Industrial remote controller system based on LoRa technology and real-time reliable communication control method thereof

Abstract

The invention discloses an industrial remote controller system based on a LoRa technology and a real-time reliable communication control method thereof, and belongs to the technical field of industrial wireless control, and the method specifically comprises the steps: collecting communication link quality parameters, constructing a multi-dimensional link quality evaluation model, and outputting a link quality score; a LoRa physical layer parameter is dynamically adjusted by using a fuzzy logic decision algorithm based on the score, an optimized parameter configuration table is obtained, a bidirectional handshake protocol is established, and an encrypted instruction-response data packet is generated; the central coordinator allocates time division multiple access time slots according to the link quality score, and the industrial remote controller sends encrypted data in the corresponding time slots by using hybrid error correction codes; the controlled equipment receives the data execution instruction, generates a feedback data packet containing an execution state, and returns the feedback data packet to the industrial remote controller through a time division multiple access time slot; the method improves the real-time performance and reliability of the communication of the industrial remote controller.

Description

Technical Field

[0001] The present invention belongs to the field of industrial wireless control technology, and specifically relates to an industrial remote control system based on LoRa technology and a real-time reliable communication control method thereof. Background Art

[0002] Industrial remote controls are widely used in industrial production environments to remotely control various devices, improving production efficiency and operational safety. This is particularly true in the coal mining industry, where, due to the strict explosion-proof and safety requirements for equipment, traditional mine equipment control requires manual operation. However, human access to certain areas poses safety risks, leading to the use of networking and remote control to control equipment. However, due to explosion-proof design requirements, traditional industrial remote control communication methods present numerous challenges, such as limited communication range, signal susceptibility to interference, and low data transmission reliability. LoRa technology, a low-power wide area network (LPWAN) communication technology, offers advantages such as long range, low power consumption, and strong interference resistance, and is increasingly being adopted in industrial remote control communications. However, existing LoRa-based industrial remote control communications still have shortcomings. For example, fixed spreading factors and bandwidth settings cannot adapt to complex and changing industrial environments. A lack of an effective two-way communication mechanism prevents timely acquisition of device status. Inadequate error correction capabilities for data transmission can lead to conflicts when multiple devices communicate simultaneously, impacting the real-time and reliability of industrial remote control communications.

[0003] For example, Chinese patent application publication number CN104851277A discloses a fully controlled remote control based on waveform downloading and address selection, and its implementation method. The remote control comprises a single-chip microcomputer system, a rechargeable battery with a USB interface, a remote control interface, a host computer interface, Flash memory, a CPU, and infrared transmission and reception circuits. This technical solution, which includes learning, downloading, and remote control functions, comprises a communication module, a key processing module, and an infrared data reception and transmission module. It can integrate and control a variety of remote-controlled appliances, addressing the battery issues of traditional remote controls and providing ease of use.

[0004] The above existing technologies have the following problems: limited communication distance, weak anti-interference ability, and poor real-time performance; they mainly focus on simple remote control operations of different electrical appliances, and lack support for complex equipment control requirements in industrial environments, such as multi-device collaborative operation, precise parameter adjustment and status feedback; and they are unable to adjust parameters according to the actual situation of the communication link. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention proposes an industrial remote control system based on LoRa technology and a real-time reliable communication control method thereof. The system collects communication link quality parameters to construct a multi-dimensional link quality evaluation model and outputs a link quality score. The system dynamically adjusts the LoRa physical layer parameters based on the score using a fuzzy logic decision algorithm to obtain an optimized parameter configuration table, establishes a two-way handshake protocol, and generates encrypted command-response data packets. The central coordinator allocates time division multiple access time slots according to the link quality score, and the industrial remote control sends encrypted data using hybrid error correction coding in the corresponding time slots. The controlled device receives the data and executes the instruction, generates a feedback data packet containing the execution status, and returns it to the industrial remote control via the time division multiple access time slot. The present method improves the real-time performance and reliability of the industrial remote control communication.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The real-time and reliable communication control method for industrial remote controllers based on LoRa technology includes:

[0008] S1: Build a multi-dimensional link quality assessment model based on the communication link quality parameters collected in real time by the industrial remote control, and output a link quality score;

[0009] S2: Based on the link quality score, the LoRa physical layer parameters are dynamically adjusted using a fuzzy logic decision algorithm to obtain an optimized physical layer parameter configuration table. Based on the optimized physical layer parameters, a two-way handshake protocol is established to generate an encrypted command-response data packet; the LoRa physical layer parameters include spreading factor and bandwidth;

[0010] S3: The central coordinator allocates time division multiple access time slots based on the link quality score. The industrial remote control uses hybrid error correction coding to send the generated encrypted command-response data packet in the corresponding time division multiple access time slot.

[0011] S4: The controlled device receives the encrypted command-response data packet, executes the command, generates a feedback data packet containing the execution status, and returns it to the industrial remote control through the time division multiple access time slot.

[0012] Specifically, the specific steps of S1 include:

[0013] S1.1: The industrial remote control uses its built-in sensors to collect and normalize communication link quality parameters in real time. The communication link quality parameters include signal strength, signal-to-noise ratio, bit error rate, and Doppler shift.

[0014] S1.2: In combination with a preset adjustment strategy, the normalized communication link quality parameters are input into a constructed multi-dimensional link quality assessment model; the multi-dimensional link quality assessment model adopts a weighted sum model;

[0015] S1.3: Use the Bayesian fusion algorithm to transform the normalized communication link quality parameters in the multi-dimensional link quality assessment model and a set of predefined link quality discrete states The obtained joint likelihood , and the prior probability of the link quality in each state determined based on the historical communication link quality parameter data Perform fusion calculations to obtain the probability distribution of link quality under different discrete states of link quality ,in, represents the i-th link quality discrete state, n represents the number of link quality discrete states, represents the jth normalized communication link quality parameter, m represents the number of normalized communication link quality parameters, Indicates that the link quality is in status The posterior probability of

[0016] S1.4: Divide the link quality probability distribution into subintervals, and obtain a link quality score based on the probability that the link quality probability distribution falls into each subinterval.

[0017] Specifically, the specific steps of S2 include:

[0018] S2.1: Obtaining Link Quality Scores from a Multidimensional Link Quality Assessment Model ;

[0019] S2.2: Based on the service quality requirements, combined with the link quality score and its preset score range, dynamically generate the fuzzy set of link quality score, spreading factor, and bandwidth;

[0020] S2.3: Set up a fuzzy rule base based on the fuzzy set of link quality score, spreading factor, and bandwidth;

[0021] S2.4: Use membership functions to convert link quality scores into membership degrees of different fuzzy sets , where k represents the number of interval categories divided by the fuzzy set of link quality scores;

[0022] S2.5: Use the centroid method to convert the membership of different fuzzy sets Convert to an exact value and map it to the LoRa physical layer parameters to get the optimized spreading factor and optimized bandwidth .

