Ultra-wideband-based equipment working condition sensing signal wireless transmission method and electronic device

Abstract

The application discloses an equipment working condition sensing signal wireless transmission method based on ultra-wideband and an electronic device, and is applied to an ultra-wideband signal sending end. The method comprises the following steps: in a current superframe period, after waiting for a first waiting time length, a first data message of the ultra-wideband signal sending end is sent; if a second data message is received, a sending end timestamp synchronization source number of a next superframe period, a sending end last synchronization time of the next superframe period and a sending end current timestamp of the next superframe period are determined; based on the sending end timestamp synchronization source number of the next superframe period, the sending end last synchronization time of the next superframe period, the sending end current timestamp of the next superframe period and a sensor data frame of the next superframe period, a data message to be sent of the ultra-wideband signal sending end in the next superframe period is generated. In this way, orderly transmission and high-reliability reception in multi-node ultra-wideband communication are realized.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a wireless transmission method and electronic device for equipment condition sensing signals based on ultra-wideband. Background Technology

[0002] The demand for real-time data transmission in industrial automation is increasing, especially in multi-node data acquisition scenarios in complex environments. With the advancement of Industry 4.0 and smart manufacturing, traditional wired communication methods face challenges such as complex wiring, high maintenance costs, and poor flexibility, while traditional wireless communication technologies such as WiFi and Bluetooth are insufficient in terms of low power consumption, real-time performance, and anti-interference capabilities.

[0003] Ultra-wideband (UWB) technology, as an emerging wireless communication technology, has shown great potential in the field of industrial automation due to its significant characteristics such as low latency, low power consumption, strong anti-interference capabilities, and centimeter-level positioning accuracy. Operating in an ultra-wide frequency band of 3.1 GHz to 10.6 GHz with a signal bandwidth of at least 500 MHz, UWB possesses many unique advantages. Compared to traditional narrowband wireless technologies, UWB technology can provide more reliable communication connections and higher data transmission efficiency in complex industrial environments.

[0004] In industrial automation scenarios, the operating conditions of large equipment, such as the rotation angle of joints and the displacement of links, need to be fed back to the control terminal or back-end system in real time. As a key sensor for collecting this operating condition information, encoders can cause data delays and conflicts when multiple sensors (such as encoders) need to communicate with the control system simultaneously. This can be due to traditional polling or contention-based communication methods. Summary of the Invention

[0005] In view of this, embodiments of this application provide a wireless transmission method and electronic device for equipment condition sensing signals based on ultra-wideband, which aims to solve the problems of signal transmission conflicts and data transmission delays caused by multiple sensors (encoders) simultaneously performing ultra-wideband communication in complex industrial environments, thereby realizing orderly transmission and highly reliable reception of multi-node signals and improving the overall real-time performance and stability of the system.

[0006] The technical solution of this application embodiment is implemented as follows: In a first aspect, embodiments of this application provide a wireless transmission method for equipment condition sensing signals based on ultra-wideband (UWB), applied to an UWB signal transmitter, wherein there is at least one UWB signal transmitter, and the at least one UWB signal transmitter is connected one-to-one with at least one sensor of the equipment in operation. The method includes: Within the current superframe period, if the ultra-wideband signal transmitter is in a wake-up state, it is determined whether the transmitter time slot allocation value of the ultra-wideband signal transmitter is empty. If so, the first data packet is immediately sent. If not, a first waiting time is generated based on the transmitter time slot allocation value, the millisecond portion of the current timestamp of the ultra-wideband signal transmitter, the time slot for wireless transmission of the sensor signal, and the current superframe period. After waiting for the first waiting time, the first data packet of the ultra-wideband signal transmitter is sent. The first data packet includes: transmitter number, transmitter current timestamp, transmitter timestamp synchronization source number, first target receiver number, and sensor data frame. If a second data packet is received from the first ultra-wideband signal receiver after a second waiting period, then in response to the second data packet, the comparison result between the receiving end timestamp synchronization source number of the first ultra-wideband signal receiver and the transmitting end timestamp synchronization source number of the ultra-wideband signal transmitter, and the consistency comparison result between the transmitting end number of the ultra-wideband signal transmitter and the second target transmitting end number of the first ultra-wideband signal receiver are determined; wherein, the first ultra-wideband signal receiver is an ultra-wideband signal receiver that only receives the first data packet; the second data packet includes: receiver number, current timestamp of the receiver, receiving end timestamp synchronization source number, second target transmitting end number, and sensor data frame reception status; wherein, the second target The sender number is the sender number of the first data packet; the second waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal of the ultra-wideband signal transmitter and the receiver number of the first ultra-wideband signal receiver; the sender timestamp synchronization source number of the ultra-wideband signal transmitter, the most recent synchronization time of the ultra-wideband signal transmitter, the current timestamp of the ultra-wideband signal transmitter, and the size comparison result are used to determine the sender timestamp synchronization source number, the most recent synchronization time, and the current timestamp of the sender in the next superframe period; the sensor data frame in the next superframe period is determined based on the consistency comparison result and the sensor data frame reception status. Based on the transmitter timestamp synchronization source number of the next superframe period, the transmitter's most recent synchronization time of the next superframe period, the transmitter's current timestamp of the next superframe period, and the sensor data frame of the next superframe period, a data packet to be transmitted by the ultra-wideband signal transmitter in the next superframe period is generated.

