Ad hoc network wireless control method and system based on dynamic routing and dormancy scheduling

Abstract

The invention discloses an ad hoc network wireless control method and system based on dynamic routing and dormancy scheduling, and belongs to the technical field of wireless control systems. A power-on node realizes communication with a root node through broadcast transmission of a network access request packet so as to quickly establish a data transmission path structure; a sleep scheduling mechanism is introduced to set a sleep mode and an active mode for the terminal nodes and the relay nodes, so that the terminal nodes are ensured to be in the sleep mode in most time, the power consumption of each terminal node is effectively reduced, the normal service life of each terminal node is prolonged, and the stable communication work of the wireless control system is realized. Moreover, through real-time calculation of the current node metric value of each power-on node, the response speed of the wireless control system to the fault node is improved, and then data transmission path structure updating is performed on each power-on node by using the current node metric value and the routing dynamic maintenance strategy. Therefore, the capability of a wireless control system to deal with node faults is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of wireless control systems, and particularly relates to a self-organizing network wireless control method and system based on dynamic routing and sleep scheduling. BACKGROUND

[0002] With the rapid development of Internet of Things technology, wireless control systems are increasingly widely used in smart home, industrial automation, environmental monitoring, smart city and other fields. In these applications, a large number of dispersed sensor nodes and actuator nodes need to be connected through wireless means to form a unified and efficient control network. Traditional wireless communication technologies, such as Wi-Fi and classic Bluetooth, have advantages in data transmission rate and popularity, but their inherent problems such as high power consumption, limited network capacity, poor deployment flexibility and limited coverage make them difficult to adapt to application scenarios where nodes are widely distributed, the environment is complex or there is a lack of pre-set network infrastructure. Therefore, wireless Mesh network technologies with self-organizing and self-healing capabilities have emerged, such as ZigBee Technology and Thread Technology. They do not need to rely on central devices, and nodes can relay data to each other, effectively expanding the coverage of the network.

[0003] However, in actual large-scale, multi-node self-organizing network applications, existing technologies still face serious challenges. First, poor power consumption control is a core problem. Specifically, many self-organizing network protocols require relay nodes and most terminal nodes to be in a listening state for a long time in order to maintain network routing tables and achieve fast response, resulting in high average power consumption, which makes them difficult to apply to scenarios that rely on battery power and require long-term stable operation for several years. Second, in a dynamically changing environment, nodes may fail due to power consumption, signal interference or physical damage, and existing static routing or simple routing protocols cannot quickly perceive and bypass these failed nodes, which can easily lead to the formation of "islands" in part of the network, causing communication interruption. In the case of dealing with such node failures, the network deployment and maintenance of existing technologies are very complex, requiring reconfiguration of network parameters or relying on specific coordinator nodes to form new paths, increasing the difficulty of node deployment, and when the network topology changes, the speed of re-networking and routing convergence is slow.

[0004] As mentioned above, how to provide a self-organizing network wireless control method and system based on dynamic routing and sleep scheduling that can reduce system power consumption, maintain stable communication and quickly respond to complete communication path updates in a large-scale self-organizing network has become a major issue in the current field that needs to be studied. SUMMARY

[0005] The application aims to provide a self-organizing network wireless control method and system based on dynamic routing and sleep scheduling to solve the above problems in the prior art.

[0006] To achieve the above-mentioned purpose, the application adopts the following technical solutions: In a first aspect, the application provides a self-organizing network wireless control method based on dynamic routing and sleep scheduling, which comprises the following steps: Each powered node searches the surrounding network to broadcast the network access request packet of each powered node to the root node, the root node identifies the node type of each powered node according to the received network access request packet of each powered node, divides each powered node into a relay node and a terminal node, and forms a data transmission path structure, wherein the network access request packet of each powered node includes an initial node metric value of the powered node; In the data transmission path structure, each powered node selects a mode, controls each terminal node to enter a sleep mode, controls the root node and the relay node to enter an active mode, and sets the sleep duration and the active duration of each powered node by using the root node; Each powered node uses a timing unit to time to switch between the sleep mode and the active mode, when each powered node enters the sleep mode, each powered node switches to the active mode based on the corresponding sleep duration, and when each powered node enters the active mode, each powered node switches to the sleep mode based on the corresponding active duration or the value of the received communication task demand; A preset routing dynamic maintenance strategy is obtained, when each powered node enters the active mode, the received signal strength of the powered node is detected, the initial node metric value of each powered node is updated using the received signal strength of the powered node to obtain the current node metric value of each powered node, and the data transmission path structure is updated using the routing dynamic maintenance strategy according to the current node metric value of each powered node.

[0007] In a possible design, the network access request packet of the powered node includes a preamble, an access address, a network ID, a source ID, a target ID, valid data, and a CRC code; The preamble is formed by a one-byte fixed value, used to indicate the start of the network access request packet of the powered-on node; the access address is a four-byte random value, used to represent the network address of the powered-on node accessing the root node, and the access addresses of the powered-on nodes are the same; the network ID is a preset broadcast value, used to mark the powered-on nodes, so that the root node can identify the powered-on nodes; the source ID is the ID of the receiving data node to which each powered-on node needs to access; the target ID is the ID of the sending data node to which each powered-on node needs to access; the effective data is the network access information of each powered-on node, including the data packet type of the network access request packet of the powered-on node, the initial node metric value of the powered-on node, and the capability bit field of the powered-on node; and the CRC code is the cyclic redundancy check code of each powered-on node, used to verify the correctness of the network access request packet of each powered-on node.

[0008] In a possible design, each powered-on node searches for surrounding networks to broadcast the network access request packet of the powered-on node to the root node. The root node identifies the node types of the powered-on nodes according to the received network access request packets of the powered-on nodes, divides the powered-on nodes into relay nodes and terminal nodes, and forms a data transmission path structure, including: Each powered-on node searches for surrounding networks, and after searching for the root node, the powered-on node broadcasts the network access request packet to the root node. The root node selects matched powered-on nodes according to the access addresses and the network IDs of the received network access request packets of the powered-on nodes, and verifies the target IDs and the CRC codes of the matched powered-on nodes, to access the root node by the powered-on nodes that pass the verification, and complete the communication connection between the root node and the powered-on nodes. The root node identifies the node types of the powered-on nodes by using the capability bit fields of the powered-on nodes in the communication connection, divides the powered-on nodes into relay nodes and terminal nodes, and forms a data transmission path correspondence table according to the root node, the relay nodes, and the terminal nodes, where the data transmission path correspondence table includes a plurality of data transmission paths, and each data transmission path includes a data transmission main path and at least one data transmission backup path. The root node matches corresponding receiving data nodes and corresponding sending data nodes for the powered-on nodes in the communication connection according to the data transmission path correspondence table, updates the source IDs and the target IDs of the powered-on nodes, so that the powered-on nodes complete the communication connection according to the data transmission path correspondence table, and form a data transmission path structure.