[0023] Specifically, the specific steps of S2 also include:

[0024] S2.6: Use optimized spreading factor and optimized bandwidth Establish a communication link and send the optimized spreading factor and optimized bandwidth The configured handshake request frame, at the same time, the controlled device responds and returns a confirmation frame; the handshake request frame is a frame header, version number, 、 , 5-element array of CRC check;

[0025] S2.7: After the remote controller receives the confirmation frame, both parties synchronize parameters and , handshake is successful; the confirmation frame is the frame header, confirmation code, 、 , 5-element array of CRC check;

[0026] S2.8: Construct a command-response data packet based on the handshake request frame and the actual transmission data; the command-response data packet is a frame header, frame type, 、 , a seven-element array of serial number, actual transmitted data, and CRC checksum;

[0027] S2.9: Use a symmetric encryption algorithm to encrypt and send the constructed command-response data packet.

[0028] Specifically, the specific steps of S3 include:

[0029] S3.1: The central coordinator starts the monitoring mechanism to monitor the communication channel with the industrial remote control. After receiving the link quality score data sent by the industrial remote control, it stores it in the local score database.

[0030] S3.2: Set time slot allocation rules based on the link quality score and the preset score range;

[0031] S3.3: Create an empty time slot allocation table. At the same time, obtain a list of registered industrial remote control devices. For each industrial remote control in the industrial remote control device list, allocate a corresponding time division multiple access time slot in the global time slot resources based on its link quality score and the determined time slot allocation rule, and fill the allocated time division multiple access time slot information into the corresponding device entry in the time slot allocation table; the time slot allocation table is used to record the time division multiple access time slot information corresponding to each industrial remote control; the time division multiple access time slot information includes the time slot start time, time slot length, and repetition period.

[0032] Specifically, the specific steps of S3 further include:

[0033] S3.4: After completing the TDMA time slot allocation for all industrial remote controls, the central coordinator performs a conflict check on the time slot allocation table to check whether the time slots of different industrial remote controls overlap with each other.

[0034] If a conflict is found, the central coordinator adjusts the conflicting time slots according to the priority rule of first adjusting the time slots of devices with lower link quality scores based on the conflict situation;

[0035] S3.5: The central coordinator generates a broadcast data packet with the complete time slot allocation table, encapsulates the time slot allocation information in the broadcast data packet, and sends the broadcast data packet to all registered industrial remote controls.

[0036] S3.6: After receiving the broadcast data packet, the industrial remote control parses it, extracts its own corresponding time division multiple access time slot information, and stores it in a local time slot configuration file.

[0037] Specifically, the specific steps of S3 further include:

[0038] S3.7: The central coordinator activates the time slot monitoring module to monitor the data transmission status of each industrial remote control in its assigned time division multiple access time slot in real time according to the global time slot time axis, and records whether encrypted command-response data is received from the corresponding industrial remote control in each time slot;

[0039] S3.8: When receiving encrypted command-response data sent by the industrial remote control in any time slot, the central coordinator uses a hybrid error correction coding algorithm to decode and detect errors in the encrypted command-response data;

[0040] If the encrypted command-response data is not received within the specified time slot, or the received encrypted command-response data fails verification, the central coordinator sends a retransmission request command to the corresponding industrial remote control;

[0041] S3.9: After receiving the retransmission request, the industrial remote control resends the encrypted command-response data within the allocated retransmission time slot based on the locally stored encrypted command-response data packet. The central coordinator monitors the retransmission process until the encrypted command-response data is correctly received or the preset maximum number of retransmissions is reached.

[0042] Specifically, the specific steps of S4 include:

[0043] S4.1: The controlled device continuously monitors the TDMA time slots allocated by the central coordinator, receives the encrypted command-response data packets sent by the industrial remote control within the corresponding TDMA time slots, and performs a cyclic redundancy check.

[0044] S4.2: Decrypt the verified encrypted command-response data packet using the encryption key pre-agreed with the industrial remote control, and parse the command content according to the data protocol.

[0045] S4.3: Based on the parsed instruction, call the controlled device to execute the instruction;

[0046] S4.4: After the instruction is executed, a feedback data packet containing the execution status is generated according to the data protocol based on the execution result and the status information recorded during the execution process. The execution status may include normal completion, execution exception, or partial completion.

[0047] S4.5: Encrypt the generated feedback data packet using the same encryption algorithm and key as the data packet sent by the industrial remote control, and encode the encrypted feedback data packet using hybrid error correction coding;

[0048] S4.6: The controlled device sends the encrypted and encoded feedback data packet back to the industrial remote control in the next time division multiple access time slot allocated by the central coordinator;

[0049] S4.7: After the transmission is completed, the controlled device continues to monitor the time division multiple access time slot and waits to receive a new encrypted command-response data packet.

[0050] Specifically, the two-way handshake protocol includes: the industrial remote control sends a control instruction to the controlled device via an uplink; after receiving the control instruction, the controlled device parses the instruction and performs the corresponding operation, and then feeds back the device status information to the industrial remote control via a downlink.

[0051] The industrial remote control system based on LoRa technology includes: communication link quality assessment module, physical layer parameter adjustment module, two-way handshake protocol establishment module, time slot allocation module, data transmission module, and status feedback module;

[0052] The communication link quality assessment module is used to collect communication link quality parameters in real time, build a multi-dimensional link quality assessment model, and output a link quality score;

[0053] The physical layer parameter adjustment module dynamically adjusts the LoRa physical layer parameters based on the link quality score using a three-level fuzzy logic decision algorithm to obtain an optimized physical layer parameter configuration table;

[0054] The two-way handshake protocol establishment module generates an encrypted command-response data packet through the established two-way handshake protocol;

[0055] The time slot allocation module is used to enable the central coordinator to allocate a time division multiple access time slot to each industrial remote control according to the link quality score;

[0056] The data transmission module, wherein the industrial remote control performs channel coding on the encrypted command-response data packet using hybrid error correction coding in the corresponding time division multiple access time slot, and transmits the data through the optimized physical layer parameter configuration table;

[0057] The state feedback module, in which the controlled device receives the encrypted command-response data packet, generates a three-level state feedback data packet containing the execution status after executing the command, and returns it to the industrial remote control through the time division multiple access time slot.

[0058] Compared with the prior art, the present invention has the following beneficial effects:

[0059] 1. The present invention proposes an industrial remote control system based on LoRa technology, and optimizes and improves the architecture, operation steps and processes. The system has the advantages of simple process, low investment and operation costs, and low production cost.