[0007] In some embodiments, the method further includes: If a third data packet is received indicating that the second ultra-wideband (UWB) signal receiver is waiting for a third waiting period, then in response to the third data packet, the following comparison results are determined: the size comparison result between the receiving end timestamp synchronization source number of the second UWB signal receiver and the transmitting end timestamp synchronization source number of the UWB signal transmitter, and the consistency comparison result between the transmitting end number of the UWB signal transmitter and the third target transmitting end number of the second UWB signal receiver. The second UWB signal receiver is an UWB signal receiver that simultaneously receives the first data packet and other data packets replied by other UWB receivers. The third data packet includes: receiver number, current timestamp of the receiver, receiving end timestamp synchronization source number, third target transmitting end number, and sensor data frame reception status. The third waiting period is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal of the UWB signal transmitter and the receiver number of the first UWB signal receiver. Based on the transmitter timestamp synchronization source number of the ultra-wideband signal transmitter, the transmitter's most recent synchronization time, the transmitter's current timestamp, and the size comparison result, the transmitter timestamp synchronization source number, the transmitter's most recent synchronization time, and the transmitter's current timestamp for the next superframe period are determined; based on the consistency comparison result and the sensor data frame reception status, the sensor data frame for the next superframe period is determined. Based on the transmitter timestamp synchronization source number of the next superframe period, the transmitter's most recent synchronization time of the next superframe period, the transmitter's current timestamp of the next superframe period, and the sensor data frame of the next superframe period, a data packet to be transmitted by the ultra-wideband signal transmitter in the next superframe period is generated.

[0008] In some embodiments, the method further includes: Obtain the duration of stillness at the ultra-wideband signal transmitter; Determine whether the continuous static time is greater than or equal to the sleep buffer period of the ultra-wideband signal transmitter. If yes, determine that the ultra-wideband signal transmitter is in a sleep state; if no, determine that the ultra-wideband signal transmitter is in the wake-up state.

[0009] In some embodiments, generating a first waiting duration based on the transmitter time slot allocation value, the millisecond portion of the current timestamp of the ultra-wideband signal transmitter, the time slot for wireless transmission of the sensor signal, and the current superframe period includes: Determine whether the time slot allocation value of the transmitting end, the millisecond part of the current timestamp of the ultra-wideband signal transmitting end, the time slot of the wireless transmission of the sensor signal, and the current superframe period meet the set conditions. If so, calculate the time slot allocation value of the transmitting end, the millisecond part of the current timestamp of the ultra-wideband signal transmitting end, the time slot of the wireless transmission of the sensor signal, and the current superframe period based on the first calculation rule to generate the first waiting time. If not, the first waiting time is generated by calculating the time slot allocation value of the transmitting end, the millisecond part of the current timestamp of the ultra-wideband signal transmitting end, the time slot of the wireless transmission of the sensor signal, and the current superframe period based on the second calculation rule. The time slot for wireless transmission of sensor signals is calculated based on a third calculation rule, taking into account the maximum total number of ultra-wideband signal receivers and the time required for a single unidirectional wireless transmission and parsing of sensor signals at the ultra-wideband signal transmitter. The current superframe period is calculated based on a fourth calculation rule, taking into account the total number of ultra-wideband signal receivers, the total number of ultra-wideband signal transmitters, and the time required for a single unidirectional wireless transmission and parsing of sensor signals at the ultra-wideband signal transmitter. The setting condition is: tm-int(tm / T)×T≤t1×(x-1). The first calculation rule is: ts = t1 × (x - 1) - (tm – int(tm / T) × T); The second calculation rule is: ts = t1 × x - (tm – int(tm / T) × T); The third calculation rule is: t1 = (1 + M) × t0; The fourth calculation rule is T = (1 + M) × t0 × N; Where tm is the millisecond portion of the current timestamp of the ultra-wideband signal transmitter, T is the current superframe period of the wireless transmission of the sensor signal, x is the time slot allocation value of the ultra-wideband signal transmitter, t1 is the time slot of the wireless transmission of the sensor signal, ts is the first waiting time, t0 is the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter, M is the total number of ultra-wideband signal receivers, N is the total number of ultra-wideband signal transmitters, and int() is the rounding function.

