the host in the gap between two time slices. Each time slice executes a communication combination frame. The host communicates with the corresponding slave in different time slices to build a time-division communication network (TDD).

[0042] The communication combination frame includes a heartbeat frame and a task frame. The heartbeat frame includes an information confirmation frame (ACK frame). The task frame includes a broadcast command frame (DL_CMD_ALL frame), a command frame (DL_CMD_1 frame), a downlink data frame (DL_DATA frame), and an uplink data frame (UL_DATA frame).

[0043] Each communication combination frame has a unique communication number. At the start of the communication combination frame, the communication object, communication type, communication time and other information involved in the communication combination frame will be broadcast to the communication network. The slaves that are not related to the communication of this frame will enter sleep mode, and the communication objects related to the communication of this post will send corresponding data frames at fixed time nodes.

[0044] The time-division communication network sends communication combination frames as needed. In each communication combination frame, the host and the slave perform their respective data communications in the corresponding time slots according to the communication combination frame type. The host uses the collection and reporting frame algorithm to determine the sending strategy for the next frame to avoid network conflicts and improve communication efficiency.

[0045] The host is the central node of the time-division communication network and the initiator of all communication tasks. At the beginning of each time slice, the host predetermines the communication content, communication time, and communication object of this time slice through the collected task information and internal logic algorithm. After the communication is initiated, all relevant communication objects should send corresponding data frames at a fixed time node to complete a successful communication.

[0046] If there is no relay in the communication network, the host and the slave communicate directly. The host sends a communication combination frame to all slaves in the network. Each slave receives the communication combination frame from the host. For communication frames not related to itself, it enters sleep mode and waits for the next time slice. For communication frames related to itself, it sends a report frame to the host at the corresponding time point. At a time node, one and only one slave sends information, and the other slaves enter a listening or sleep state.

[0047] like Figure 1 As shown, the time-division communication network includes a host, a relay and at least one slave, the first part of the slaves belong to the communication range of the host, the second part of the slaves belong to the communication range of the relay, and the third part of the slaves belong to the communication range of both the host and the relay.

[0048] The host can directly communicate uplink and downlink with all nodes in its current communication range, that is, the first part of the slaves, without waiting for network access and network exit. The host collects information from each node and slaves and determines the content of the next frame by algorithm priority. In one time slice, the host randomly selects M slaves from all slaves according to the number through the algorithm for communication. In the next time slice, it selects another K slaves from all slaves for communication. After multiple time slices, the host has completed the patrol of all slaves and completed the communication with all the first part of the slaves.

[0049] The relay can perform uplink and downlink forwarding for all nodes within its current communication range, i.e., the second part of slaves, without the need to establish a network topology.

[0050] The first part, the slave, receives the communication from the host and reports to the host. The second part, the slave, communicates with the host through relay. The third part, the slave, gives priority to communicating directly with the host without relay.

[0051] The time-division communication network is a dynamic network. The host generates the time slot of each communication combination frame in real time through an algorithm. The communication content, communication time, and communication object of a communication combination frame are determined in advance according to the task information and internal logic algorithm, and the communication is completed within a time slice.

[0052] In a time-division communication network, at any point in time, only one device can send, and other devices are in listening or sleeping state. Devices are collectively referred to as hosts, slaves, and relays.

[0053] The slave can select the communication object and method in real time. When the slave is in the communication range of the master and the relay at the same time, the master can directly receive the information sent by the slave. At the same time, the relay will cache the information. When the communication between the master and the slave fails unexpectedly, the relay is responsible for uploading the information to the master to complete the communication. If the slave is in the communication range of the master at one moment and in the communication range of the relay at the next moment, the slave communicates with the master at the previous moment and communicates with the master through the relay at the next moment, which will not affect the communication process and will not increase the network burden.

[0054] The communication timing between the master and the slave or relay is along the time axis, such as Figure 2 As shown, the host sends an information report frame (heartbeat frame) in the first time slice, sends a task frame 1 in the second time slice, sends an information report frame in the third time slice, and sends a task frame 2 in the fourth time slice. When there is a task, the heartbeat frame and the task frame are sent alternately. When there is no task, only the heartbeat frame is sent. There is a time gap between the two frames. There is no operation in the time gap. The time gap is to prevent data interference between the two frames. The host calculates the length and content of the next time slice in the time gap.

[0055] The host uniformly numbers all slaves within its communication range and divides them into N groups, each group includes M slaves. In one communication process, it only communicates with one group of slaves, and after N rounds of patrols, it completes the communication with all slaves. M and N are positive integers greater than or equal to 1.

[0056] In this application, the communication between the host and the slave refers to the communication between the host and a group of slaves, and the patrol of N groups of slaves, and so on, which will not be repeated.

[0057] In a time slice, the host communicates with a group of slaves or / and relays within its communication range, sends communication combination frames, receives report frames sent by each slave at its reply time, or / and report frames forwarded by the relay during its reply period, and upon receiving an upload request from a slave, adds the upload request of the slave to the task list to complete the communication process.

[0058] The temporary instructions from the host computer have the highest priority. After receiving the temporary instructions from the host computer, the host judges the temporary instruction task. If the temporary instruction task is for communication with the entire network, a broadcast frame is sent. If the temporary instruction task is for communication with a specific target, a command frame or a downlink data frame is sent to the specific target.

[0059] The priority order in the task list, from high to low, is downlink broadcast, downlink command, downlink data, uplink data, and ACK report.

[0060] After the host program is started, the device is initialized, and after the device status is detected to be normal, the formal communication process begins.

[0061] After startup, the host enters the network monitoring state, monitors all report frame information in the network and collects valid information. At the same time, the host communicates with the host computer. The host computer can send control instructions to the host at any time to intervene in the host's communication process. The host uses a specific priority algorithm to build a communication task list.