[0060] 2. The present invention proposes a real-time and reliable communication control method for industrial remote controls based on LoRa technology, which has significant advantages in communication quality assessment and parameter optimization. By real-time acquisition of communication link quality parameters and construction of a multi-dimensional link quality assessment model, the link quality score can be accurately output. On this basis, the fuzzy logic decision algorithm can be used to dynamically adjust the LoRa physical layer parameters, thereby obtaining an optimized parameter configuration table, establishing a two-way handshake protocol, and generating encrypted command-response data packets, effectively improving communication reliability, ensuring security during data transmission, and preventing data from being stolen or tampered with during transmission.

[0061] 3. The present invention proposes a real-time and reliable communication control method for industrial remote controls based on LoRa technology. In terms of data transmission and feedback, this method allocates time-division multiple access time slots according to link quality scores through a central coordinator, so that the industrial remote control uses hybrid error correction coding to send encrypted data in the corresponding time slots, thereby improving the accuracy and real-time performance of data transmission. After the controlled device receives the data execution instruction, it can generate a feedback data packet containing the execution status and return it to the industrial remote control through the time-division multiple access time slot, making it easy to timely grasp the execution status of the instruction, realize efficient control of the industrial remote control, and ensure the smooth progress of industrial operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 This is a structural diagram of the handheld explosion-proof remote control of the present invention;

[0063] Figure 2 This is a structural diagram of the first rocker-type explosion-proof remote control of the present invention;

[0064] Figure 3 This is a structural diagram of a second rocker-type explosion-proof remote control of the present invention;

[0065] Figure 4 Schematic diagram of the real-time reliable communication control method for industrial remote controllers based on LoRa technology of the present invention;

[0066] Figure 5 This is a flow chart showing the principle of the real-time reliable communication control method for industrial remote controllers based on LoRa technology of the present invention;

[0067] Figure 6 Generate a flow chart for the command-response data packet of the present invention;

[0068] Figure 7 This is the architecture diagram of the industrial remote control system based on LoRa technology in the present invention. DETAILED DESCRIPTION

[0069] Example 1

[0070] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 The present invention provides an embodiment: a real-time reliable communication control method for industrial remote controllers based on LoRa technology, which is applied to industrial remote controllers, including but not limited to explosion-proof remote controllers in special scenarios, such as Figure 1-Figure 3 As shown, for example, an industrial remote control is used in the coal mining industry to remotely control mining equipment or instruments. The industrial remote control has the functions of sending, receiving and processing information, including but not limited to real-time and reliable communication control based on LoRa technology. Through the construction of the network and the processing and control of the signal, the industrial remote control generates control instructions when being controlled. At the same time, the industrial remote control can also receive data in real time and display it on the remote control. Among them, the real-time and reliable communication control method of the industrial remote control based on LoRa technology includes the following steps:

[0071] S1: Build a multi-dimensional link quality assessment model based on the communication link quality parameters collected in real time by the industrial remote control, and output a link quality score;

[0072] S2: Based on the link quality score, the LoRa physical layer parameters are dynamically adjusted using a fuzzy logic decision algorithm to obtain an optimized physical layer parameter configuration table. Based on the optimized physical layer parameters, a two-way handshake protocol is established to generate an encrypted command-response data packet; the LoRa physical layer parameters include spreading factor and bandwidth;

[0073] The two-way handshake protocol includes: the industrial remote control sends a control instruction to the controlled device via an uplink; after receiving the control instruction, the controlled device parses the instruction and performs the corresponding operation, and then feeds back the device status information to the industrial remote control via a downlink.

[0074] S3: The central coordinator allocates time division multiple access time slots based on the link quality score. The industrial remote control uses hybrid error correction coding to send the generated encrypted command-response data packet in the corresponding time division multiple access time slot.

[0075] S4: The controlled device receives the encrypted command-response data packet, executes the command, generates a feedback data packet containing the execution status, and returns it to the industrial remote control through the time division multiple access time slot.

[0076] Furthermore, the real-time reliable communication control method for industrial remote controllers based on LoRa technology also includes:

[0077] S5: Perform safety monitoring on the industrial remote control and controlled equipment. When the industrial remote control detects an emergency stop operation, it sends an emergency stop command to the controlled equipment through the communication link. After receiving the emergency stop command, the controlled equipment performs emergency braking and confirms the emergency stop status through the feedback channel. The emergency stop status is fed back to the industrial remote control. The industrial remote control updates the multi-dimensional link quality assessment model based on the feedback data.

[0078] Furthermore, the specific steps of S5 include:

[0079] (1) The industrial remote control continuously monitors the status of the emergency stop button on the operation panel in real time. The on / off status of the button is detected by the hardware circuit, and the button status is converted into a digital signal, such as a high level indicates that it is pressed and a low level indicates that it is not pressed. The signal is input to the GPIO pin of the microcontroller for reading;

[0080] (2) When the emergency stop button is detected to be pressed, the industrial remote control immediately generates a data packet containing the emergency stop command;

[0081] (3) The generated emergency stop command data packet is encrypted using the AES-128 symmetric encryption algorithm. The encrypted data is sent out according to the time slot allocated by time division multiple access. The encryption key is securely shared between the industrial remote control and the controlled device in advance, and the transmission power is dynamically adjusted according to the current link quality.

[0082] (4) The controlled device wakes up and receives data in the allocated receiving time slot. After receiving the data, it first performs a cyclic redundancy check. After the check passes, it uses the shared key to decrypt the data. After decryption, it extracts the instruction type field to determine whether it is an emergency stop instruction. The cyclic redundancy check is a prior art in this field and is not an inventive solution of this application, so it will not be described in detail here.

[0083] (5) If an emergency stop command is received, the controlled device will immediately call the emergency braking program. For motor-driven devices, the motor power supply will be cut off and the electromagnetic brake will be activated. For hydraulic systems, the main oil circuit valve will be closed and the safety pressure relief valve will be activated. For production lines controlled by programmable logic controllers, all outputs will be set to a safe state, such as closing the solenoid valve and stopping the conveyor belt.

[0084] (6) After emergency braking is executed, the controlled device collects state parameters, such as motor speed, hydraulic system pressure, etc., and encapsulates the state parameters into a feedback data packet. After encrypting the feedback data packet, it is sent to the industrial remote control in the allocated transmission time slot;

[0085] (7) The industrial remote control receives the feedback data of the controlled device in the allocated receiving time slot, performs cyclic redundancy check and decryption operations, extracts the status code and status parameters, and verifies whether the emergency stop is successfully executed.