[0009] In a possible design, in the data transmission path structure, each of the powered-on nodes is selected in a mode, each of the terminal nodes is controlled to enter a sleep mode, the root node and the relay nodes are controlled to enter an active mode, and the root node is used to set a sleep duration and an active duration for each of the powered-on nodes, including: In the data transmission path structure, according to the types of the powered-on nodes, terminal nodes and relay nodes are selected, where the terminal nodes are terminal devices, and the relay nodes are routers with a relay function. The root node is used to respectively send a corresponding time parameter configuration data packet to each of the terminal nodes and each of the relay nodes, where the time parameter configuration data packet includes a sleep duration, an active duration, and a demand response duration. Each of the terminal nodes and each of the relay nodes completes time parameter configuration according to the received time parameter configuration data packet. Each of the terminal nodes that complete time parameter configuration is controlled to enter a sleep mode, and each of the relay nodes that complete time parameter configuration is controlled to enter an active mode.

[0010] In a possible design, each of the powered-on nodes includes a functional unit and a timing unit. Correspondingly, the timing unit of each powered-on node is used for timing to switch between the sleep mode and the active mode, when each powered-on node enters the sleep mode, each powered-on node switches to the active mode based on a corresponding sleep duration, and when each powered-on node enters the active mode, each powered-on node switches to the sleep mode based on a corresponding active duration or a value of a received communication task demand, including: When each of the powered-on nodes enters the sleep mode, the timing unit of each powered-on node is kept running and the functional unit of each powered-on node is turned off, and the timing unit of each powered-on node is used for timing, so that when the running duration of the timing unit of each powered-on node reaches the sleep duration, each powered-on node is automatically switched to the active mode. When each of the power-on nodes enters the active mode, when each of the power-on nodes enters the active mode, a functional unit of each of the power-on nodes receives a communication task demand and completes radio frequency communication and data transmission, and a timing unit of each of the power-on nodes is timed, so that when the timing unit of each of the power-on nodes runs for the active duration or the amount of the communication task demand received by the functional unit of each of the power-on nodes within the demand response duration is zero, each of the power-on nodes is automatically switched to the dormant mode, wherein the dormant duration, the active duration and the demand response duration of each of the power-on nodes are set according to the time parameter configuration data packet sent by the root node, and the demand response duration is less than the active duration.

[0011] In a possible design, before each of the power-on nodes enters the dormant mode, the method further includes: In the data transmission path structure, before each of the power-on nodes enters the dormant mode, the root node's time information is acquired through the received time parameter configuration data packet to generate a time synchronization signal; Before each of the power-on nodes enters the dormant mode, the root node's time information is used for time synchronization processing of each of the power-on nodes to generate a dormant synchronization time for each of the power-on nodes respectively; Each of the power-on nodes respectively inputs the corresponding dormant synchronization time as a dormant starting time into the timing unit of each of the power-on nodes, and enters the dormant mode; When each of the power-on nodes enters the active mode, when the functional unit of each of the power-on nodes receives a communication task demand, the method further includes: In the data transmission path structure, each of the power-on nodes entering the active mode acquires a communication task demand through a corresponding receiving data node, wherein the communication task demand is communicated in the form of a data packet, and the time information of the receiving data node is included in the communication task demand; Each of the power-on nodes entering the active mode acquires the time information of the receiving data node from the received communication task demand to generate a time synchronization signal; Each of the power-on nodes entering the active mode uses the time information of the receiving data node for time synchronization processing of the power-on nodes to generate an active synchronization time for each of the power-on nodes entering the active mode respectively; Each of the power-on nodes respectively inputs the corresponding active synchronization time as an active starting time into the timing unit of each of the power-on nodes, and enters the active mode.

[0012] In one possible design, each of the power-on nodes is automatically switched to the active mode when the timing unit of the power-on node runs for the sleep duration, including: The timing unit of each of the power-on nodes runs at the sleep synchronization time As the sleep start time, in combination with the sleep duration of the power-on node, the time for the power-on node to switch to the active mode next time is calculated by the following formula (1): ; (1) Wherein, is the time for the power-on node to switch to the active mode next time, is the sleep duration of the power-on node; When the timing unit of each of the power-on nodes runs to the time for the power-on node to switch to the active mode next time , each of the power-on nodes is automatically switched to the active mode; Correspondingly, each of the power-on nodes is automatically switched to the sleep mode when the timing unit of the power-on node runs for the active duration or the amount of communication task demand received by the functional unit of each of the power-on nodes within the demand response duration is zero, including: The timing unit of each of the power-on nodes runs at the active synchronization time As the active start time, the power-on node enters the active mode; The functional unit of each of the power-on nodes receives and completes the communication task demand, and generates a corresponding demand response start time each time a communication task demand is received; When the power-on node does not receive a communication task demand within the time period with the demand response start time as the starting time and the demand response duration as the interval, the power-on node is automatically switched to the sleep mode; When the amount of the communication task demand received by the power-on node within the time period with the demand response start time as the starting time and the demand response duration as the interval is not zero, the power-on node remains in the active mode, and the time for the power-on node to switch to the sleep mode next time is calculated by the following formula (2) according to the demand response duration of the power-on node and the active duration of the power-on node: ; (2) Wherein, is the time for the power-on node to switch to the sleep mode next time, is the active duration of the power-on node, and the timing unit of each of the power-on nodes runs to the time for the power-on node to switch to the sleep mode next time , each of the power-on nodes is automatically switched to the sleep mode.