[0062] The host calculates the time required to execute the task according to the task type, slices the time, executes a communication task within a time slice, checks the task list at the beginning of a time slice, and broadcasts the current task to all slaves and / or relays when there is a task. All slaves and relays that receive the current broadcast task. After the slave receives the task frame data, it confirms whether it is related to itself according to the frame object. If it is not related to itself, it enters sleep. If it is related to itself, it sends a report frame to the host and / or relay at the corresponding time node according to the reply sequence. After the host receives the correct report frame sent by the relevant slave at the corresponding time node, it deletes the current task. When there is no task, the host sends an information confirmation frame to all slaves. After the time slice ends, according to the communication information collected in the current time slice, it enters the next round of communication task judgment, builds the next time slice, and updates the task list.

[0063] The host uses the information report frame (ACK frame) as a heartbeat frame sent regularly. The information report frame includes the slave device status, relay return information, slave upload request, network information, synchronization system information, etc. After the host has completely collected the information confirmation report frame communication, it enters the judgment of the next round of communication tasks.

[0064] In a time slice, at the beginning of each information confirmation frame, the host randomly selects a group of slaves according to the number through an algorithm to inquire about the status. The slaves in the group respond at different time points in the order of the inquiry number. The host collects the status information of each slave according to the response order. If a slave has an upload request, this task is added to the host's task list. In the next time slice, the host randomly selects a group of slaves according to the number through an algorithm to inquire about the status and communicate. After multiple time slices, the host patrols all the first part of slaves and completes the communication with all slaves within its communication range.

[0065] When a slave has a request to upload data, the host collects the task request in the ACK frame and will sort the tasks in the next round. For each upload task request of all slaves, the communication process of the uplink data frame will be carried out separately.

[0066] When this time slice ends, regardless of whether this communication is successful, the host will enter the construction of the next round of time slices, and the information obtained from this communication will serve as the basis for judgment in the next round.

[0067] The host collects valid information in this communication and makes judgments through the communication process in a time slice. As the core of the communication network, it conducts two-way communication with all nodes within the communication range.

[0068] After the host initiates communication, at the beginning of the communication, the host will inform all nodes of the length of each communication time slot and the communication object. Each slave and relay communicate according to their own time slot. There will be no conflicts in upstream and downstream communications in the entire communication network, ensuring the integrity and security of the communication network.

[0069] like Figure 3 As shown, the work of the host includes the following steps:

[0070] S1, device initialization, update slave node list;

[0071] S2, enter communication monitoring and update the task list according to statistical information;

[0072] S3, determine whether the time slice starting point has been reached, if so, proceed to the next step, if not, go to S7;

[0073] S4, determine whether the task list is empty, if not, proceed to the next step, if yes, go to S6;

[0074] S5, execute the current task and go to S2;

[0075] S6, sending a heartbeat frame to the communication network, and then going to S2;

[0076] S7, determine whether the correct downlink report frame sent by the slave and / or relay is received, if not, go to the next step, if yes, go to S13;

[0077] S8, determine whether the correct uplink data frame sent by the slave and / or the relay is received, if not, proceed to the next step, if yes, go to S12;

[0078] S9, determine whether the correct information confirmation report frame sent by the slave and / or the relay is received, if not, go to the next step, if yes, go to S11;

[0079] S10, invalid frame, discard, go to S2;

[0080] S11, statistical data, transfer to S2;

[0081] S12, sending a report frame;

[0082] S13, delete the current task and go to S2.

[0083] In step S5, the host executes the current task, including the following steps:

[0084] A1. Determine whether the current task is a broadcast frame. If so, proceed to the next step. If not, go to A4.

[0085] A2, send broadcast frames to all slaves and relays in this time slice, and enter the broadcast frame process;

[0086] A3, determine whether the number of broadcasts reaches the set value, if not, go to S2, if yes, go to A11;

[0087] A4, determine whether the current task is to send a downlink command frame, if so, go to the next step, if not, go to A6;

[0088] A5, send command frames to all slaves and relays in this time slice, enter the command frame process, and then go to S2 after completion;

[0089] A6, determine whether the current task is to send downlink data frames, if so, go to the next step, if not, go to A8;

[0090] A7, send the downlink data leading frame to all slaves and relays in this time slice, enter the downlink data frame communication process, and then go to S2 after completion;

[0091] A8, determine whether the current task is to send uplink data frames, if so, go to the next step, if not, go to A10;

[0092] A9, send the leading frame of the uplink data frame to all slaves and relays in this time slice, enter the uplink data frame communication process, and then go to S2 after completion;

[0093] A10, the current task is invalid;

[0094] A11. Delete the current task and go to S4.

[0095] In step A3, if the number of broadcasts does not reach the target, the host needs to wait for the relay forwarding to end before starting the next broadcast.

[0096] The slaves, as data nodes, are also independent modules distributed in the communication area divided in advance. They communicate with the host while taking on their own system tasks.

[0097] The slave device has a unique device number in the network as proof of identity in the network. After initialization, it enters the network listening state. After receiving the ACK frame sent by the host or forwarded by the relay, it knows that it has entered the network communication range.

[0098] After the slave machine joins the network, it will not be mounted under a specific relay. It can freely receive network information and make judgments. When receiving information from the host or relay, it first uses an internal algorithm to determine whether the information is valid, repeated, or related to itself, and then proceeds to the next step of communication according to the instructions.

[0099] At the beginning of each communication time slice, the slave will wake itself up from sleep, enter the communication listening state, obtain the communication combination frame information sent by the host and / or the communication combination frame information forwarded by the relay, determine whether the communication combination frame of this time slice is related to the slave, ignore the combination frame information that is not related to the slave, enter sleep, and for the communication combination frame information related to the slave, determine the task type of the communication combination frame information, and send a report frame to the host and / or the relay at the corresponding reply time node according to the reply sequence in the communication combination frame information.