[0010] In some embodiments, the method further includes: Determine whether the difference between the timestamp synchronization source number of the sending end and the most recent synchronization time of the sending end is greater than or equal to the timestamp synchronization source number reset buffer duration. If so, reset the timestamp synchronization source number of the sending end to the sending end number, and set the most recent synchronization time of the sending end to the current timestamp of the sending end.

[0011] In some embodiments, determining the transmitter timestamp synchronization source number, the most recent synchronization time, and the current timestamp of the transmitter in the next superframe period based on the transmitter timestamp synchronization source number, the transmitter timestamp synchronization source number, the transmitter timestamp synchronization time, and the size comparison result of the ultra-wideband signal transmitter includes: If the size comparison result is that the sending end timestamp synchronization source number is greater than the receiving end timestamp synchronization source number, then the sending end timestamp synchronization source number of the next superframe period is set to the receiving end timestamp synchronization source number; the most recent synchronization time of the sending end in the next superframe period is set to the current timestamp of the receiving end; and the current timestamp of the sending end in the next superframe period is set to the current timestamp of the receiving end. The step of determining the sensor data frame for the next superframe period based on the consistency comparison result and the sensor data frame reception status includes: If the consistency comparison result is consistent and the sensor data frame reception status is failure, then the sensor data frame of the next superframe period is determined to be the sensor data frame of the current superframe period. If the consistency comparison result is inconsistent, or the sensor data frame reception status is successful, then the sensor data frame of the next superframe period is determined to be the sensor data frame to be collected.

[0012] Secondly, embodiments of this application provide a wireless transmission method for equipment condition sensing signals based on ultra-wideband (UWB), applied to an UWB signal receiver, wherein the UWB signal receiver is at least one, and the method includes: The system receives a first data packet sent by an ultra-wideband signal transmitter. The first data packet includes: transmitter number, current timestamp of the transmitter, timestamp synchronization source number of the transmitter, first target receiver number, and sensor data frame. The first data packet is a data packet sent immediately by the ultra-wideband transmitter in the wake-up state or sent after waiting for a first waiting time within the current superframe period. Determine whether other data packets sent by other ultra-wideband signal receivers are received simultaneously. If not, determine that the current ultra-wideband signal receiver is the first ultra-wideband signal receiver. In response to the first data packet, determine that the timestamp synchronization source number of the sending end is less than the timestamp synchronization source number of the receiving end of the first ultra-wideband signal receiver. Then, set the timestamp synchronization source number of the receiving end of the first ultra-wideband signal receiver to the timestamp synchronization source number of the sending end. Set the most recent synchronization time of the receiving end of the first ultra-wideband signal receiver to the current timestamp of the sending end. Based on the first consistency comparison result between the current value of the transmitter time slot allocation table of the first ultra-wideband signal receiver and the transmitter number, and the second consistency comparison result between the receiver number of the first ultra-wideband signal receiver and the first target receiver number, the sensor data frame reception status of the first ultra-wideband signal receiver is determined; the transmitter time slot allocation table includes the correspondence between the transmitter number and the time slot allocation value. A second data packet is generated based on the receiver ID of the first ultra-wideband signal receiver, the current timestamp of the receiver, the timestamp synchronization source ID of the receiver, the second target transmitter ID of the first ultra-wideband signal receiver, and the sensor data frame reception status. A second waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal at the ultra-wideband signal transmitter and the receiver ID of the first ultra-wideband signal receiver. After waiting for the second waiting time, the second data packet is sent. The second target receiver ID is the transmitter ID.