[0013] In a possible design, the routing dynamic maintenance strategy comprises the following steps. In the data transmission main path of the data transmission path structure, when each powered node entering the active mode receives the communication task demand, the powered node detects the received signal strength of the powered node, and determines that the powered node is a faulty node when the received signal strength detected by the powered node appears to be attenuated or the powered node appears to have continuous communication failure. The faulty node is locally repaired by using frequency hopping technology, and a communication task demand is sent to the faulty node after local repair, the received signal strength of the faulty node after local repair is detected, and whether the local repair is successful is determined according to the received signal strength of the faulty node after local repair. If yes, the data transmission main path is updated by using the faulty node after local repair, and communication is completed by using the updated data transmission main path; if no, the communication of the data transmission main path is disconnected, and a data transmission backup path of the data transmission main path is selected according to the data transmission path structure, and communication is completed by using the data transmission backup path.

[0014] In a possible design, when each powered node enters the active mode, the received signal strength of the powered node is detected, the initial node metric value of each powered node is updated by using the received signal strength of the powered node, and a current node metric value of each powered node is obtained, comprising the following steps. When each powered node entering the active mode receives the communication task demand, the powered node detects the received signal strength of the powered node, and calculates a current node metric value of the current powered node according to the received signal strength of the current powered node. The current node metric value of the current powered node is calculated by using the following formula (3). ; (3) wherein, and are preset weight parameters, and and are 1, is a node metric value of a received data node obtained by the current powered node from the received data node, is the received signal strength of the current powered node; If the current powered node is a relay node, the current node metric value of the current powered node is sent to a corresponding sending data node. If the current powered node is a terminal node, the current node metric value of the current powered node is taken as a current path metric value.​

[0015] In a second aspect, the present application provides a self-organizing network wireless control system based on dynamic routing and sleep scheduling, applied to the self-organizing network wireless control method based on dynamic routing and sleep scheduling as described in the first aspect or any possible design of the first aspect, which comprises: a path structure building module, configured to search the surrounding network by each powered node, broadcast the network access request packet of each powered node to the root node, and identify the node type of each powered node according to the received network access request packet of each powered node, so as to divide each powered node into a relay node and a terminal node, and form a data transmission path structure, wherein the network access request packet of each powered node comprises an initial node metric value of the powered node; a node mode selection module, configured to select the mode of each powered node in the data transmission path structure, control each terminal node to enter a sleep mode, control the root node and the relay node to enter an active mode, and set the sleep duration and the active duration of each powered node by the root node; a node mode switching module, configured to switch between the sleep mode and the active mode by the timing unit of each powered node, switch to the active mode based on the corresponding sleep duration when each powered node enters the sleep mode, and switch to the sleep mode based on the corresponding active duration or the value of the received communication task demand when each powered node enters the active mode; a routing dynamic maintenance module, configured to obtain a preset routing dynamic maintenance strategy, detect the received signal strength of the powered node when each powered node enters the active mode, update the initial node metric value of each powered node by the received signal strength of the powered node to obtain the current node metric value of each powered node, and update the data transmission path structure by the routing dynamic maintenance strategy according to the current node metric value of each powered node.

[0016] In a third aspect, the present application provides an electronic device, comprising a memory, a processor and a transceiver connected in sequence, wherein the memory is configured to store a computer program, the transceiver is configured to receive and send messages, and the processor is configured to read the computer program and execute the self-organizing network wireless control method based on dynamic routing and sleep scheduling as described in the first aspect or any possible design of the first aspect.

[0017] In a fourth aspect, the present application provides a computer readable storage medium, having stored thereon instructions which, when executed on a computer, perform the self-organizing network wireless control method based on dynamic routing and sleep scheduling according to the first aspect or any possible design of the first aspect.

[0018] In a fifth aspect, the present application provides a computer program product comprising instructions which, when executed on a computer, cause the computer to perform the self-organizing network wireless control method based on dynamic routing and sleep scheduling according to the first aspect or any possible design of the first aspect.

[0019] Beneficial effects: the application provides a self-organizing network wireless control method based on dynamic routing and sleep scheduling, which comprises the following steps: first, each powered node searches the surrounding network to broadcast the network access request packet of each powered node to the root node, the root node identifies the node type of each powered node according to the received network access request packet of each powered node, divides each powered node into a relay node and a terminal node, and forms a data transmission path structure, wherein the network access request packet of each powered node comprises an initial node metric value of the powered node; secondly, in the data transmission path structure, each powered node selects a mode, controls each terminal node to enter a sleep mode, controls the root node and the relay node to enter an active mode, and sets the sleep duration and the active duration of each powered node by using the root node; then, each powered node is timed by a timing unit to switch between the sleep mode and the active mode, when each powered node enters the sleep mode, each powered node switches to the active mode based on the corresponding sleep duration, when each powered node enters the active mode, each powered node switches to the sleep mode based on the corresponding active duration or the value of the received communication task demand; finally, a preset routing dynamic maintenance strategy is obtained, when each powered node enters the active mode, the received signal strength of the powered node is detected to update the initial node metric value of each powered node by using the received signal strength of the powered node to obtain the current node metric value of each powered node, and the data transmission path structure is updated by using the routing dynamic maintenance strategy according to the current node metric value of each powered node. Each powered node realizes communication with the root node by broadcasting the network access request packet to quickly establish a data transmission path structure, complete node deployment, and introduce a sleep scheduling mechanism to set the sleep mode and the active mode of the terminal node and the relay node, so that the terminal node is in the sleep mode most of the time, effectively reducing the power consumption of each terminal node and prolonging the normal service life of each terminal node to realize stable communication work of the wireless control system. Moreover, the real-time calculation of the current node metric value of each powered node improves the reaction speed of the wireless control system to the fault node, and the current node metric value and the routing dynamic maintenance strategy are used to update the data transmission path structure of each powered node to improve the response ability of the wireless control system to node faults. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A flowchart of the self-organizing network wireless control method based on dynamic routing and sleep scheduling provided by the embodiment of the application is shown in the figure. Figure 2 A format diagram of the network access request packet provided by the embodiment of the application is shown in the figure. Figure 3This is a schematic diagram of the topology of the data transmission path structure provided in an embodiment of the present invention; Figure 4 A functional structure diagram of an ad hoc wireless control system based on dynamic routing and sleep scheduling provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0022] It should be understood that although the terms first, second, etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the invention.