[0086] It should be noted that LoRa is a long-distance, low-power wireless communication technology based on spread spectrum technology. It mainly uses linear frequency modulation spread spectrum technology to expand the spectrum of the original signal to a frequency band larger than the original bandwidth for transmission.

[0087] The specific steps of S1 include:

[0088] S1.1: The industrial remote control uses its built-in sensors to collect and preprocess communication link quality parameters in real time. The communication link quality parameters include signal strength, signal-to-noise ratio, bit error rate, and Doppler shift.

[0089] Among them, collecting signal strength: using the built-in radio frequency signal strength detection module, according to the set sampling frequency, for example, 10 times per second, to measure the signal strength value received in the current communication link;

[0090] Acquisition signal-to-noise ratio: The signal-to-noise ratio is obtained by calculating the ratio of signal power to noise power;

[0091] Collecting bit error rate: Compare the received data packets bit by bit, calculate the ratio of the number of error bits to the total number of bits, and obtain the bit error rate;

[0092] Collecting Doppler frequency shift: Using an algorithm based on carrier phase change to monitor the change in signal frequency, and obtain the Doppler frequency shift value. The algorithm based on carrier phase change is the existing technology in this field, and is not the inventive solution of this application, so it will not be described here.

[0093] S1.2: In combination with a preset adjustment strategy, the normalized communication link quality parameters are input into a constructed multi-dimensional link quality assessment model; the multi-dimensional link quality assessment model adopts a weighted sum model; the preset adjustment strategy includes:

[0094] In a fixed device scenario, set the bit error rate threshold ;

[0095] Setting Doppler shift tolerance in mobile device scenarios ;

[0096] Among them, the minimum-maximum normalization method is used in the normalization processing to map the communication link quality parameter value to the [0,1] interval.

[0097] S1.3: Use the Bayesian fusion algorithm to transform the normalized communication link quality parameters in the multi-dimensional link quality assessment model and a set of predefined link quality discrete states The obtained joint likelihood , and the prior probability of the link quality in each state determined based on the historical communication link quality parameter data Perform fusion calculations to obtain the probability distribution of link quality under different discrete states of link quality ,in, represents the i-th link quality discrete state, n represents the number of link quality discrete states, represents the jth normalized communication link quality parameter, m represents the number of normalized communication link quality parameters, Indicates that the link quality is in status The posterior probability of

[0098] Furthermore, the specific steps of S1.3 include:

[0099] (1) Define the state space and observation space, including:

[0100] State space: defines the set of discrete states of link quality , for example, S={excellent, good, fair, poor};

[0101] Observation space: The normalized communication link quality parameters as the observation vector;

[0102] (2) Determine the prior probability of link quality in each state based on historical communication link quality parameter data ;

[0103] It should be noted that if there is no prior information, it can be assumed that is uniformly distributed, that is .

[0104] (3) For each normalized communication link quality parameter , calculated in discrete states of link quality The conditional probability density function under ,and Obey the Gaussian distribution, that is, satisfy: ,in, and Represent the normalized communication link quality parameters In the link quality discrete state The mean and variance under , are mainly estimated through historical data, represents the exponential function, represents pi;

[0105] (4) Assumptions are independent of each other, the joint likelihood is calculated as: ;

[0106] (5) Fusion of all normalized communication link quality parameters Information, calculate the link quality in state The posterior probability :

[0107] (6) According to the posterior probability , and obtain the probability distribution of link quality under different link quality discrete states .

[0108] S1.4: Divide the link quality probability distribution into subintervals, and obtain a link quality score based on the probability that the link quality probability distribution falls into each subinterval.

[0109] Furthermore, the specific steps of S1.4 include:

[0110] (1) Determine the scoring range: According to the actual application scenario and requirements, determine the range of link quality score, for example, 0-100 points or 0-5 points, and at the same time, divide the link quality probability distribution into The range of is divided into sub-intervals corresponding to the scoring interval;

[0111] (2) Establishing a mapping relationship: For each sub-interval, determine its corresponding link quality score. In each sub-interval, its mapping relationship is usually determined based on experience and experimental data. For example, if the probability distribution is in the interval [0, 0.2], the corresponding link quality score is 0-20 points, indicating poor link quality; if it is distributed in the interval [0.8, 1], it corresponds to 80-100 points, indicating good link quality;

[0112] (3) Calculate the score: According to the probability of the link quality probability distribution falling into each sub-interval, the final link quality score is obtained by weighted average method.

[0113] Example 2

[0114] See also Figure 6 In this embodiment, the specific steps of S2 include:

[0115] S2.1: Obtaining Link Quality Scores from a Multidimensional Link Quality Assessment Model ;

[0116] S2.2: Based on service quality requirements, combined with link quality score and spreading factor ,dynamically generate fuzzy sets of link quality scores, spreading factors, and bandwidth;

[0117] Among them, the fuzzy set of link quality score is:

[0118] 、 、 、 、 ;

[0119] The fuzzy set of spreading factor SF is:

[0120] Very Low (SF=7), Low (SF=8 or 9), Medium (SF=10), High (SF=11), Very High (SF=12);

[0121] The fuzzy set of bandwidth BW is:

[0122] Very Narrow (BW=125kHz), Narrow (BW=250kHz), Wide (BW=500kHz).

[0123] S2.3: Set up a fuzzy rule base based on the fuzzy set of link quality score, spreading factor, and bandwidth;

[0124] Furthermore, the fuzzy rule base includes:

[0125] If the link quality score belongs to the Very Poor fuzzy set, then the spreading factor SF belongs to the Very High fuzzy set, and the bandwidth BW belongs to the Very Narrow fuzzy set;

[0126] If the link quality score belongs to the Poor fuzzy set, the spreading factor SF belongs to the High fuzzy set, and the bandwidth BW belongs to the Narrow fuzzy set;

[0127] If the link quality score belongs to the Fair fuzzy set, then the spreading factor SF belongs to the Medium fuzzy set, and the bandwidth BW belongs to the Narrow fuzzy set;

[0128] If the link quality score belongs to the Good fuzzy set, then the spreading factor SF belongs to the Low fuzzy set, and the bandwidth BW belongs to the Narrow fuzzy set;

[0129] If the link quality score belongs to the Excellent fuzzy set, the spreading factor SF belongs to the Very Low fuzzy set, and the bandwidth BW belongs to the Wide fuzzy set.

[0130] S2.4: Use membership functions to convert link quality scores into membership degrees of different fuzzy sets , where k represents the number of interval categories divided by the fuzzy set of link quality scores;

[0131] In the present invention, the membership function adopts a trapezoidal membership function, and the calculation formula of the trapezoidal membership function is the existing technical content in this field, which is not the creative solution of this application and will not be described here.