[0013] In some embodiments, the method further includes: If other data packets are received simultaneously from other ultra-wideband signal receivers, the current ultra-wideband signal receiver is determined to be the second ultra-wideband signal receiver. In response to the other data packets, the receiver timestamp synchronization source number of the second ultra-wideband signal receiver is set to the other receiver timestamp synchronization source number of the other data packets; the most recent synchronization time of the second ultra-wideband signal receiver is set to the receiver's current timestamp in the other data packets; and the receiver's current timestamp of the second ultra-wideband signal receiver is set to the receiver's current timestamp of the other data packets. Based on the first consistency comparison result of the value of the transmitter time slot allocation table of the second ultra-wideband signal receiver at the current time with the transmitter number and the second consistency comparison result of the receiver number of the second ultra-wideband signal receiver with the target receiver number in the first data packet, the sensor data frame reception status of the second ultra-wideband signal receiver is determined. A third data packet is generated based on the receiver number of the second ultra-wideband signal receiver, the timestamp synchronization source number of the receiver, the current timestamp of the receiver, the third target transmitter number of the second ultra-wideband signal receiver, and the sensor data frame reception status. A third waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter and the receiver number of the second ultra-wideband signal receiver. After waiting for the third waiting time, the third data packet is sent. The third target transmitter number is the transmitter number in the first data packet.

[0014] In some embodiments, determining the sensor data frame reception status of the first ultra-wideband signal receiver based on a first consistency comparison result between the current value of the transmitter time slot allocation table of the first ultra-wideband signal receiver and the transmitter number, and a second consistency comparison result between the receiver number of the first ultra-wideband signal receiver and the first target receiver number, includes: If the first consistency comparison result is consistent and the second consistency comparison result is consistent, the sensor data frame reception status is determined to be successful. If the first consistency comparison result is consistent and the second consistency comparison result is inconsistent, the sensor data frame reception status is determined to be ignored; If the first consistency comparison result is inconsistent and the second consistency comparison result is consistent, the sensor data frame reception status is determined to be failed. If the first consistency comparison result is inconsistent and the second consistency comparison result is inconsistent, the sensor data frame reception status is determined to be ignored.

[0015] In some embodiments, the method further includes: Determine whether the difference between the receiver timestamp synchronization source number and the most recent synchronization time of the first ultra-wideband signal receiver is greater than or equal to the set timestamp synchronization source number reset buffer duration. If so, reset the receiver timestamp synchronization source number of the first ultra-wideband signal receiver to the receiver number of the first ultra-wideband signal receiver, and set the most recent synchronization time of the first ultra-wideband signal receiver to the current timestamp of the first ultra-wideband signal receiver.

[0016] Thirdly, this application provides an ultra-wideband signal transmitting device, wherein there is at least one ultra-wideband signal transmitting device, and the at least one ultra-wideband signal transmitting device is connected to at least one sensor of the operating equipment in a one-to-one correspondence. The device includes: Microcontroller unit; An ultra-wideband radio frequency module is electrically connected to the microcontroller unit, wherein the microcontroller unit is used in the method described in the first aspect above.

[0017] Fourthly, embodiments of this application provide an ultra-wideband signal receiving device, wherein the ultra-wideband signal receiving device is at least one, and the device includes: Microcontroller unit; An ultra-wideband radio frequency module is electrically connected to the microcontroller unit, wherein the microcontroller unit is used to execute the method described in the second aspect above.

[0018] This application provides a method for wireless transmission of equipment condition sensing signals based on ultra-wideband (UWB). The method is applied to an UWB signal transmitter, which is at least one, and each UWB signal transmitter is connected to at least one sensor of the equipment in a one-to-one correspondence. The method includes: within the current superframe period, if the UWB signal transmitter is in a wake-up state, determining whether the transmitter time slot allocation value of the UWB signal transmitter is empty; if so, immediately sending a first data packet; if not, generating a second data packet based on the transmitter time slot allocation value, the millisecond portion of the current timestamp of the UWB signal transmitter, the time slot for wireless transmission of the sensor signal, and the current superframe period. A waiting period is defined; after the first waiting period, a first data packet from the ultra-wideband signal transmitter is sent; the first data packet includes: transmitter number, transmitter current timestamp, transmitter timestamp synchronization source number, first target receiver number, and sensor data frame; if a second data packet is received from the first ultra-wideband signal receiver after a second waiting period, then in response to the second data packet, the comparison result between the receiver timestamp synchronization source number of the first ultra-wideband signal receiver and the transmitter timestamp synchronization source number of the ultra-wideband signal transmitter, and the comparison between the transmitter number of the ultra-wideband signal transmitter and the second target transmitter number of the first ultra-wideband signal receiver are determined. Consistency comparison results; wherein, the first ultra-wideband signal receiver is the ultra-wideband signal receiver that only received the first data packet; the second data packet includes: receiver number, receiver current timestamp, receiver timestamp synchronization source number, second target transmitter number, and sensor data frame reception status; wherein, the second target transmitter number is the transmitter number of the first data packet; the second waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal of the ultra-wideband signal transmitter and the receiver number of the first ultra-wideband signal receiver; based on the transmitter timestamp synchronization source number of the ultra-wideband signal transmitter and the transmitter's most recent... Based on the synchronization time, the current timestamp of the UWB signal transmitter, and the size comparison result, the transmitter timestamp synchronization source number, the most recent synchronization time, and the current timestamp of the transmitter in the next superframe period are determined. Based on the consistency comparison result and the sensor data frame reception status, the sensor data frame for the next superframe period is determined. Based on the transmitter timestamp synchronization source number, the most recent synchronization time, the current timestamp, and the sensor data frame, the data packet to be transmitted by the UWB signal transmitter in the next superframe period is generated.