[0023] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0024] Example: like Figure 1 As shown, the first aspect of this embodiment provides a self-organizing network wireless control method based on dynamic routing and sleep scheduling, which may include, but is not limited to, the following steps: S1. Each powered-on node searches the surrounding network and broadcasts the network access request packets of each powered-on node to the root node. The root node identifies the node type of each powered-on node based on the received network access request packets of each powered-on node, so as to divide each powered-on node into relay nodes and terminal nodes, and form a data transmission path structure. Each network access request packet of the powered-on node includes the initial node metric value of the powered-on node. like Figure 2 As shown, in one possible implementation, the network access request packet of the power-on node in step S1 includes a preamble, access address, network ID, source ID, target ID, valid data, and CRC code. The preamble is formed using a fixed one-byte value to indicate the start of the network access request packet of the powered-on node. The access address is formed using a four-byte random value to represent the network address of the powered-on node accessing the root node, and all powered-on nodes have the same access address. The network ID is formed using a preset broadcast value to mark the powered-on node so that the root node can identify the powered-on node. The source ID (i.e., Figure 2 In the target ID (i.e., 0xFF), the ID of the receiving data node that each powered-on node needs to connect to is 0xFF. Figure 2 In the 0x00 section, the ID of the data transmitting node that each powered-on node needs to connect to is... Figure 2 0x03 in the code represents the number of bytes of valid data. The valid data is the network access information of each powered-on node, including the data packet type of the network access request packet of the powered-on node, the initial node metric value of the powered-on node, and the capability bit field of the powered-on node. The CRC code is the cyclic redundancy check code of each powered-on node, used to verify the correctness of the network access request packet of each powered-on node.

[0025] It should be noted that in this embodiment, the power-on node quickly completes the search for the root node by broadcasting a network access request packet, so as to facilitate the construction of the data transmission path structure. The root node determines the type of the current data packet based on the data packet type in the valid data, so as to receive the network access requests from each power-on node and complete the communication connection. The root node determines the signal reception strength of each power-on node based on the initial node metric value of the power-on node in the valid data, so as to select a suitable terminal node (the terminal node with the highest signal reception strength and the best quality) to form the main data transmission path. The root node classifies each power-on node according to the capability bit field of the power-on node in the valid data. When the capability bit field of the power-on node has relay capability, the node is defined as a relay node. When the capability bit field of the power-on node does not have relay capability, the node is defined as a terminal node.

[0026] likeFigure 3 As shown, in one possible implementation, in step S1, each powered-on node searches the surrounding network and broadcasts its network access request packet to the root node. The root node, based on the received network access request packets, identifies the node type of each powered-on node, classifying them into relay nodes and terminal nodes, and forming a data transmission path structure. This can be, but is not limited to, decomposed into the following steps S11-S14, specifically including: S11. Each powered-on node searches the surrounding network. After finding the root node, the powered-on node broadcasts a network access request packet to the root node. S12. The root node selects a matching power-on node based on the access address and network ID of the network access request packets received from each power-on node, and verifies the target ID and CRC code of each matching power-on node, so as to connect each power-on node that has passed the verification to the root node and complete the communication connection between the root node and each power-on node. S13. The root node uses the capability bit field of each power-on node in the communication connection to complete the node type identification, so as to divide each power-on node into relay nodes and terminal nodes, and forms a data transmission path lookup table according to the root node, each relay node and each terminal node, wherein the data transmission path lookup table includes multiple data transmission paths, and each data transmission path includes a main data transmission path and at least one backup data transmission path. S14. The root node matches the corresponding receiving data node and the corresponding sending data node for each powered-on node in the communication connection according to the data transmission path lookup table, so as to update the source ID and target ID of each powered-on node, so that each powered-on node completes the communication connection according to the data transmission path lookup table and forms a data transmission path structure.

[0027] It should be noted that the root node mentioned in this embodiment is... Figure 3 The coordinator in the middle, Figure 3 Routes A and B in the diagram are relay nodes. Figure 3 Terminal 1, Terminal 2, and Terminal 3 in the diagram are terminal nodes. Figure 3 The data packets in the document represent the communication task requirements. Figure 3 In the data transmission path structure, the communication path consisting entirely of a root node, relay nodes, and terminal nodes, connected entirely by solid lines, is the main data transmission path. Correspondingly, the communication path consisting of a root node, relay nodes, and terminal nodes, but not entirely connected by solid lines, is the backup data transmission path. Figure 3The number and connection mode of the nodes in the figure are only one possible implementation, and do not limit the specific node deployment mode and path connection mode.

[0028] S2. In the data transmission path structure, mode selection is performed on each of the powered nodes, each of the terminal nodes is controlled to enter a sleep mode, the root node and the relay nodes are controlled to enter an active mode, and the root node is used to set a sleep duration and an active duration for each powered node; In a possible implementation, in step S2, in the data transmission path structure, mode selection is performed on each of the powered nodes, each of the terminal nodes is controlled to enter a sleep mode, the root node and the relay nodes are controlled to enter an active mode, and the root node is used to set a sleep duration and an active duration for each powered node, which can but is not limited to be decomposed into steps S21-S24, and specifically includes: S21. In the data transmission path structure, according to the type of each powered node, a terminal node and a relay node are selected, wherein the terminal node is a terminal device, and the relay node is a router with a relay function; S22. The root node is used to respectively send a corresponding time parameter configuration data packet to each of the terminal nodes and each of the relay nodes, wherein the time parameter configuration data packet includes a sleep duration, an active duration, and a demand response duration; S23. Each of the terminal nodes and each of the relay nodes completes time parameter configuration according to the received time parameter configuration data packet; S24. Each of the terminal nodes that completes time parameter configuration is controlled to enter a sleep mode, and each of the relay nodes that completes time parameter configuration is controlled to enter an active mode.

[0029] S3. Timing is performed by a timing unit of each powered node to switch between a sleep mode and an active mode, when each powered node enters the sleep mode, each powered node switches to the active mode based on a corresponding sleep duration, and when each powered node enters the active mode, each powered node switches to the sleep mode based on a corresponding active duration or a value of a received communication task demand; In a possible implementation, each of the powered nodes includes a functional unit and a timing unit; Correspondingly, in step S3, the timing unit of each power-on node is used to time the switching between the sleep mode and the active mode, when each power-on node enters the sleep mode, each power-on node switches to the active mode based on the corresponding sleep duration, when each power-on node enters the active mode, each power-on node switches to the sleep mode based on the corresponding active duration or the value of the received communication task demand, which can be but not limited to be divided into steps S31-S32, specifically including: S31. When each of the power-on nodes enters the sleep mode, keep the timing unit of each of the power-on nodes running and close the functional unit of each of the power-on nodes, and time through the timing unit of each of the power-on nodes, so that when the running duration of the timing unit of each of the power-on nodes reaches the sleep duration, each of the power-on nodes is automatically switched to the active mode; S32. When each of the power-on nodes enters the active mode, when each of the power-on nodes enters the active mode, the functional unit of each of the power-on nodes is used to receive the communication task demand and complete the radio frequency communication and data transmission, and the timing unit of each of the power-on nodes is timed, so that when the running duration of the timing unit of each of the power-on nodes reaches the active duration or the value of the communication task demand received by the functional unit of each of the power-on nodes within the demand response duration is zero, each of the power-on nodes is automatically switched to the sleep mode, wherein the sleep duration, the active duration and the demand response duration of each of the power-on nodes are set by each of the power-on nodes according to the time parameter configuration data packet sent by the root node, and the demand response duration is less than the active duration.