[0100] When monitoring the command frame or downlink data frame sent or relayed from the host, it responds to the command for the local machine. When the information obtained from the initial frame of the time slice is irrelevant to the local machine, the slave will sleep according to the time information carried by the host and wake up at the starting point of the next time slice, which greatly reduces the operating power consumption. Especially for mobile devices, this can extend the single use time of the device.

[0101] When the slave has a request to upload data, it initiates an upload request to the host in the ACK response frame. After the host receives the upload request, it will respond to the upload request in the next round of communication and send an uplink data leading frame. After receiving the uplink data leading frame, the slave uploads the data and appropriately saves the data in the cache queue. When the upload fails, the host will initiate a second upload request at an appropriate time to ensure stable transmission of data frames.

[0102] When the slave obtains the communication combination frame information related to itself, it determines the task type. When it determines that the communication combination frame information is command frame information or downlink data frame information, it needs to determine whether the communication combination frame comes from the host or the relay. In the case of command frame information, it executes the command. In the case of downlink data frame information, it collects and processes the data, and then sends a report frame to the host and / or the relay. When it is determined that the communication combination frame information is an information confirmation frame, if there is data to be uploaded, it sends an information confirmation report frame to the host and / or the relay at the corresponding time node according to its own number. The information confirmation report frame includes a request for data upload. If there is no data to be uploaded, , send a status report frame to the host or / and relay at the corresponding time node according to its own number; when it is determined that the communication combination frame information is an uplink data leading frame, if the uplink data leading frame information is consistent with the data frame to be uploaded, send the uplink data frame to the host or / and relay, cache the uploaded data and wait; if the uplink data leading frame information is inconsistent with the data frame to be uploaded, cache the uploaded data and wait; when it is determined that the communication combination frame information is an uplink report frame, if the uplink report frame information is consistent with the data frame to be uploaded, delete the cached uplink data, if the uplink report frame information is inconsistent with the data frame to be uploaded, cache the uploaded data and wait.

[0103] like Figure 5 As shown, the operation of the slave includes the following steps:

[0104] C1, initialization;

[0105] C2, wake itself up and enter the monitoring or data processing state;

[0106] C3, determine whether the initial communication combination frame of this time slice is received, if so, go to the next step, if not, go to C2;

[0107] C4. Obtain the initial communication combination frame information, including frame type, frame length, frame time, and frame object;

[0108] C5, determine whether the communication of this time slice is related to this slave, if so, go to the next step, if not, sleep until the next time slice arrives, and go to C2;

[0109] C6, determine whether a valid command frame is received, if yes, go to the next step, if not, go to C9;

[0110] C7, determine whether the frame source is the host of the communication network of this time slice, if not, go to the next step, if yes, execute the command and go to C13;

[0111] C8, determine whether the frame source is the relay of the communication network of this time slice, if so, execute the command and go to C13, if not, go to C21;

[0112] C9, determine whether the downlink data frame is received, if so, go to the next step, if not, go to C14;

[0113] C10, determine whether the frame source is the host of the communication network of this time slice, if not, go to the next step, if yes, go to C12;

[0114] C11, determine whether the frame source is the relay of the communication network of this time slice, if so, go to the next step, if not, go to C21;

[0115] C12, collect and process data, and send downlink data report frames to the host or relay;

[0116] C13, after a short sleep, switch to C2;

[0117] C14, determine whether the information confirmation frame is received, if so, go to the next step, if not, go to C16;

[0118] C15, determine whether there is data to be uploaded, if so, send a report frame with a request for data upload according to its own number, and go to C21, if not, send a normal status report frame according to its own number, and go to C21;

[0119] C16, determine whether the uplink data leading frame is received, if so, go to the next step, if not, go to C18;

[0120] C17, determine whether the uplink data leading frame information is consistent with the data frame to be uploaded, if so, send the uplink data frame and go to C20, if not, go to C20;

[0121] C18, determine whether the uplink report frame is received, if yes, go to the next step, if not, go to C21;

[0122] C19, determine whether the uplink report frame information is consistent with the data frame to be uploaded. If so, delete the currently cached uplink data and go to C21. If not, go to the next step;

[0123] C20, store the uplink data in the cache queue and wait;

[0124] C21, sleep until the next communication time slot arrives, then go to C2.

[0125] As a mobile phone that extends the communication distance of the host, the relay performs two-way data forwarding to the slave and host within the relay communication range in real time, thus expanding the communication range of the network.

[0126] After the device is initialized, the relay enters a passive receiving / judgment state, collects and forwards various data frames from the host and slave, and retains the data of the last sent uplink and downlink data frames to facilitate secondary transmission.

[0127] In particular, the relay will first collect the information carried in the ACK frame and report it at the end of the ACK frame to facilitate the host to perform information statistics.

[0128] The relay does not need to judge the communication content between the master and the slave. It only needs to package and forward the received data frames in the appropriate time slot of the combined frame to ensure the integrity of the communication.

[0129] Relay monitoring or data processing, when obtaining the communication combination frame information from the host or the data uplink frame information from the slave, records the communication object list, packages the data frame, modifies the frame source information, and forwards it; when obtaining the report frame information from the slave, collects the report frame information, constructs a summary report frame, and sends the summary report frame to the host after the confirmation frame sending time slot between the host and the slave ends.

[0130] like Figure 6 As shown, the relay operation includes the following steps:

[0131] D1. Initialize relay equipment;

[0132] D2, enter the monitoring and data processing state;

[0133] D3, determine whether there is an information confirmation frame from the host, if not, go to the next step, if yes, go to D8;

[0134] D4, determine whether there is an information confirmation report frame from the slave, if not, go to the next step, if yes, go to D9;

[0135] D5, determine whether there is a broadcast frame from the host, if not, go to the next step, if yes, go to D8;

[0136] D6, determine whether there is a data downlink frame from the host, if not, go to the next step, if yes, go to D8;

[0137] D7, determine whether there is an uplink data frame from the slave, if yes, go to the next step, if not, go to D2;

[0138] D8, record the communication object list, pack the data frame, modify the frame source information, and forward it, go to D2;

[0139] D9, collect feedback information and construct a summary feedback frame;

[0140] D10, determine whether the information confirmation report frame sending time slot of the host and slave has ended, if so, go to the next step, if not, go to D2;

[0141] D11. Send summary report frame to the host.