[0019] Thus, based on ultra-wideband wireless communication, this application proposes a wireless transmission method for equipment condition sensing signals by integrating the time division multiple access (TDMA) mechanism. (1) It effectively solves the problems of complex wiring, high maintenance cost, poor flexibility, and easy damage faced by wired communication methods for sensors. Specifically, by directly replacing the traditional wired method with UWB wireless communication technology, efficient remote transmission of sensing signals is realized, effectively avoiding problems such as complex wiring, high construction cost, difficult maintenance, and easy damage of cables. It is particularly suitable for mobile equipment, rotating parts, or industrial scenarios with limited space, and significantly improves the deployment flexibility and scalability of the system. (2) Compared with traditional narrowband wireless technology, it can achieve low latency, low power consumption, and strong anti-interference capability. Ultra-wideband technology itself has the characteristics of wide bandwidth, short pulse, and low power spectral density. Based on this, this application adopts a superframe and time slot allocation mechanism. The transmitting end is only awakened and sends data in the specified or contested time slot, and can be in a sleep state at other times, thereby realizing low power operation. At the same time, combined with the first waiting time in this scheme, it ensures that the first data message can be sent and responded to quickly and in an orderly manner, thus achieving low communication latency. (3) It has an anti-collision mechanism for wireless transmission of ultra-wideband signals, ensuring the integrity of wireless transmission of sensor (encoder) signals and low packet loss rate. Specifically, before sending the first data message, this application needs to determine the time slot allocation value of the sending end. If it is not empty, it waits for the first waiting time, thereby discretizing the sending time of different nodes in the time domain, effectively avoiding data collisions caused by multiple sending ends accessing the channel at the same time, and achieving a low packet loss rate. In addition, after sending the first data message, the sending end will compare its own attributes with the second data message from the first ultra-wideband signal receiving end. Based on the comparison result, the sending end can intelligently decide the data content of the next superframe period, thereby actively initiating retransmission when encountering accidental packet loss, ensuring the integrity of data transmission. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the equipment in working condition provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of the ultra-wideband signal receiving device provided in the embodiments of this application; Figure 3 A flowchart illustrating a wireless transmission method for equipment condition sensing signals based on ultra-wideband provided in an embodiment of this application; Figure 4 A flowchart illustrating another method for wireless transmission of equipment condition sensing signals based on ultra-wideband provided in this application embodiment; Figure 5 This is a flowchart illustrating a wireless transmission method for equipment condition sensing signals based on ultra-wideband, provided as an application example of this application.

[0021] Explanation of reference numerals in the attached figures 1. Boom joint angle sensor; 2. UWB signal transmitter for boom joint rotation angle; 3. Bucket structure sensor; 4. UWB signal transmitting end of the boom structure; 5. Rotary platform sensors; 6. UWB signal transmitter of the slewing platform; 7. UWB signal receiver. Detailed Implementation

[0022] The present application will now be described in further detail with reference to the accompanying drawings and embodiments.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0024] This application provides a wireless transmission system for equipment condition sensing signals based on ultra-wideband (UWB). The system includes: at least one sensor (encoder), at least one UWB signal transmitter, and at least one UWB signal receiver. The at least one sensor is used to transmit sensor data frames. There is at least one UWB signal transmitter. The at least one UWB signal transmitter is connected to at least one sensor of the equipment in a one-to-one correspondence. The at least one UWB transmitter and the at least one sensor are connected via RS485 or CAN proximity connection.

[0025] Understandably, each ultra-wideband (UWB) signal transmitter corresponds one-to-one with a sensor, establishing a stable communication connection via an RS485 or CAN interface. Its primary function is to receive data frames from the sensors and, according to preset time slots and superframe period rules, transmit the data to the UWB signal receiver via UWB wireless signals.

[0026] For example, this ultra-wideband (UWB)-based equipment condition sensing signal wireless system includes: N sensors (encoders), N UWB signal transmitters, and M UWB signal receivers. The sensors and UWB signal transmitters are connected via RS485 or CAN proximity. Here, N represents the number of sensors, N represents the number of UWB signal transmitters, and M represents the number of UWB signal receivers.