[0030] In a possible implementation, before each of the power-on nodes enters the sleep mode in step S31, the following steps S3101-S3103 can be but not limited to be included: S3101. In the data transmission path structure, before each of the power-on nodes enters the sleep mode, the time information of the root node is obtained through the received time parameter configuration data packet to generate a time synchronization signal; S3102. Before each of the power-on nodes enters the sleep mode, the time synchronization signal of the root node is used to perform time synchronization processing on each of the power-on nodes to generate a sleep synchronization time for each of the power-on nodes ; S3103. Each of the power-on nodes respectively inputs the corresponding sleep synchronization time as the sleep start time into the timing unit of each of the power-on nodes, and enters the sleep mode; In step S32, when each of the power-on nodes enters the active mode, the functional units of each of the power-on nodes receive the communication task requirements, which can include but are not limited to the following steps S3201-S3204: S3201. In the data transmission path structure, each of the power-on nodes entering the active mode acquires the communication task requirements through the corresponding receiving data nodes, wherein the communication task requirements are transmitted and received in the form of data packets, and the communication task requirements include the time information of the receiving data nodes; S3202. Each of the power-on nodes entering the active mode acquires the time information of the receiving data nodes from the received communication task requirements to generate a time synchronization signal; S3203. Each of the power-on nodes entering the active mode uses the time information of the receiving data nodes to perform time synchronization processing on the power-on nodes to generate an active synchronization time for each of the power-on nodes entering the active mode respectively. S3204. Each of the power-on nodes inputs the corresponding active synchronization time as the active start time to the timing unit of each of the power-on nodes and enters the active mode.

[0031] In one possible implementation, in step S31, when the timing unit of each of the power-on nodes runs for the sleep duration, each of the power-on nodes is automatically switched to the active mode, which can include but is not limited to the following steps S311-S312, and specifically includes: S311. The timing unit of each of the power-on nodes uses the sleep synchronization time as the sleep start time, and calculates the time when each of the power-on nodes is switched to the active mode next time by using the following formula (1) in combination with the sleep duration of the power-on node: ; (1) wherein, is the time when each of the power-on nodes is switched to the active mode next time, is the sleep duration of the power-on node. S312. When the timing unit of each of the power-on nodes runs to the time when each of the power-on nodes is switched to the active mode next time , each of the power-on nodes is automatically switched to the active mode. Correspondingly, in step S32, when the running time of the timing unit of each of the powered-on nodes reaches the active duration or the amount of communication task demand received by the functional unit of each of the powered-on nodes within the demand response duration is zero, each of the powered-on nodes is automatically switched to the sleep mode, which can be but is not limited to decomposed into steps S321-S324, and specifically includes: S321. The timing unit of each of the powered-on nodes runs for the active synchronization time as the active start time, and enters the active mode; S322. The functional unit of each of the powered-on nodes receives and completes the communication task demand, and generates a corresponding demand response start time each time a communication task demand is received; S323. When the powered-on node does not receive a communication task demand within a time period with the demand response start time as the starting time and the demand response duration as the interval, it is automatically switched to the sleep mode; S324. When the powered-on node receives a communication task demand within a time period with the demand response start time as the starting time and the demand response duration as the interval, and the amount of the received communication task demand is not zero, it remains in the active mode, and according to the demand response duration of the powered-on node and the active duration of the powered-on node, the time of the next switch of the powered-on node to the sleep mode is calculated by formula (2) as follows: ; (2) wherein, is the time of the next switch of the powered-on node to the sleep mode, is the active duration of the powered-on node, and when the timing unit of each of the powered-on nodes runs to the time of the next switch of the powered-on node to the sleep mode , each of the powered-on nodes is automatically switched to the sleep mode.

[0032] It should be noted that the wireless control method provided in the embodiment enables breakthrough optimization in power consumption of all powered nodes, especially battery-powered terminal nodes, which are in a non-working state most of the time and continuously consume power without participating in actual system control work. Therefore, the embodiment uses the synchronous sleep scheduling mechanism to control the terminal nodes to enter a micro-ampere sleep mode in most of the time in the non-working state. In actual application and test, this mechanism enables the terminal nodes to be in the sleep mode more than 99% of the time in the entire working cycle and communicate only in a very short synchronization window (i.e., active time), which enables the terminal nodes powered by ordinary batteries to complete long-term stable work, greatly reduces the power consumption of the overall system, greatly improves the service life of each terminal node, reduces the maintenance cost and energy consumption of the system, and enables large-scale ad hoc networks to realize long-term stable normal operation in unattended scenarios.

[0033] S4. Obtain a preset routing dynamic maintenance strategy, detect the received signal strength of the powered node when each powered node enters the active mode, update the initial node metric value of each powered node by using the received signal strength of the powered node, obtain the current node metric value of each powered node, and update the data transmission path structure by using the routing dynamic maintenance strategy according to the current node metric value of each powered node.

[0034] It should be noted that the wireless control method in the embodiment uses a dynamic on-demand multi-path routing protocol to update the data transmission path structure. Specifically, when a fault node (the received signal strength of a certain powered node is attenuated or continuous communication fails) occurs in the data transmission main path in the data transmission path structure, the method can quickly repair the fault node through the routing dynamic maintenance strategy, and when the repair fails, an optimal data transmission backup path is automatically and quickly selected based on the node metric value of each powered node to replace the original data transmission main path, thereby ensuring the continuity and high reliability of communication and effectively avoiding network "islandization". This efficient routing dynamic maintenance strategy combined with the stable sleep scheduling mechanism significantly reduces the processing time and waiting time of data packets in multi-hop transmission, ensures ultra-low power consumption, realizes low-delay communication that meets most real-time needs, and improves the reliability and real-time performance of wireless control.