[0132] S2.5: Use the centroid method to convert the membership of different fuzzy sets Convert to an exact value and map it to the LoRa physical layer parameters to get the optimized spreading factor and optimized bandwidth ;

[0133] Among them, the centroid method is used to convert the membership of different fuzzy sets into Converting to exact values ​​means converting the activation of membership of different fuzzy sets into exact values, because There is a one-to-one correspondence between and activation, so , ,in, represents the optimized spreading factor corresponding to the kth fuzzy set, represents the optimized bandwidth corresponding to the kth fuzzy set.

[0134] The optimized spreading factor corresponding to the fuzzy set is also called a spreading factor reference value, and the optimized bandwidth corresponding to the fuzzy set is also called a bandwidth reference value.

[0135] S2.6: Use optimized spreading factor and optimized bandwidth Establish a communication link and send the optimized spreading factor and optimized bandwidth The configured handshake request frame, at the same time, the controlled device responds and returns a confirmation frame; the handshake request frame is a frame header, version number, 、 , 5-element array of CRC check;

[0136] Furthermore, the specific steps of S2.6 include:

[0137] (1) The remote control writes the optimized spreading factor through the LoRa chip driver and optimized bandwidth , and wait for the chip to return the configuration success flag, wherein, it is necessary to send a short test frame, such as 10 bytes of empty data to detect the bit error rate. If the bit error rate is less than or equal to , the link is considered stable; otherwise, it falls back to the previous parameter according to the priority;

[0138] (2) The remote controller sends a handshake request frame;

[0139] (3) The controlled device parses the handshake request frame, verifies the CRC and parameter validity, adjusts the parameters according to the current channel noise, and returns a confirmation frame after adjustment.

[0140] S2.7: After the remote controller receives the confirmation frame, both parties synchronize parameters and , handshake is successful; the confirmation frame is the frame header, confirmation code, 、 , 5-element array of CRC check;

[0141] S2.8: Construct a command-response data packet based on the handshake request frame and the actual transmission data; the command-response data packet is a frame header, frame type, 、 , a seven-element array of serial number, actual transmitted data, and CRC checksum;

[0142] S2.9: Use a symmetric encryption algorithm to encrypt and send the constructed command-response data packet, wherein the symmetric encryption algorithm adopts the AES-128 encryption algorithm. The AES-128 encryption algorithm is the existing technology content in this field and is not the creative solution of this application, so it will not be elaborated here.

[0143] The specific steps of S3 include:

[0144] S3.1: The central coordinator starts the monitoring mechanism to monitor the communication channel with the industrial remote control. After receiving the link quality score data sent by the industrial remote control, it stores it in the local score database.

[0145] Specifically, the central coordinator starts the listening mechanism, continuously monitors the communication channel between the industrial remote control, and waits to receive the link quality score data sent by the industrial remote control; when the link quality score data is received from the industrial remote control, the central coordinator parses the data, extracts the link quality score information, and stores it in the local scoring database for subsequent processing.

[0146] S3.2: Set time slot allocation rules based on the link quality score and the preset score range;

[0147] Furthermore, the time slot allocation rule includes the time slot interval and time slot length ,in, represents the basic interval, represents the interval adjustment factor, and , the unit is milliseconds, Indicates the basic length, Indicates the length adjustment coefficient. It should be noted that, The basic value is 1800ms. The basic value is 200ms. The basic value is 80ms. The basic value is 250ms.

[0148] It should be noted that in the formula and In order to balance the link quality and time slot length and emphasize the impact of high scores on time slot intervals, the two values ​​of 95 and 50 are selected. When score=95, 95-score=0, When the link quality score is less than 95, 95-score is a positive number, which will make As the score decreases, the 95-score value increases, and the time slot interval also increases synchronously. This allows devices with lower link quality scores to have shorter time slot intervals, increasing transmission opportunities. At the same time, it highlights the difference in time slot interval adjustment between high-scoring and other scores, and allocates time slot resources more flexibly according to link quality.

[0149] Usually the link quality score is a relative value between 0 and 100, and 50 is in the middle of the score range. When score=50, 50-score=0. , which means that when the link quality is at a medium level, the time slot length remains at the basic value If the link quality score is greater than 50, 50-score is a negative number, which will make the time slot length , to improve channel utilization; if the link quality score is less than 50, 50-score is a positive number, which will increase the time slot length to ensure the reliability of data transmission. Therefore, the value of 50 can be used as a balance point to reasonably adjust the time slot length according to the link quality.

[0150] S3.3: Create an empty time slot allocation table. Simultaneously, obtain a list of registered industrial remote control devices. For each industrial remote control in the list, allocate a corresponding time division multiple access (TDMA) time slot from the global time slot resources based on its link quality score and the determined time slot allocation rule. Enter the allocated TDMA time slot information into the corresponding device entry in the time slot allocation table. The time slot allocation table is used to record the TDMA time slot information corresponding to each industrial remote control. The TDMA time slot information includes the time slot start time, time slot length, and repetition period.

[0151] S3.4: After completing the TDMA time slot allocation for all industrial remote controls, the central coordinator performs a conflict check on the time slot allocation table to check whether the time slots of different industrial remote controls overlap with each other.

[0152] If a conflict is found, the central coordinator adjusts the conflicting time slots according to the priority rule of first adjusting the time slots of devices with lower link quality scores based on the conflict situation;

[0153] Furthermore, the specific process of performing conflict detection on the time slot allocation table includes:

[0154] (1) The central coordinator extracts the time division multiple access time slot information of all registered industrial remote controls from the completed time slot allocation table and unifies the time reference;

[0155] (2) Through a double loop, traverse the time slot information of all industrial remote controls, and for each pair of industrial remote controls A1 and A2, obtain the time slot start time and length of A1 and A2;

[0156] (3) Determine whether the time slots of A1 and A2 overlap. If so, record the identifiers of the two devices and the overlapping time interval;

[0157] (4) Perform a complete pairwise comparison of all industrial remote controls to ensure that all possible time slot overlaps are detected;

[0158] (5) Analyze all detected time slot overlaps and calculate the severity of the conflict and the number of devices involved;

[0159] (6) Adjust the conflicting time slots according to the preset priority rules. Recalculate the time slot start time and length of the adjusted device and update the time slot allocation table;

[0160] (7) After completing the conflict adjustment, perform the conflict detection step again to verify whether there are any unresolved time slot overlaps. If conflicts still exist, continue to adjust until all time slots are allocated without conflicts.

[0161] S3.5: The central coordinator generates a broadcast data packet with the complete time slot allocation table, encapsulates the time slot allocation information in the broadcast data packet, and sends the broadcast data packet to all registered industrial remote controls.