[0027] For example, such as Figure 1 As shown, Figure 1This is a structural diagram of an equipment in operation. The equipment uses a wheeled main frame as its base, on which core control and power systems are integrated. Components 1-6 are sensors and UWB signal transmitters, and component 7 is a UWB signal receiver. Specifically, it includes: boom joint angle sensor 1, boom joint angle UWB signal transmitter 2, stick structure sensor 3, stick structure UWB signal transmitter 4, slewing platform sensor 5, slewing platform UWB signal transmitter 6, and UWB signal receiver 7.

[0028] Here, as Figure 1 As shown, the boom joint angle sensor 1 is installed at the boom joint of the equipment to measure the boom's rotation angle in real time. The boom joint angle UWB signal transmitter 2 is connected to the boom joint angle sensor 1 via RS485 or CAN bus, and is responsible for converting the sensor data (e.g., angle data) collected by the boom joint angle sensor 1 into UWB wireless signals and transmitting them.

[0029] Here, as Figure 1 As shown, the boom structure sensor 3 is installed on the boom of the equipment to monitor working condition information such as boom displacement or deformation. The boom UWB signal transmitter 4 is connected to the boom structure sensor 3 via RS485 or CAN bus to acquire the sensor data collected by the boom structure sensor 3, and then converts it into a UWB wireless signal for transmission, ensuring the wireless transmission of boom-related working condition data.

[0030] Here, as Figure 1 As shown, the slewing platform sensor 5 is installed on the slewing platform of the equipment to monitor the platform's slewing angle or operating status. The slewing platform UWB signal transmitter 6 is connected to the slewing platform sensor 5 via RS485 or CAN bus. After receiving the data collected by the slewing platform sensor 5, it converts it into a UWB wireless signal and transmits it outward, realizing the wireless transmission of slewing platform data.

[0031] Here, the UWB signal receiver 7 is responsible for receiving wireless data packets from all the above-mentioned UWB signal transmitters, and finally transmitting the processed data to the control system or the back-end server.

[0032] In this embodiment, the ultra-wideband signal transmitter is equipped with an ultra-wideband signal transmitter device, the structure of which includes: a microcontroller unit (MCU), an ultra-wideband radio frequency module, a power management module, a radio frequency antenna, a charging interface, charging / power / operating status indicator lights, and a backup power supply.

[0033] Understandably, an ultra-wideband (UWB) signal receiver is used to receive data packets from multiple UWB signal transmitters and manages the communication resources of these transmitters through a time slot allocation table. The receiver also provides feedback on the reception status of data frames (such as "success" or "failure") to achieve closed-loop management of the communication link.

[0034] Here, an ultra-wideband signal receiver is installed at the ultra-wideband signal receiver end, such as... Figure 2 As shown, the structure of the ultra-wideband signal receiver mainly consists of a microcontroller unit and an ultra-wideband radio frequency module. The microcontroller unit, as the control core, is specifically configured to execute the equipment condition sensing signal wireless transmission method described below (ultra-wideband signal receiver side). In addition, the ultra-wideband signal receiver also includes a power management module, a radio frequency antenna, a charging interface, charging / power / operating status indicator lights, and a backup power supply. These components work together to ensure the normal operation of the receiver. The structure of the ultra-wideband signal transmitter is similar to that of the ultra-wideband signal receiver.

[0035] Understandably, the sender's attributes define its identity, timing status, and communication goals, serving as the basis for its decision-making.

[0036] Here, the attributes of the ultra-wideband signal transmitter include: transmitter ID, current timestamp, timestamp synchronization source ID, most recent synchronization time, timeslot allocation value, target receiver ID, and sensor data frame. The initial value of the timestamp synchronization source ID is the transmitter ID, the initial value of the most recent synchronization time is zero, and the initial value of the timeslot allocation value is empty.

[0037] Here, the sender ID is a unique physical identifier for each sender, used to distinguish different nodes in the system. The sender's current timestamp is the current time value driven by the sender's local clock. The sender's timestamp synchronization source ID identifies the authoritative time source that this sender is currently following. Initially, the sender only trusts itself, so its value is initialized to its own ID (sender ID); during network interaction, if a synchronization source with a smaller ID is found, this attribute is updated to achieve synchronization. The sender's most recent synchronization time records the last time time calibration was performed with the synchronization source. This attribute is used to determine whether the accumulated drift of the local clock has exceeded the tolerance, thus deciding whether to reset the synchronization state. The sender's time slot allocation value defines the specific time slot values ​​that the sender is allowed to transmit data within a superframe period. The initial value is empty and is allocated and updated by the receiver through data packets. The target receiver ID is the ID of the specific receiver that this sender expects to communicate with. The sensor data frame is the actual working condition data payload collected by the sensors connected to the sender and encapsulated, for example, boom joint angle = 45.6.