[0142] Through the above communication method process, the host collects and judges the effective information in the network, and as the core of the communication system, performs two-way communication with all nodes within the communication range.

[0143] The host controls the TDD time division communication of the entire network. It dynamically allocates time slots on demand and effectively controls the stability of network delay under maximum congestion conditions, avoiding disordered network transmission and reception conflicts.

[0144] In the downlink communication frame, command information is sent, data is sent to a single target, and data is sent to multiple targets in sequence. In the uplink communication frame, the uploaded information of the node is collected and confirmed.

[0145] The slave communicates directly with the host or indirectly with the host through a relay, and can switch seamlessly and dynamically on demand.

[0146] The relay works in conjunction with the host to ensure the synchronization and consistency of the entire network time slot. Without increasing the transmission and response delays, it increases the sleep time of network nodes and helps reduce node power consumption.

[0147] Relay nodes dynamically intervene and exit the uplink and downlink transmission between the center and the node, with zero waiting and no network interaction process. This improves network transmission reliability and avoids the additional response delay caused by the asynchronous sleep of the fixed relay network.

[0148] In a time slice, the host communicates with all online slaves in the network on demand. When the network is idle (i.e., there are no burst communication tasks such as broadcast / uplink and downlink data communication), the host will randomly select Q slaves for status inquiry communication according to the algorithm in the current time slice. In the next network idle time slice, the host will select another W slaves that have not been queried in this round for status inquiry communication until all online slaves have been queried. At this point, the host has polled all slaves in the network and completed this round of communication.

[0149] In a specific embodiment of the present application, three slaves are used to illustrate the communication process, and it is assumed that slave 1 belongs to the communication range of the host, slave 2 belongs to the communication range of the relay, and slave 3 belongs to the communication range of the host and the relay synchronously. In the case of multiple slaves, multiple slaves belonging to the communication range of the host report to the host in sequence, and the report frame of each slave occupies one time slot, and N slaves repeat the report frame time slot N times; multiple slaves belonging to the communication range of the relay report to the relay in sequence, and the report frame of each slave occupies one time slot, and M slaves repeat the report frame time slot M times; multiple slaves belonging to the communication range of the host and the relay report to the host and the relay in sequence at the same time, and the report frame of each slave occupies one time slot, and K slaves repeat the report frame time slot K times. This application takes one slave as an example for explanation, and the case of multiple slaves is similar and will not be repeated.

[0150] For all slaves and relays that are only within the communication range of the host, at time slot 1, the host sends a communication combination frame for all slaves within the communication range of the host, including an information report frame, a command frame, a downlink data frame, and an uplink data frame. At time slot 2, the relay forwards the communication combination frame to all slaves within the communication range of the relay. At time slot 3, the target slave within the communication range of the host sends a report frame to the host at a fixed time node. For the command frame, the content of time slot 3 is not executed.

[0151] The information report frame (ACK frame) is used by the host to collect information. The host extracts the number of the currently online slave in a certain order and broadcasts it. The relay forwards the information of the information report frame. After receiving the information report frame, the named slave confirms its current status and reports the status information. The status information includes the current status of the slave and the behavior of the next time slot.

[0152] The information report frame carries the unique numbers and reply order of all online slaves in the network. After receiving the broadcast frame sent by the host or relay, each slave compares its own number and reply order. Since the frame length of the reply frame is known, the time required for the frame in the communication process is also known. Therefore, after knowing the reply order, the slave needs to delay the corresponding time and send the ACK reply frame in the correct time slot. The reply frame carries the number information and status information of the slave. After receiving all the reply information, the host summarizes and analyzes the data and uses this as a basis to decide the next communication strategy.

[0153] The communication process of the information reporting frame, as shown in Figure 7, includes:

[0154] In time slot 1, the master broadcasts a message confirmation frame to all slaves and relays within its communication range, i.e., slave 1, slave 3, and relays;

[0155] At time slot 2, the relay forwards the information confirmation frame to all slaves within its communication range, namely slave 2 and slave 3;

[0156] Slave 1 calculates that time slot 3 is its reply time node according to its own number and reply sequence. When time slot 3 arrives, it sends information confirmation report frame 1 (ACK report frame 1) to the host. Slave 2 and slave 3 are in sleep state.

[0157] Slave 2 calculates that time slot 4 is its reply time node based on its own number and reply sequence. When time slot 4 arrives, it sends ACK reply frame 2 to the relay. Slave 1 and Slave 3 are in sleep state.

[0158] Slave 3 calculates that time slot 5 is its reply time node according to its own number and reply sequence. When time slot 5 arrives, it sends ACK reply frame 3 to the relay and the host. Slave 1 and Slave 2 are in sleep state.

[0159] The relay calculates that time slot 6 is its reply time node. When time slot 6 arrives, the relay forwards ACK report frame 3 to the host, and slaves 1, 2, and 2 are in sleep state.

[0160] After 6 time slots, the host completes the sending of the information confirmation frame and the receiving of the ACK report frame.

[0161] The broadcast command frame (DL_CMD_ALL frame) is a frame used when the host needs to broadcast information to all slaves. The broadcast command frame includes the frame length and command content.

[0162] The relay repeatedly forwards the broadcast command frame N times to ensure that all slaves within its communication range can receive the broadcast command frame information, where N is a positive integer greater than or equal to 1.