[0035] In a possible implementation, in step S4, the routing dynamic maintenance strategy includes: In the data transmission main path of the data transmission path structure, when each powered node entering the active mode receives the communication task demand, the powered node detects the received signal strength of the powered node, and when the received signal strength detected by the powered node decays or the powered node continuously fails in communication, the powered node is determined as a faulty node; The faulty node is locally repaired by using the frequency hopping technology, and the faulty node after local repair is sent a communication task demand, the received signal strength of the faulty node after local repair is detected, and whether the local repair is successful is determined according to the received signal strength of the faulty node after local repair; If yes, the data transmission main path is updated by using the faulty node after local repair, and the updated data transmission main path is used to complete communication, and if no, the communication of the data transmission main path is disconnected, a data transmission backup path of the data transmission main path is selected according to the data transmission path structure, and the data transmission backup path is used to complete communication.

[0036] In a possible implementation, in step S4, when each powered node enters the active mode, the received signal strength of the powered node is detected to update the initial node metric value of each powered node by using the received signal strength of the powered node to obtain the current node metric value of each powered node, which can be but is not limited to decomposed into steps S41-S44, and specifically includes: S41. When each powered node entering the active mode receives the communication task demand, the powered node detects the received signal strength of the powered node, and the current node metric value of the current powered node is calculated according to the received signal strength of the current powered node; S42. The current node metric value of the current powered node is calculated by the following formula (3) : ; (3) Wherein, and are preset weight parameters, and and are 1, is the node metric value of the received data node obtained by the current powered node from the received data node, is the received signal strength of the current powered node; S43. If the current powered node is a relay node, the current node metric value of the current powered node is sent to the corresponding sending data node; S44. If the current powered node is a terminal node, the current node metric value of the current powered node is taken as the current path metric value.

[0037] It should be noted that the sleep scheduling mechanism in the embodiment is efficient and has strong anti-interference ability, because in the embodiment, each powered node communicates through a unified data packet format, improving the efficiency of data processing and reducing communication costs. In combination with the optional frequency hopping technology, it can effectively avoid interference in a complex 2.4GHz wireless environment and maintain stable communication performance, thereby fully meeting the comprehensive requirements of low power consumption, high reliability, low delay and easy deployment for modern Internet of Things applications.

[0038] As shown in Figure 4 The second aspect of the embodiment provides a hardware system for implementing the self-organizing network wireless control method based on dynamic routing and sleep scheduling in the first aspect of the embodiment, which comprises: A path structure building module is configured to search the surrounding network through each powered node, broadcast the network access request packet of each powered node to the root node, and identify the node type of each powered node according to the received network access request packet of each powered node, so as to divide each powered node into a relay node and a terminal node and form a data transmission path structure, wherein the network access request packet of each powered node includes an initial node metric value of the powered node. A node mode selection module is configured to select the mode of each powered node in the data transmission path structure, control each terminal node to enter the sleep mode, control the root node and the relay node to enter the active mode, and set the sleep duration and the active duration of each powered node by using the root node. A node mode switching module is configured to switch between the sleep mode and the active mode by the timing unit of each powered node, switch to the active mode based on the corresponding sleep duration when each powered node enters the sleep mode, and switch to the sleep mode based on the corresponding active duration or the value of the received communication task demand when each powered node enters the active mode. A routing dynamic maintenance module is configured to obtain a preset routing dynamic maintenance strategy, detect the received signal strength of the powered node when each powered node enters the active mode, update the initial node metric value of each powered node by using the received signal strength of the powered node to obtain the current node metric value of each powered node, and update the data transmission path structure by using the routing dynamic maintenance strategy according to the current node metric value of each powered node.

[0039] It should be noted that the wireless control system provided in this embodiment supports plug-and-play functionality. New powered-on nodes can automatically search for and join the network at any time, updating the data transmission path structure in real time without any manual configuration or node deployment. The addition of new powered-on nodes or the removal of old nodes will not disrupt the overall network functionality. It can automatically complete network reconstruction and route updates, possessing excellent scalability from a dozen to hundreds of powered-on nodes. It is highly suitable for large-scale self-organizing network control and has extremely strong compatibility.

[0040] The working process, working details and technical effects of the system provided in this embodiment can be found in the first aspect of the embodiment, and will not be repeated here.

[0041] like Figure 5 As shown, the third aspect of this embodiment provides an electronic device, including: a memory, a processor, and a transceiver that are sequentially and communicatively connected, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the self-organizing network wireless control method based on dynamic routing and sleep scheduling as described in the first aspect of the embodiment.

[0042] For specific examples, the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out (FIFO) memory, and / or first-in-last-out (FILO) memory, etc.; specifically, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor, also known as the CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state.

[0043] In some embodiments, the processor can be integrated with a GPU (Graphics Processing Unit) that is responsible for rendering and drawing the content required to be displayed on the display screen, for example, the processor can not be limited to a microprocessor with an Arm (Advanced RISC Machine) core, a reduced instruction set computer (RISC) microprocessor (preferably with Risc-V), an X86 architecture processor, or a processor integrated with an embedded neural network processing unit (NPU); the transceiver can be but not limited to a wireless fidelity (WIFI) wireless transceiver, a Bluetooth wireless transceiver, a general packet radio service technology (GPRS) wireless transceiver, a ZigBee wireless transceiver, a 3G transceiver, a 4G transceiver, and / or a 5G transceiver, etc. In addition, the device can also include but not limited to a power module, a display screen and other necessary components.

[0044] The working process, working details and technical effects of the electronic device provided in the embodiment can be referred to the first aspect of the embodiment, and will not be repeated here.

[0045] The fourth aspect of the embodiment provides a storage medium storing instructions of the self-organizing network wireless control method based on dynamic routing and sleep scheduling in the first aspect of the embodiment, that is, the storage medium stores instructions, and when the instructions run on a computer, the self-organizing network wireless control method based on dynamic routing and sleep scheduling in the first aspect of the embodiment is executed.

[0046] The storage medium refers to a carrier for storing data, which can include but is not limited to floppy disks, optical disks, hard disks, flash memories, USB flash disks, and / or memory sticks, etc., and the computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0047] The working process, working details and technical effects of the storage medium provided in the embodiment can be referred to the first aspect of the embodiment, and will not be repeated here.