[0162] Furthermore, the specific steps of S3.5 include:

[0163] (1) The central coordinator retrieves the complete time slot allocation table from the locally stored time slot allocation database and confirms that it contains the time division multiple access time slot information of all registered industrial remote controls, such as the time slot start time, time slot length, repetition period and other key data;

[0164] (2) Determine the data packet format;

[0165] (3) Fill all the data in the time slot allocation table into the corresponding fields of the broadcast data packet in sequence according to the set format to ensure that the data sequence and format are correct;

[0166] (4) For the contents of the data packet except the check code field, the CRC-16 check algorithm is used to calculate the check code. The specific calculation process is as follows: the contents of the data packet are regarded as a binary data sequence, and a modulo-2 division operation is performed with the preset CRC-16 generating polynomial to obtain a 16-bit remainder, which is the check code;

[0167] (5) Fill the calculated CRC-16 checksum into the checksum field of the broadcast data packet to complete the encapsulation of the data packet;

[0168] (6) According to the set communication protocol, the encapsulated broadcast data packet is sent to the communication channel in the form of broadcast, and the sending timestamp is recorded during the sending process.

[0169] S3.6: After receiving the broadcast data packet, the industrial remote control parses it, extracts its corresponding time division multiple access time slot information, and stores it in a local time slot configuration file;

[0170] S3.7: The central coordinator activates the time slot monitoring module to monitor the data transmission status of each industrial remote control in its assigned time division multiple access time slot in real time according to the global time slot time axis, and records whether encrypted command-response data is received from the corresponding industrial remote control in each time slot;

[0171] S3.8: When receiving encrypted command-response data sent by the industrial remote control in any time slot, the central coordinator uses a hybrid error correction coding algorithm to decode and detect errors in the encrypted command-response data;

[0172] If the encrypted command-response data is not received within the specified time slot, or the received encrypted command-response data fails verification, the central coordinator sends a retransmission request command to the corresponding industrial remote control;

[0173] Furthermore, the specific steps of S3.8 include:

[0174] (1) Start the central coordinator and load the hybrid error correction coding algorithm configuration parameters, including the forward error correction algorithm type and cyclic redundancy check polynomial;

[0175] (2) Receive data sent by the industrial remote control within the preset time slot and store the data in the buffer area;

[0176] (3) Segment and format check the buffer data. If the format is incorrect, discard the data and record the error. If the format is correct, enter the decoding stage.

[0177] (4) Decoding, including:

[0178] Separating the forward error correction coding portion and the automatic repeat request identification portion in the data;

[0179] Perform forward error correction decoding operations to try to correct data errors;

[0180] Determine whether retransmission is required based on the automatic retransmission request flag. If retransmission is required, send a retransmission request to the industrial remote control. If retransmission is not required, continue to perform cyclic redundancy check.

[0181] Calculate the cyclic redundancy check code of the decoded data and compare it with the original cyclic redundancy check code to determine whether there is any error in the data;

[0182] If the data is wrong, the error information will be recorded and fed back to the industrial remote control;

[0183] If the data is correct, the decoded data will be transmitted;

[0184] (5) After completing the processing of the current time slot data, wait for the next time slot data to be received or enter a low power state and wait for wake-up.

[0185] S3.9: After receiving the retransmission request, the industrial remote control resends the encrypted command-response data within the allocated retransmission time slot based on the locally stored encrypted command-response data packet. The central coordinator monitors the retransmission process until the encrypted command-response data is correctly received or the preset maximum number of retransmissions is reached.

[0186] The specific steps of S4 include:

[0187] S4.1: The controlled device continuously monitors the TDMA time slots allocated by the central coordinator, receives the encrypted command-response data packets sent by the industrial remote control within the corresponding TDMA time slots, and performs a cyclic redundancy check.

[0188] S4.2: Decrypt the verified encrypted command-response data packet using the encryption key pre-agreed with the industrial remote control, and parse the command content according to the data protocol.

[0189] It should be noted that during the system initialization phase, an encryption key is pre-shared between the central coordinator and the industrial remote control through a secure channel. The key uses a 128-bit AES symmetric key, is stored in a secure non-volatile memory, and is protected by access control.

[0190] Furthermore, the process of processing the encrypted command-response data packet in S4.2 includes:

[0191] (1) Receive encrypted command-response data packets that pass cyclic redundancy check;

[0192] (2) Extract the initialization vector, AES-encrypted instruction data, and authentication tag;

[0193] (3) Derive the session key based on the current timestamp;

[0194] (4) Perform AES-GCM decryption and verify the authentication tag. AES-GCM is an encryption method that combines the AES symmetric encryption algorithm and the GCM authentication mode. The specific calculation process is the existing technical content in this field and is not the inventive solution of this application, so it will not be described in detail here;

[0195] (5) Verify the protocol format of the decrypted data;

[0196] (6) Call the corresponding parser according to the instruction type;

[0197] (7) Parse the parameters and perform corresponding operations.

[0198] S4.3: Based on the parsed instruction, call the controlled device to execute the instruction;

[0199] S4.4: After the instruction is executed, a feedback data packet containing the execution status is generated according to the data protocol based on the execution result and the status information recorded during the execution process. The execution status may include normal completion, execution exception, or partial completion.

[0200] S4.5: Encrypt the generated feedback data packet using the same encryption algorithm and key as used for the data packet sent by the industrial remote control, and encode the encrypted feedback data packet using hybrid error correction coding. Hybrid error correction coding is prior art in this field and does not constitute an inventive solution of this application, so its detailed description is omitted here.

[0201] S4.6: The controlled device sends the encrypted and encoded feedback data packet back to the industrial remote control in the next time division multiple access time slot allocated by the central coordinator;

[0202] S4.7: After the transmission is completed, the controlled device continues to monitor the time division multiple access time slot and waits to receive a new encrypted command-response data packet.

[0203] Example 3

[0204] See also Figure 7 Another embodiment of the present invention provides an industrial remote control system based on LoRa technology, comprising:

[0205] Communication link quality assessment module, physical layer parameter adjustment module, two-way handshake protocol establishment module, time slot allocation module, data transmission module, status feedback module;

[0206] The communication link quality assessment module is used to collect communication link quality parameters in real time, build a multi-dimensional link quality assessment model, and output a link quality score;

[0207] The physical layer parameter adjustment module dynamically adjusts the LoRa physical layer parameters based on the link quality score using a three-level fuzzy logic decision algorithm to obtain the optimized physical layer parameter configuration table;

[0208] The two-way handshake protocol establishment module generates encrypted command-response data packets through the established two-way handshake protocol to ensure the reliability and security of data transmission;

[0209] The time slot allocation module is used to enable the central coordinator to allocate time division multiple access time slots to each industrial remote control according to the link quality score, so as to achieve orderly communication among multiple devices;

[0210] The data transmission module uses hybrid error correction coding to channel encode the encrypted command-response data packets in the corresponding time division multiple access time slot, and transmits the data through the optimized physical layer parameter configuration table to ensure the accuracy and reliability of the data during transmission;

[0211] The state feedback module, in which the controlled device receives the encrypted command-response data packet, generates a three-level state feedback data packet containing the execution status after executing the command, and returns it to the industrial remote control through the time division multiple access time slot, so that the industrial remote control can understand the execution status of the controlled device.