[0038] It is understandable that the attributes of the receiving end include not only its own state, but also global information used to schedule the entire network.

[0039] Here, the attributes of the ultra-wideband signal receiver include: receiver number, current timestamp, timestamp synchronization source number, most recent synchronization time, transmitter time slot allocation table, target transmitter number, and sensor data frame reception status. The initial value of the timestamp synchronization source number is the receiver number, the initial value of the most recent synchronization time is zero, and the transmitter time slot allocation table consists of N transmitter numbers sorted in ascending order.

[0040] Here, the receiver number is a unique physical identifier for each receiver. The receiver's current timestamp, timestamp synchronization source number, and most recent synchronization time: these attributes function similarly to those of the sender, collectively maintaining the receiver's own time synchronization state.

[0041] Here, the transmitter time slot allocation table is a global scheduling attribute of the receiver. It explicitly defines the fixed correspondence between each communication time slot and the ultra-wideband signal transmitter number within a superframe period, ensuring that multiple transmitters can speak in an orderly manner without conflict. Target transmitter number: In the reply message sent by the receiver, this attribute indicates which transmitter the reply is addressed to, ensuring the closure and acknowledgment of the communication link. The sensor data frame reception status is used to feedback the processing results of its data frames to the transmitter. The main statuses include "success," "failure," and "ignore," thereby driving the transmitter to make subsequent decisions (such as retransmission).

[0042] Based on the aforementioned wireless transmission system, such as Figure 3 As shown, this application provides a wireless transmission method for equipment condition sensing signals based on ultra-wideband, which specifically includes the following steps: Step 310: If the ultra-wideband signal transmitter is in a wake-up state within the current superframe period, determine whether the transmitter time slot allocation value of the ultra-wideband signal transmitter is empty. If yes, immediately send the first data packet. If not, generate a first waiting time based on the transmitter time slot allocation value, the millisecond portion of the current timestamp of the ultra-wideband signal transmitter, the time slot of the wireless transmission of the sensor signal, and the current superframe period. After waiting for the first waiting time, send the first data packet of the ultra-wideband signal transmitter. The first data packet includes: transmitter number, transmitter current timestamp, transmitter timestamp synchronization source number, first target receiver number, and sensor data frame.

[0043] In this embodiment, if the UWB signal transmitter is in a wake-up state during the current superframe period, the key attribute of the UWB signal transmitter (hereinafter referred to as the transmitter) is first determined to be empty.

[0044] Here, if the time slot allocation value is empty, it indicates that the transmitter has not yet allocated dedicated communication resources. In this case, the ultra-wideband signal transmitter immediately broadcasts and sends the first data packet within the current superframe period.

[0045] Here, if the time slot allocation value is not empty (let its value be x), it indicates that the transmitter has been included in the system's time division multiple access scheduling. At this time, the transmitter will generate a first waiting duration ts based on the time slot allocation value, the millisecond portion of the current timestamp of the ultra-wideband signal transmitter, the time slot for wireless transmission of the sensor signal, and the current superframe period. The transmitter will wait for this first waiting duration until its precisely allocated communication time slot is reached before sending the first data packet.

[0046] Thus, by employing Time Division Multiple Access (TDMA) technology, the embodiments of this application can effectively solve the conflict problem in multi-node communication, ensure that each node transmits data within a specified time slot, and improve the reliability and real-time performance of the system.

[0047] In this embodiment, the first data packet is the basis for all subsequent interactions, and it encapsulates at least the following core attributes: sender number, sender current timestamp, sender timestamp synchronization source number, first target receiver number, and sensor data frame.

[0048] For example, when the ultra-wideband signal transmitter is woken up (in a wake-up state), it reads the transmitter time slot allocation value. When the transmitter time slot allocation value is empty, it immediately sends the first data packet. When the transmitter time slot allocation value is not empty, let the transmitter time slot allocation value be x. After waiting for time ts, the ultra-wideband signal transmitter sends the first data packet.