[0048] The fifth aspect of the embodiment provides a computer program product containing instructions, which, when executed on a computer, cause the computer to perform the self-organizing network wireless control method based on dynamic routing and sleep scheduling as described in the first aspect of the embodiment, wherein the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.

[0049] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A self-organizing network wireless control method based on dynamic routing and sleep scheduling, characterized in that, include: Each powered-on node searches the surrounding network and broadcasts its network access request packet to the root node. The root node identifies the node type of each powered-on node based on the received network access request packets, classifying them into relay nodes and terminal nodes, and forming a data transmission path structure. Each network access request packet of a powered-on node includes the initial node metric value of the powered-on node. In the data transmission path structure, mode selection is performed on each of the powered-on nodes, each of the terminal nodes is controlled to enter sleep mode, the root node and the relay node are controlled to enter active mode, and the root node is used to set the sleep duration and active duration for each powered-on node. The timing unit of each powered-on node performs timing to switch between sleep mode and active mode. When each powered-on node enters the sleep mode, it switches to the active mode based on the corresponding sleep duration. When each powered-on node enters the active mode, it switches to the sleep mode based on the corresponding active duration or the amount of communication task required by the received data. A preset dynamic routing maintenance strategy is obtained. When each powered-on node enters the active mode, the received signal strength of the powered-on node is detected. The initial node metric value of each powered-on node is updated using the received signal strength of the powered-on node to obtain the current node metric value of each powered-on node. Based on the current node metric value of each powered-on node, the data transmission path structure is updated using the dynamic routing maintenance strategy.

2. The self-organizing network wireless control method based on dynamic routing and sleep scheduling according to claim 1, characterized in that, The network access request packet of the powered-on node includes a preamble, access address, network ID, source ID, target ID, valid data, and CRC code; The preamble is formed by a fixed one-byte value to indicate the start of the network access request packet of the powered-on node. The access address is formed by a random four-byte value to represent the network address of the powered-on node accessing the root node, and all powered-on nodes have the same access address. The network ID is formed by a preset broadcast value to mark the powered-on node so that the root node can identify the powered-on node. The source ID is the ID of the receiving data node that each powered-on node needs to access. The target ID is the ID of the sending data node that each powered-on node needs to access. The valid data is the network access information of each powered-on node, including the data packet type of the network access request packet of the powered-on node, the initial node metric value of the powered-on node, and the capability bit field of the powered-on node. The CRC code is the cyclic redundancy check code of each powered-on node to verify the correctness of the network access request packet of each powered-on node.

3. The self-organizing network wireless control method based on dynamic routing and sleep scheduling according to claim 2, characterized in that, Each powered-on node searches the surrounding network and broadcasts its network access request packet to the root node. The root node, based on the received network access request packets, identifies the node type of each powered-on node, classifying them into relay nodes and terminal nodes, and forming a data transmission path structure, including: Each powered-on node searches the surrounding network, and after finding the root node, the powered-on node broadcasts a network access request packet to the root node. The root node selects a matching power-on node based on the access address and network ID of the network access request packets received from each power-on node, and verifies the target ID and CRC code of each matching power-on node, so as to connect each power-on node that passes the verification to the root node and complete the communication connection between the root node and each power-on node. The root node uses the capability bit field of each power-on node in the communication connection to complete the node type identification, so as to divide each power-on node into relay nodes and terminal nodes, and forms a data transmission path lookup table according to the root node, each relay node and each terminal node. The data transmission path lookup table includes multiple data transmission paths, and each data transmission path includes a main data transmission path and at least one backup data transmission path. The root node matches the corresponding receiving data node and the corresponding sending data node for each powered-on node in the communication connection according to the data transmission path lookup table, so as to update the source ID and target ID of each powered-on node, so that each powered-on node completes the communication connection according to the data transmission path lookup table and forms a data transmission path structure.

4. The self-organizing network wireless control method based on dynamic routing and sleep scheduling according to claim 1, characterized in that, In the data transmission path structure, mode selection is performed on each powered-on node, each terminal node is controlled to enter sleep mode, and the root node and the relay node are controlled to enter active mode. The root node is used to set the sleep duration and active duration for each powered-on node, including: In the data transmission path structure, terminal nodes and relay nodes are selected according to the type of each powered-on node, wherein the terminal node is a terminal device and the relay node is a router with relay function; Using the root node, corresponding time parameter configuration data packets are sent to each terminal node and each relay node, wherein the time parameter configuration data packets include sleep duration, active duration and demand response duration; Each terminal node and each relay node completes the time parameter configuration by configuring the data packet according to the received time parameter. Each terminal node that has completed the time parameter configuration is controlled to enter a sleep mode, and each relay node that has completed the time parameter configuration is controlled to enter an active mode.

5. The self-organizing network wireless control method based on dynamic routing and sleep scheduling according to claim 4, characterized in that, Each of the aforementioned power-on nodes includes a functional unit and a timing unit; Accordingly, timing is performed by the timing unit of each powered-on node to switch between sleep mode and active mode. When each powered-on node enters the sleep mode, it switches to the active mode based on the corresponding sleep duration. When each powered-on node enters the active mode, it switches to the sleep mode based on the corresponding active duration or the amount of communication task demand received. This includes: When each of the power-on nodes enters the sleep mode, the timing unit of each power-on node is kept running while the functional unit of each power-on node is turned off. The timing unit of each power-on node is used to keep track of time so that when the running time of the timing unit of each power-on node reaches the sleep time, each power-on node is automatically switched to the active mode. When each of the powered-on nodes enters the active mode, it utilizes the functional units of each powered-on node to receive communication task requests and complete radio frequency communication and data transmission. It also uses the timing units of each powered-on node to keep track of time. When the running time of the timing units of each powered-on node reaches the active duration or the amount of communication task requests received by the functional units of each powered-on node within the request response duration is zero, each powered-on node is automatically switched to sleep mode. The sleep duration, active duration, and request response duration of each powered-on node are set by each powered-on node according to the time parameter configuration data packet sent by the root node, and the request response duration is less than the active duration.