[0163] The communication process of broadcast command frames, such as Figure 8 As shown, including:

[0164] In time slot 1, the master sends a broadcast frame to all slaves and relays within its communication range, i.e., slave 1, slave 3, and relays;

[0165] In time slot 2 after receiving the broadcast command frame, the relay forwards the broadcast command frame to all slaves within its communication range, namely slaves 2 and 3. Since slave 3 is within the range of both the host and the relay, it has received the broadcast command frame from the host. The frame forwarded by the relay is an invalid frame for slave 3. Therefore, slave 2 receives the broadcast command frame forwarded by the relay.

[0166] The broadcast command frame is a broadcast frame, which is sent from the host to the slave. It is relayed and does not require a reply from the slave.

[0167] The command frame (DL_CMD_1 frame) is a frame used when the host needs to send a preset command to certain specific target slaves. The command frame includes frame length, command object, command number, etc.

[0168] If the target slave is currently within the communication range of the host, it will directly reply to the host after receiving the command frame without waiting for relay forwarding, which reduces communication time and improves communication efficiency.

[0169] The command frame communication timing for the target slave 1 includes:

[0170] The host sends a command frame to a target slave in time slot 1. All slaves and relays within its communication range receive the command frame. If the target slave is slave 1, slave 1 directly replies to the host. Slave 3 is not the target slave. After receiving the command frame, it goes into sleep mode according to the frame length.

[0171] After receiving the command frame, the relay forwards it at least once in time slot 2. Because slave 3 is within the range of both the host and the relay, and has received the command frame from the host, the command frame forwarded by the relay is an invalid frame for slave 3. Therefore, slave 2 receives the command frame forwarded by the relay. If slave 2 is the target slave, after receiving the command frame, it confirms the content of the command frame and sends a command report frame. If slave 2 is not the target slave, after receiving the command frame, it goes into sleep mode according to the frame length.

[0172] For the target slave that is only within the communication range of the host, it directly sends a command report frame to the host in time slot 3.

[0173] like Fig. 9 As shown, the command frame communication process for slave 2 includes:

[0174] In time slot 1, the host sends a command frame to all slaves and relays within its communication range, i.e., slave 1, slave 3, and relays;

[0175] In time slot 2, the relay forwards the command frame to all slaves within its communication range, namely slaves 2 and 3. Since slave 3 is within the range of both the host and the relay, it has received the command frame from the host. The command frame forwarded by the relay is an invalid frame for slave 3. Therefore, slave 2 receives the command frame forwarded by the relay, and slaves 1 and 3 go into sleep mode because they are not the target slaves.

[0176] At time slot 3, slave 2, as the target slave, sends command report frame 1 to the relay, and slaves 1 and 3 continue to sleep;

[0177] At time slot 4, the relay forwards the command report frame 1 of slave 2 to the host, and slaves 1, 2 and 3 go into sleep mode.

[0178] like Fig.10 As shown, the command frame communication process for slave 3 includes:

[0179] In time slot 1, the host sends a command frame to all slaves and relays within its communication range, i.e., slave 1, slave 3, and relays;

[0180] In time slot 2, the relay forwards the command frame to all slaves within its communication range, namely slave 2 and slave 3. Since slave 3 is within the range of both the host and the relay, it has received the command frame from the host. The command frame forwarded by the relay is an invalid frame for slave 3. Therefore, slave 2 receives the command frame forwarded by the relay, and slaves 1 and 3 go into sleep mode.

[0181] In time slot 3, slave 3, as the target slave, sends command report frame 2 to the relay and the host, and slaves 1 and 2 go into sleep mode.

[0182] After receiving the command frame sent by the host, the target slave directly sends a command report frame to the host, or after receiving the command frame forwarded by the relay, the target slave sends a command report frame to the relay, and the relay forwards it to the host.

[0183] The downlink data frame (DL_DATA frame) is a frame used when the host needs to transmit data to a specific target slave. The downlink data frame includes a data preamble frame, which includes frame length, data length, target slave information, etc.

[0184] The downlink data frame includes a data preamble frame. The host first sends the data preamble frame, and the relay forwards the data preamble frame. After receiving the preamble report frame forwarded by the target slave or the relay, the host sends the data to the target slave or forwards it to the target slave through the relay. If the host directly receives the preamble report frame of the target slave, it means that the target slave is within the communication range of the host, or is within the communication range of the host and the relay at the same time. If the host receives the preamble report frame forwarded from the relay, it means that the target slave is within the communication range of the relay.

[0185] Taking slave 3 as the target slave of the downlink data frame as an example, the host first sends a data leading frame in the form of broadcast, and the relay broadcasts and forwards the content of the data leading frame.

[0186] After receiving the data leading frame, the slave 3 sends a leading report frame. The host directly receives the leading report frame of the slave 3, indicating that the slave 3 is within the communication range of the host.

[0187] The host sends data, and after receiving the data, the slave 3 verifies the data frame, and after confirmation, sends a data report frame to the host.

[0188] After the host confirms the content of the data report frame, it decides whether to send it again.

[0189] like Fig.11 As shown, the downlink data frame communication process includes:

[0190] In time slot 1, the host broadcasts the downlink data preamble frame to all slaves and relays within its communication range, i.e., slave 1, slave 3 and relay;

[0191] In time slot 2, the relay forwards the downlink data leading frame to all slaves within its communication range, namely slave 2 and slave 3. Since slave 3 is within the range of both the host and the relay, it has received the downlink data leading frame from the host. The downlink data leading frame forwarded by the relay is an invalid frame for slave 3. Therefore, slave 2 receives the downlink data leading frame forwarded by the relay, and slaves 1 and 3 go into sleep mode.

[0192] In time slot 3, slave 3, as the target slave, sends a leading report frame to the host and relay, and slaves 1 and 2 go into sleep mode.

[0193] At time slot 4, the relay forwards the leading report frame of slave 3 to the host, and slaves 1, 2, and 3 go into sleep mode.