[0212] The communication link quality assessment module includes: parameter acquisition unit, model building unit, and score calculation unit;

[0213] Parameter acquisition unit, used to collect communication link quality parameters such as signal strength, signal-to-noise ratio, bit error rate, Doppler shift, etc., to obtain the data basis required for evaluation;

[0214] A model building unit is used to build a multi-dimensional link quality evaluation model using the collected communication link quality parameters in combination with a preset adjustment strategy, and to form an evaluation system through integration;

[0215] The scoring calculation unit uses the Bayesian fusion algorithm to calculate and output the link quality score based on the multi-dimensional link quality evaluation model and the collected communication link quality parameters to quantify the link quality.

[0216] The physical layer parameter adjustment module includes: a first-level processing unit, a second-level processing unit, and a third-level processing unit;

[0217] The first-level processing unit takes the input link quality score as input, outputs the basic spreading factor and bandwidth, and preliminarily determines the physical layer parameters based on the link quality;

[0218] The second-level processing unit is used to input the device movement speed and dynamically adjust the spreading factor by plus or minus 1 based on the first-level, taking into account the impact of device movement on the parameters;

[0219] The third-level processing unit is used to input the service priority and finally generate the optimized physical layer parameter group, and determine the final optimized physical layer parameters by integrating the service priority factors.

[0220] The two-way handshake protocol establishment module includes: a protocol establishment unit and a data packet generation unit;

[0221] The protocol establishment unit establishes a two-way handshake protocol based on the optimized physical layer parameters and standardizes the communication process;

[0222] The data packet generation unit is used to generate encrypted command-response data packets, encrypt the transmitted data, and improve the security of data transmission.

[0223] The time slot allocation module includes: a score reading unit and a time slot allocation unit;

[0224] A score reading unit, used to read the link quality score and obtain the basis for allocating time slots;

[0225] The time slot allocation unit allocates a time division multiple access time slot to each industrial remote control according to the link quality score, and reasonably arranges the communication time of each remote control.

[0226] The data transmission module includes: an error correction coding unit and a data transmission unit;

[0227] The error correction coding unit uses a hybrid error correction coding based on forward error correction coding, automatic repeat request, and collision avoidance mechanism to perform channel coding on the encrypted command-response data packet to improve the data's anti-interference capability;

[0228] The data transmission unit performs data transmission through the optimized physical layer parameter configuration table and sends data according to the set physical layer parameters and allocated time slots.

[0229] The state feedback module includes: an instruction execution unit, a feedback generation unit, and a feedback transmission unit;

[0230] An instruction execution unit, configured to receive encrypted instruction-response data packets and execute instructions to achieve control over the controlled device;

[0231] A feedback generation unit is used to generate a three-level status feedback data packet containing the execution status, and to organize and encapsulate the status information of the device executing the instruction;

[0232] The feedback transmission unit returns the three-level status feedback data packet to the industrial remote control through the time division multiple access time slot to realize the transmission of status information.

[0233] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also change, modify, replace and modify the above-mentioned embodiments without departing from the purpose and scope of protection of the present invention. These are all protected by the present invention.

Claims

1. A real-time reliable communication control method for industrial remote controllers based on LoRa technology is applied to industrial remote controllers. The industrial remote controllers are explosion-proof remote controllers, characterized in that: include: S1: Build a multi-dimensional link quality assessment model based on the communication link quality parameters collected in real time by the industrial remote control, and output a link quality score; S2: Based on the link quality score, the LoRa physical layer parameters are dynamically adjusted using a fuzzy logic decision algorithm to obtain an optimized physical layer parameter configuration table. Based on the optimized physical layer parameters, a two-way handshake protocol is established to generate an encrypted command-response data packet; the LoRa physical layer parameters include spreading factor and bandwidth; S3: The central coordinator allocates time division multiple access (TDMA) time slots based on the link quality score. The industrial remote control uses hybrid error correction coding to send the generated encrypted command-response data packet in the corresponding TDMA time slot. S4: The controlled device receives the encrypted command-response data packet, executes the command, generates a feedback data packet containing the execution status, and returns it to the industrial remote control through the time division multiple access time slot.

2. The real-time reliable communication control method for industrial remote controllers based on LoRa technology according to claim 1, characterized in that: The specific steps of S1 include: S1.1: The industrial remote control uses its built-in sensors to collect and normalize communication link quality parameters in real time. The communication link quality parameters include signal strength, signal-to-noise ratio, bit error rate, and Doppler shift. S1.2: In combination with a preset adjustment strategy, the normalized communication link quality parameters are input into a constructed multi-dimensional link quality assessment model; the multi-dimensional link quality assessment model adopts a weighted sum model; S1.3: Use the Bayesian fusion algorithm to transform the normalized communication link quality parameters in the multi-dimensional link quality assessment model and a set of predefined link quality discrete states The obtained joint likelihood , and the prior probability of the link quality in each state determined based on the historical communication link quality parameter data Perform fusion calculations to obtain the probability distribution of link quality under different discrete states of link quality ,in, represents the i-th link quality discrete state, n represents the number of link quality discrete states, represents the jth normalized communication link quality parameter, m represents the number of normalized communication link quality parameters, Indicates that the link quality is in status The posterior probability of S1.4: Divide the link quality probability distribution into subintervals, and obtain a link quality score based on the probability that the link quality probability distribution falls into each subinterval.

3. The real-time reliable communication control method for industrial remote controllers based on LoRa technology as claimed in claim 2, characterized in that: The specific steps of S2 include: S2.1: Obtaining Link Quality Scores from a Multidimensional Link Quality Assessment Model ; S2.2: Based on the service quality requirements, combined with the link quality score and its preset score range, dynamically generate the fuzzy set of link quality score, spreading factor, and bandwidth; S2.3: Set up a fuzzy rule base based on the fuzzy set of link quality score, spreading factor, and bandwidth; S2.4: Use membership functions to convert link quality scores into membership degrees of different fuzzy sets , where k represents the number of interval categories divided by the fuzzy set of link quality scores; S2.5: Use the centroid method to convert the membership of different fuzzy sets Convert to an exact value and map it to the LoRa physical layer parameters to get the optimized spreading factor and optimized bandwidth .