6. The self-organizing network wireless control method based on dynamic routing and sleep scheduling according to claim 5, characterized in that, Before each of the power-on nodes enters the sleep mode, the following is also included: In the data transmission path structure, before entering sleep mode, each powered-on node obtains the time information of the root node by receiving the time parameter configuration data packet, so as to generate a time synchronization signal. Before entering sleep mode, each powered-on node uses the time information from the root node to perform time synchronization processing on each powered-on node, thereby generating a sleep synchronization time for each powered-on node. ; Each power-on node will record the corresponding sleep synchronization time. As the start time for hibernation, the timing unit of each power-on node is input, and the hibernation mode is entered. When each of the powered-on nodes enters the active mode, when the functional unit of each powered-on node receives a communication task request, the method further includes: In the data transmission path structure, each power-on node that enters the active mode obtains the communication task requirements through the corresponding receiving data node. The communication task requirements are transmitted and received in the form of data packets, and the communication task requirements include the time information of the receiving data node. Each powered-on node that enters active mode obtains the time information of the receiving data node from the received communication task request in order to generate a time synchronization signal; Each power-on node entering active mode uses the time information from the receiving data node to perform time synchronization processing on the power-on node, thereby generating an active synchronization time for each power-on node entering active mode. ; Each power-on node will record the corresponding active synchronization time. As the active start time, the timing unit of each power-on node is input, and the active mode is entered.

7. The self-organizing network wireless control method based on dynamic routing and sleep scheduling according to claim 6, characterized in that, When the running time of the timing unit of each of the power-on nodes reaches the sleep time, each of the power-on nodes will be automatically switched to active mode, including: The timing units of each of the power-on nodes synchronize with the sleep time. As the sleep start time, combined with the sleep duration of the powered-on nodes, the time for each powered-on node to switch to active mode next is calculated using the following formula (1): ；（1） in, The time when the powered-on node will next switch to active mode. The sleep duration of the powered-on node; The timing unit of each power-on node runs until the time when the power-on node switches to active mode next. At that time, each of the power-on nodes automatically switches to active mode; Accordingly, when the running time of the timing unit of each power-on node reaches the active duration or the number of communication task requests received by the functional unit of each power-on node within the demand response duration is zero, each power-on node will be automatically switched to sleep mode, including: The timing units of each of the power-on nodes synchronize with the active synchronization time. Enter active mode as the start time for active activity; The functional units of each powered-on node are used to receive and complete communication task requirements, and a corresponding requirement response start time is generated each time a communication task requirement is received. If the powered-on node does not receive a communication task request within a time period starting from the start time of the request response and including the duration of the request response, it will automatically switch to sleep mode. If the amount of communication task requests received by the powered-on node is not zero within a time period of the demand response start time and the demand response duration, the node remains in active mode. Based on the demand response duration and the active duration of the powered-on node, the time for the next switch to sleep mode is calculated using the following formula (2): ；（2） in, The time when the powered-on node will next switch to sleep mode. The active duration of the powered-on node, and the time when the timing unit of each powered-on node runs until the next time the powered-on node switches to sleep mode. When this happens, each of the powered-on nodes automatically switches to sleep mode.

8. The self-organizing network wireless control method based on dynamic routing and sleep scheduling according to claim 3, characterized in that, The dynamic routing maintenance strategy includes: In the main data transmission path of the data transmission path structure, when each powered-on node that has entered the active mode receives the communication task request, it detects the received signal strength of the powered-on node, and determines the powered-on node as a faulty node when the received signal strength detected by the powered-on node attenuates or the powered-on node experiences continuous communication failures. Frequency hopping technology is used to perform local repair on the faulty node; a communication task request is sent to the partially repaired faulty node, the received signal strength of the partially repaired faulty node is detected, and the repair is determined based on the received signal strength of the partially repaired faulty node. If so, the faulty node that has been partially repaired is used to update the main data transmission path, and the updated main data transmission path is used to complete communication. If not, the communication of the main data transmission path is disconnected, and a backup data transmission path is selected according to the data transmission path structure, and the backup data transmission path is used to complete communication.

9. The self-organizing network wireless control method based on dynamic routing and sleep scheduling according to claim 1, characterized in that, When each powered-on node enters the active mode, the received signal strength of the powered-on node is detected, and the initial node metric value of each powered-on node is updated using the received signal strength of the powered-on node to obtain the current node metric value of each powered-on node, including: When each powered-on node that has entered the active mode receives the communication task request, it detects the received signal strength of the powered-on node and calculates the current node metric value of the current powered-on node based on the received signal strength of the current powered-on node. The current node metric value of the current powered-on node is calculated using the following formula (3). : ；（3） in, and The weight parameters are preset, and and The sum of is 1. This is the node metric value obtained by the currently powered-on node from the receiving data node. The received signal strength of the currently powered-on node; If the currently powered-on node is a relay node, then the current node metric value of the currently powered-on node is sent to the corresponding sending data node; If the currently powered-on node is an end node, then the current node metric of the currently powered-on node will be used as the current path metric.

10. A self-organizing network wireless control system based on dynamic routing and sleep scheduling, characterized in that, The method for ad hoc network radio control based on dynamic routing and sleep scheduling as described in any one of claims 1 to 9 includes: The path structure building module is used to search the surrounding network through each powered-on node, and broadcast the network access request packets of each powered-on node to the root node. The root node identifies the node type of each powered-on node according to the network access request packets received from each powered-on node, so as to divide each powered-on node into relay nodes and terminal nodes, and form a data transmission path structure. Each network access request packet of the powered-on node includes the initial node metric value of the powered-on node. The node mode selection module is used to select the mode of each power-on node in the data transmission path structure, control each terminal node to enter the sleep mode, control the root node and the relay node to enter the active mode, and use the root node to set the sleep duration and active duration of each power-on node. The node mode switching module is used to switch between sleep mode and active mode by timing the timer unit of each powered-on node. When each powered-on node enters the sleep mode, each powered-on node switches to the active mode based on the corresponding sleep duration. When each powered-on node enters the active mode, each powered-on node switches to the sleep mode based on the corresponding active duration or the amount of communication task required by the received data. The routing dynamic maintenance module is used to obtain a preset routing dynamic maintenance strategy. When each powered-on node enters the active mode, it detects the received signal strength of the powered-on node, updates the initial node metric value of each powered-on node using the received signal strength of the powered-on node, obtains the current node metric value of each powered-on node, and updates the data transmission path structure using the routing dynamic maintenance strategy based on the current node metric value of each powered-on node.

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