[0194] In time slot 5, the host sends data frames to the relay and slave 3, and slaves 1 and 2 go into sleep mode.

[0195] At time slot 6, slave 3 sends a data reception report frame to the host and the relay, and slaves 1 and 2 go into sleep mode.

[0196] For the target slave that is only in the relay communication range, it only receives the information forwarded by the relay and sends a report frame to the relay, which is then forwarded to the host.

[0197] The uplink data frame (UL_DATA frame) is a frame used when the slave needs to transmit long data to the host.

[0198] Slave 2 is within the communication range of the relay, and slave 2 uploads data to the host through the relay.

[0199] After receiving the upload request from slave 2 in the cyclically sent ACK frame, the host sorts the tasks according to their priority. The uplink data leading frame is broadcast for the upload request. The uplink data leading frame includes the slave object and data length, and is forwarded by the relay.

[0200] After receiving the uplink data leading frame, slave 2 immediately uploads the data. After completion, the host sends a reception failure frame. If it fails to receive, the relay uploads the content again. If it is received successfully, the host sends a reception success report frame, which is forwarded by the relay to end the upload task.

[0201] Taking slave 2 as an example, the uplink data frame, the communication process is as follows: Fig.12 As shown, including:

[0202] In time slot 1, the host broadcasts the uplink data preamble frame to all slaves and relays within its communication range, i.e., slave 1, slave 3 and relay;

[0203] In time slot 2, the relay forwards the uplink data leading frame to all slaves within its communication range, namely, slaves 2 and 3. Since slave 3 is within the range of both the host and the relay, it has received the uplink data leading frame from the host. The uplink data leading frame forwarded by the relay is an invalid frame for slave 3. Therefore, slave 2 receives the uplink data leading frame forwarded by the relay, and slaves 1 and 3 go into sleep mode.

[0204] In time slot 3, slave 2 sends an uplink data frame to the relay, and slaves 1 and 3 go into sleep mode.

[0205] In time slot 4, the host sends a data reception failure frame to the relay, slaves 1 and 3 go into sleep mode, and slave 2 monitors.

[0206] At time slot 5, the relay forwards the uplink data frame to the host, slaves 1 and 3 go into sleep mode, and slave 2 monitors.

[0207] At time slot 6, after receiving the leading frame of uplink data forwarded by the relay, the host sends a data reception confirmation frame to the relay in the listening state, slaves 1 and 3 go into sleep mode, and slave 2 listens.

[0208] At time slot 7, the relay forwards the host's uplink data reception confirmation frame to the host and slave 2 in the listening state, slaves 1 and 3 go into sleep mode, and slave 2 listens.

[0209] At this time, it does not matter whether slave 2 has completed the reception. Each upload frame has its data number. If slave 2 does not receive the confirmation frame, the data cache will be retained until the next ACK frame and re-apply for upload. The host will directly send a confirmation frame for duplicate information. Only after slave 2 receives the confirmation frame will it delete the data cache.

[0210] At time slot 4, the reception failure frame is actually a cache call frame for the relay. The host indicates that it has not directly received the upload information and needs to retrieve it from the relay. If the host successfully receives the relay forwarding frame, it can know that the relay has received the confirmation frame sent by the host. The host will send a reception success frame at time slot 4, thinking that the upload has ended and directly end this communication.

[0211] Taking the uplink data frame of slave 3 as an example, the communication process is as follows Fig.13 As shown, including:

[0212] Slave 3 is within the communication range of both the relay and the host. The communication sequence is simplified compared to slave 2. Slave 3 can directly transmit data to the host. After the host completes the reception, it directly sends a reception confirmation frame to complete the communication process.

[0213] In time slot 1, the host broadcasts the uplink data preamble frame to all slaves and relays within its communication range, i.e., slave 1, slave 3 and relay;

[0214] In time slot 2, the relay forwards the uplink data leading frame to all slaves within its communication range, namely, slaves 2 and 3. Since slave 3 is within the range of both the host and the relay, it has received the uplink data leading frame from the host. The uplink data leading frame forwarded by the relay is an invalid frame for slave 3, and slave 3 does not receive it. Therefore, slave 2 receives the uplink data leading frame forwarded by the relay, and slaves 1 and 3 go into sleep mode.

[0215] In time slot 3, slave 3 sends an uplink data frame to the relay and the host in the listening state, and slaves 1 and 2 go into sleep mode.

[0216] At time slot 4, the host sends a data reception confirmation frame to the relay and slave 3 in the listening state.

[0217] It can be seen in the time slots of each combined frame that at any time, if the slave is in a state where it can communicate directly with the host, the host will communicate directly with the slave without passing through the relay, thereby achieving dynamic and on-demand seamless switching between direct communication between the slave and the host and indirect communication between the slave and the host through the relay, effectively avoiding the loss of transmission efficiency caused by fixed relays.

[0218] An embodiment of the present invention provides a LORA-based wireless high-dynamic real-time data relay control terminal device. The terminal device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, such as a host running program, a relay running program, and a slave running program. When the processor executes the computer program, the method described in this application is implemented.

[0219] Exemplarily, the computer program can be divided into one or more modules / units, one or more modules / units are stored in the memory and executed by the processor to complete the present invention. One or more modules / units can be a series of computer program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the computer program in the wireless high dynamic real-time data relay control terminal device based on LORA.

[0220] The wireless high-dynamic real-time data relay control terminal device based on LORA can be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The wireless high-dynamic real-time data relay control terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above examples are only examples of wireless high-dynamic real-time data relay control terminal devices, and do not constitute a limitation on wireless high-dynamic real-time data relay control terminal devices.

[0221] The processor is a control center of a wireless high-dynamic real-time data relay control terminal device, and uses various interfaces and lines to connect various parts of the entire wireless high-dynamic real-time data relay control terminal device.