4. The real-time reliable communication control method for industrial remote controllers based on LoRa technology as claimed in claim 3, characterized in that: The specific steps of S2 also include: S2.6: Use optimized spreading factor and optimized bandwidth Establish a communication link and send the optimized spreading factor and optimized bandwidth The configured handshake request frame, at the same time, the controlled device responds and returns a confirmation frame; the handshake request frame is a frame header, version number, 、 , 5-element array of CRC check; S2.7: After the remote controller receives the confirmation frame, both parties synchronize parameters and , handshake is successful; the confirmation frame is the frame header, confirmation code, 、 , 5-element array of CRC check; S2.8: Construct a command-response data packet based on the handshake request frame and the actual transmission data; the command-response data packet is a frame header, frame type, 、 , a seven-element array of serial number, actual transmitted data, and CRC checksum; S2.9: Use a symmetric encryption algorithm to encrypt and send the constructed command-response data packet.

5. The real-time reliable communication control method for industrial remote controllers based on LoRa technology as claimed in claim 4, characterized in that: The specific steps of S3 include: S3.1: The central coordinator starts the monitoring mechanism to monitor the communication channel with the industrial remote control. After receiving the link quality score data sent by the industrial remote control, it stores it in the local score database. S3.2: Set time slot allocation rules based on the link quality score and the preset score range; S3.3: Create an empty time slot allocation table. At the same time, obtain a list of registered industrial remote control devices. For each industrial remote control in the industrial remote control device list, allocate a corresponding time division multiple access time slot in the global time slot resources based on its link quality score and the determined time slot allocation rule, and fill the allocated time division multiple access time slot information into the corresponding device entry in the time slot allocation table; the time slot allocation table is used to record the time division multiple access time slot information corresponding to each industrial remote control; the time division multiple access time slot information includes the time slot start time, time slot length, and repetition period.

6. The real-time reliable communication control method for industrial remote controllers based on LoRa technology as claimed in claim 5, characterized in that: The specific steps of S3 also include: S3.4: After completing the TDMA time slot allocation for all industrial remote controls, the central coordinator performs a conflict check on the time slot allocation table to check whether the time slots of different industrial remote controls overlap with each other. If a conflict is found, the central coordinator adjusts the conflicting time slots according to the priority rule of first adjusting the time slots of devices with lower link quality scores based on the conflict situation; S3.5: The central coordinator generates a broadcast data packet with the complete time slot allocation table, encapsulates the time slot allocation information in the broadcast data packet, and sends the broadcast data packet to all registered industrial remote controls. S3.6: After receiving the broadcast data packet, the industrial remote control parses it, extracts its own corresponding time division multiple access time slot information, and stores it in a local time slot configuration file.

7. The real-time reliable communication control method for industrial remote controllers based on LoRa technology according to claim 6, characterized in that: The specific steps of S3 also include: S3.7: The central coordinator activates the time slot monitoring module to monitor the data transmission status of each industrial remote control in its assigned time division multiple access time slot in real time according to the global time slot time axis, and records whether encrypted command-response data is received from the corresponding industrial remote control in each time slot; S3.8: When receiving encrypted command-response data sent by the industrial remote control in any time slot, the central coordinator uses a hybrid error correction coding algorithm to decode and detect errors in the encrypted command-response data; If the encrypted command-response data is not received within the specified time slot, or the received encrypted command-response data fails verification, the central coordinator sends a retransmission request command to the corresponding industrial remote control; S3.9: After receiving the retransmission request, the industrial remote control resends the encrypted command-response data within the allocated retransmission time slot based on the locally stored encrypted command-response data packet. The central coordinator monitors the retransmission process until the encrypted command-response data is correctly received or the preset maximum number of retransmissions is reached.

8. The real-time reliable communication control method for industrial remote controllers based on LoRa technology according to claim 7, characterized in that: The specific steps of S4 include: S4.1: The controlled device continuously monitors the TDMA time slots allocated by the central coordinator, receives the encrypted command-response data packets sent by the industrial remote control within the corresponding TDMA time slots, and performs a cyclic redundancy check. S4.2: Decrypt the verified encrypted command-response data packet using the encryption key pre-agreed with the industrial remote control, and parse the command content according to the data protocol. S4.3: Based on the parsed instruction, call the controlled device to execute the instruction; S4.4: After the instruction is executed, a feedback data packet containing the execution status is generated according to the data protocol based on the execution result and the status information recorded during the execution process. The execution status may include normal completion, execution exception, or partial completion. S4.5: Encrypt the generated feedback data packet using the same encryption algorithm and key as the data packet sent by the industrial remote control, and encode the encrypted feedback data packet using hybrid error correction coding; S4.6: The controlled device sends the encrypted and encoded feedback data packet back to the industrial remote control in the next time division multiple access time slot allocated by the central coordinator; S4.7: After the transmission is completed, the controlled device continues to monitor the time division multiple access time slot and waits to receive a new encrypted command-response data packet.

9. The real-time reliable communication control method for industrial remote controllers based on LoRa technology according to claim 8, characterized in that: The two-way handshake protocol includes: the industrial remote control sends a control instruction to the controlled device via an uplink; after receiving the control instruction, the controlled device parses the instruction and performs the corresponding operation, and then feeds back the device status information to the industrial remote control via a downlink.

10. An industrial remote control system based on LoRa technology, which is used to implement the real-time reliable communication control method of an industrial remote control based on LoRa technology according to any one of claims 1 to 9, characterized in that: include: Communication link quality assessment module, physical layer parameter adjustment module, two-way handshake protocol establishment module, time slot allocation module, data transmission module, status feedback module; The communication link quality assessment module is used to collect communication link quality parameters in real time, build a multi-dimensional link quality assessment model, and output a link quality score; The physical layer parameter adjustment module dynamically adjusts the LoRa physical layer parameters based on the link quality score using a three-level fuzzy logic decision algorithm to obtain an optimized physical layer parameter configuration table; The two-way handshake protocol establishment module generates an encrypted command-response data packet through the established two-way handshake protocol; The time slot allocation module is used to enable the central coordinator to allocate a time division multiple access time slot to each industrial remote control according to the link quality score; The data transmission module, wherein the industrial remote control performs channel coding on the encrypted command-response data packet using hybrid error correction coding in the corresponding time division multiple access time slot, and transmits the data through the optimized physical layer parameter configuration table; The state feedback module, in which the controlled device receives the encrypted command-response data packet, generates a three-level state feedback data packet containing the execution status after executing the command, and returns it to the industrial remote control through the time division multiple access time slot.

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