[0222] The memory can be used to store the computer program and / or module, and the processor realizes various functions of the wireless high-dynamic real-time data relay control terminal device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory.

[0223] A module / unit integrated into a wireless high-dynamic real-time data relay control terminal device based on LORA, if implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. The present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of each of the above-mentioned method embodiments can be implemented.

[0224] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A wireless high-dynamic real-time data relay control method based on LORA, characterized in that: The communication system includes a host, a relay and at least one slave, and a time-division communication network of the communication system is constructed. A communication combination frame is set, and the structure and timing of each frame are defined. The host is used to slice the time. The communication combination frame includes a heartbeat frame and a task frame. During the communication process, each communication combination frame occupies a time slice. When there is a task, the heartbeat frame and the task frame are sent at intervals. At the starting point of a time slice, the task list is queried. In each time slice with a communication task, the time slot in each communication combination frame is calculated. The slave number and the slave reply sequence are set in each communication combination frame. According to the reply sequence, the report frame sent by the slave related to the communication frame instruction is received at the corresponding time point. Or / and receive the report frame sent by the slave related to the communication frame instruction forwarded by the relay within the communication range, and communicate with the corresponding slave; according to the content of the report frame, the host decides the next communication strategy; at the starting position of the time slice, the host checks the task list, sends the corresponding frame data according to the task list, and receives the report frame sent by the corresponding slave at the corresponding time point; when there is no task in the task list, sends heartbeat frame data to all slaves; in the time slice, after receiving the correct report frame, delete the current task, and after the end of this time slice, enter the next round of communication task judgment according to the information obtained in the communication in the current time slice, and construct the next round of time slice.

2. According to a LORA-based wireless high-dynamic real-time data relay control method according to claim 1, it is characterized in that: The host encodes the slaves within its communication range and divides the slaves into N groups. Within a time slice, the host communicates with one group of slaves or / and relays within its communication range, sends a communication combination frame, receives a report frame sent by each slave at its reply time, or / and a report frame forwarded by the relay during its reply period, and upon receiving an upload request from a slave, adds the upload request of the slave to a task list, and completes a patrol of all slaves within its communication range within N time slices, where N is a positive integer greater than or equal to 1.

3. A wireless high dynamic real-time data relay control method based on LORA according to claim 2, characterized in that: The host also communicates with the host computer, receives control instructions sent by the host computer at any time, builds a communication task list according to the priority algorithm, calculates the time required to execute the task according to the task type, and slices the time. At the beginning of a time slice, it broadcasts the current task to a group of slaves and / or relays, so that the group of slaves and / or relays in the network can obtain the task information of this time slice from the current task frame.

4. According to a LORA-based wireless high-dynamic real-time data relay control method according to claim 3, it is characterized in that: The priority order from high to low is downlink broadcast, downlink command, downlink data, uplink data, and ACK report.

5. The method for controlling wireless high-dynamic real-time data relay based on LORA according to claim 1, characterized in that: The work of the host includes the following steps: S1, device initialization, update slave node list; S2, enter communication monitoring and update the task list according to statistical information; S3, determine whether the time slice starting point has been reached, if so, proceed to the next step, if not, go to S7; S4, determine whether the task list is empty, if not, proceed to the next step, if yes, go to S6; S5, execute the current task and go to S2; S6, sending a heartbeat frame to the communication network, and then going to S2; S7, determine whether the correct downlink report frame sent by the slave and / or relay is received, if not, go to the next step, if yes, go to S13; S8, determine whether the correct uplink data frame sent by the slave and / or the relay is received, if not, proceed to the next step, if yes, go to S12; S9, determine whether the correct information confirmation report frame sent by the slave and / or the relay is received, if not, go to the next step, if yes, go to S11; S10, invalid frame, discard, go to S2; S11, statistical data, transfer to S2; S12, sending a report frame; S13, delete the current task and go to S2.

6. The method for controlling wireless high-dynamic real-time data relay based on LORA according to claim 5, characterized in that: In step S5, the current task is executed, including the following steps: A1. Determine whether the current task is a broadcast frame. If so, proceed to the next step. If not, go to A4. A2, send broadcast frames to all slaves and relays in this time slice, and enter the broadcast frame process; A3, determine whether the number of broadcasts reaches the set value, if not, go to S2, if yes, go to A11; A4, determine whether the current task is to send a downlink command frame, if so, go to the next step, if not, go to A6; A5, send command frames to all slaves and relays in this time slice, enter the command communication frame process, and then go to S2 after completion; A6, determine whether the current task is to send downlink data frames, if so, go to the next step, if not, go to A8; A7, send the downlink data leading frame to all slaves and relays in this time slice, enter the downlink data frame communication process, and then go to S2 after completion; A8, determine whether the current task is to send uplink data frames, if so, go to the next step, if not, go to A10; A9, send the leading frame of the uplink data frame to all slaves and relays in this time slice, enter the uplink data frame communication process, and then go to S2 after completion; A10, the current task is invalid; A11, delete the current task and go to S4; In step A3, if the number of broadcasts does not reach the limit, it is necessary to wait for the relay forwarding to end before starting the next broadcast.

7. A wireless high-dynamic real-time data relay control method based on LORA, characterized in that: The communication system includes a host, a relay and at least one slave. The host is used to build a time-division communication network of the communication system, set a communication combination frame, define the structure and timing of each frame, and the host checks the task list at the starting position of the time slice, sends the corresponding frame data according to the task list, and receives the report frame sent by the corresponding slave at the corresponding time point; when there is no task in the task list, the heartbeat frame data is sent to all slaves; in the time slice, after receiving the correct report frame, the current task is deleted, and after the end of this time slice, according to the information obtained by communication in the current time slice, the next round of communication task judgment is entered to build the next round of time slice; Each slave is used to wake itself up from sleep at the beginning of the communication time slice, enter the listening state, obtain the communication combination frame information sent by the host and / or the communication combination frame information forwarded by the relay, determine whether the communication combination frame of this time slice is related to the slave, ignore the combination frame information that is not related to the slave, enter sleep, determine the task type of the communication combination frame information related to the slave, and send a report frame to the host and / or the relay at the corresponding reply time node according to the reply sequence in the communication combination frame information.

8. A LORA-based wireless high-dynamic real-time data relay control method according to claim 7, characterized in that: When the slave obtains the communication combination frame information related to itself, it determines the task type. When it determines that the communication combination frame information is command frame information or downlink data frame information, it needs to determine whether the communication combination frame comes from the host or the relay. In the case of command frame information, the command is executed. In the case of downlink data frame information, the data is collected and processed, and then a report frame is sent to the host or / and the relay; when it is determined that the communication combination frame information is an information confirmation frame, if there is data to be uploaded, an information confirmation report frame is sent to the host or / and the relay at the corresponding time node according to its own number, and the information confirmation report frame includes a request for data upload; If there is no data to be uploaded, a status report frame is sent to the host or / and relay at the corresponding time node according to its own number; when it is determined that the communication combination frame information is an uplink data leading frame, if the uplink data leading frame information is consistent with the data frame to be uploaded, an uplink data frame is sent to the host or / and relay, and the uploaded data is cached and waited; if the uplink data leading frame information is inconsistent with the data frame to be uploaded, the uploaded data is cached and waited; when it is determined that the communication combination frame information is an uplink report frame, if the uplink report frame information is consistent with the data frame to be uploaded, the cached uplink data is deleted, and if the uplink report frame information is inconsistent with the data frame to be uploaded, the uploaded data is cached and waited.

9. The method for controlling wireless high-dynamic real-time data relay based on LORA according to claim 7, characterized in that: The work of the slave includes the following steps: C1, initialization; C2, wake itself up and enter the monitoring or data processing state; C3, determine whether the initial communication combination frame of this time slice is received, if so, go to the next step, if not, go to C2; C4. Obtain the initial communication combination frame information, including frame type, frame length, frame time, and frame object; C5, determine whether the communication of this time slice is related to this slave, if so, go to the next step, if not, sleep until the next time slice arrives, and go to C2; C6, determine whether a valid command frame is received, if yes, go to the next step, if not, go to C9; C7, determine whether the frame source is the host of the communication network of this time slice, if not, go to the next step, if yes, execute the command and go to C13; C8, determine whether the frame source is the relay of the communication network of this time slice, if so, execute the command and go to C13, if not, go to C21; C9, determine whether the downlink data frame is received, if so, go to the next step, if not, go to C14; C10, determine whether the frame source is the host of the communication network of this time slice, if not, go to the next step, if yes, go to C12; C11, determine whether the frame source is the relay of the communication network of this time slice, if so, go to the next step, if not, go to C21; C12, collect and process data, and send downlink data report frames to the host or relay; C13, after a short sleep, switch to C2; C14, determine whether the information confirmation frame is received, if so, go to the next step, if not, go to C16; C15, determine whether there is data to be uploaded, if so, send a report frame with a request for data upload according to its own number, and go to C21, if not, send a normal status report frame according to its own number, and go to C21; C16, determine whether the uplink data leading frame is received, if so, go to the next step, if not, go to C18; C17, determine whether the uplink data leading frame information is consistent with the data frame to be uploaded, if so, send the uplink data frame and go to C20, if not, go to C20; C18, determine whether the uplink report frame is received, if yes, go to the next step, if not, go to C21; C19, determine whether the uplink report frame information is consistent with the data frame to be uploaded. If so, delete the currently cached uplink data and go to C21. If not, go to the next step; C20, store the uplink data in the cache queue and wait; C21, sleep until the next communication time slot arrives, then go to C2.

10. A wireless high-dynamic real-time data relay control method based on LORA, characterized in that: The communication system includes a host, a relay and at least one slave. The host is used to build a time-division communication network of the communication system, set a communication combination frame, define the structure and timing of each communication combination frame, and the host checks the task list at the starting position of the time slice, sends the corresponding frame data according to the task list, and receives the report frame sent by the corresponding slave at the corresponding time point; when there is no task in the task list, the heartbeat frame data is sent to all slaves; in the time slice, after receiving the correct report frame, the current task is deleted, and after the end of this time slice, the next round of communication task judgment is entered according to the information obtained by communication in the current time slice, and the next round of time slice is constructed; The relay is used for monitoring or data processing. When the communication combination frame information from the host or the data uplink frame information from the slave is obtained, the relay records the communication object list, packages the data frame, modifies the frame source information, and forwards it. When the report frame information from the slave is obtained, the report frame information is collected to construct a summary report frame, and after the confirmation frame sending time slot between the host and the slave ends, the summary report frame is sent to the host.

11. The method for controlling wireless high-dynamic real-time data relay based on LORA according to claim 10, characterized in that: The relay work includes the following steps: D1. Initialize relay equipment; D2, enter the monitoring and data processing state; D3, determine whether there is an information confirmation frame from the host, if not, go to the next step, if yes, go to D8; D4, determine whether there is an information confirmation report frame from the slave, if not, go to the next step, if yes, go to D9; D5, determine whether there is a broadcast frame from the host, if not, go to the next step, if yes, go to D8; D6, determine whether there is a data downlink frame from the host, if not, go to the next step, if yes, go to D8; D7, determine whether there is an uplink data frame from the slave, if yes, go to the next step, if not, go to D2; D8, record the communication object list, pack the data frame, modify the frame source information, and forward it, go to D2; D9, collect feedback information and construct a summary feedback frame; D10, determine whether the information confirmation report frame sending time slot of the host and slave has ended, if so, go to the next step, if not, go to D2; D11. Send summary report frame to the host.

12. A wireless high-dynamic real-time data relay control terminal based on LORA, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 11 is implemented.

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