[0049] Step 320: If a second data packet is received from the first ultra-wideband signal receiver after a second waiting period, then in response to the second data packet, the second data packet and the first data packet are compared to generate a comparison result; wherein, the first ultra-wideband signal receiver is the ultra-wideband signal receiver that only received the first data packet; the second data packet includes: receiver number, receiver current timestamp, receiver timestamp synchronization source number, second target transmitter number, and sensor data frame reception status; wherein, the second target transmitter number is the transmitter number of the first data packet; the second waiting period is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal of the ultra-wideband signal transmitter and the receiver number of the first ultra-wideband signal receiver; the comparison result includes the comparison result of the size of the receiver timestamp synchronization source number and the transmitter timestamp synchronization source number and the consistency comparison result of the transmitter number and the second target transmitter number.

[0050] In this embodiment, after sending the first data packet, the ultra-wideband signal transmitter will listen for and receive the reply from the ultra-wideband signal receiver.

[0051] In this embodiment, the ultra-wideband signal transmitter will receive a second data packet from the first ultra-wideband signal receiver after waiting for a second waiting period, or a second data packet from the second ultra-wideband signal receiver after waiting for a second waiting period.

[0052] Here, the first ultra-wideband signal receiver is an ultra-wideband signal receiver that only receives the first data packet; the second data packet includes: receiver number, receiver current timestamp, receiver timestamp synchronization source number, second target transmitter number, and sensor data frame reception status; wherein, the second target transmitter number is the transmitter number of the first data packet; the second waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal of the ultra-wideband signal transmitter and the receiver number of the first ultra-wideband signal receiver; the comparison results include the comparison results of the size of the receiver timestamp synchronization source number and the transmitter timestamp synchronization source number and the consistency comparison results of the transmitter number and the second target transmitter number.

[0053] In this embodiment, after receiving the second data packet replied by the first ultra-wideband signal receiver or the third data packet replied by the second ultra-wideband signal receiver, the ultra-wideband signal transmitter does not simply read the data. Instead, it needs to make a key comparison between this feedback information and its own state when sending the first data packet in order to generate a comparison result that drives subsequent decisions.

[0054] In this embodiment, if a second data packet is received from the first ultra-wideband signal receiver after a second waiting period, the receiver responds to the second data packet by comparing it with the first data packet and generating a comparison result. The comparison result includes a comparison of the size of the receiver's timestamp synchronization source number and the sender's timestamp synchronization source number, and a comparison of the consistency between the sender's number and the second target sender's number.

[0055] In this embodiment, the size comparison result (time synchronization authority judgment) aims to determine whether there is a clock source with greater authority than itself. The sender compares the target receiver's timestamp synchronization source number with its own maintained sender timestamp synchronization source number. The consistency comparison result (message target targeting verification) is used to confirm whether the received reply message is indeed directed to this sender. The sender verifies whether the target sender number of the target data message is completely consistent with its own sender number. This effectively filters out other irrelevant reply messages in the air, ensuring that subsequent state updates and decisions are based only on valid feedback relevant to itself.

[0056] For example, suppose that UWB signal receiver m1 only receives messages from the transmitter, and the receiver number of receiver m1 is m1. The receiver timestamp synchronization source number of receiver m1 is compared with the transmitter timestamp synchronization source number in the first data packet, generating a comparison result between the receiver timestamp synchronization source number and the transmitter timestamp synchronization source number. It is then determined whether the value of the transmitter timestamp allocation table of receiver m1 at the current time is consistent with the transmitter number in the first data packet, generating a consistency comparison result between the transmitter number and the second target transmitter number.

[0057] Step 330: Based on the transmitter timestamp synchronization source number, the transmitter's most recent synchronization time, the transmitter's current timestamp, and the size comparison result of the UWB signal transmitter, determine the transmitter timestamp synchronization source number, the transmitter's most recent synchronization time, and the transmitter's current timestamp for the next superframe period; based on the consistency comparison result and the sensor data frame reception status, determine the sensor data frame for the next superframe period.

[0058] Understandably, the size comparison result reflects the size difference between the target receiver's time synchronization source and the sender's current time synchronization source (the smaller the synchronization source number, the more reliable the time reference). Based on this, the time synchronization parameters for the next cycle are determined. Essentially, this allows the sender to actively align with a more reliable time reference, ensuring that subsequent operations such as time slot calculation and message transmission timing at the sender are consistent with the target receiver's time slot allocation table, thus avoiding communication disruptions caused by time deviations.

[0059] In this embodiment, based on the transmitter timestamp synchronization source number of the ultra-wideband signal transmitter, the transmitter's most recent synchronization time, the transmitter's current timestamp, and the size comparison result, the transmitter timestamp synchronization source number, the transmitter's most recent synchronization time, and the transmitter's current timestamp for the next superframe period are determined.

[0060] Understandably, on the one hand, the consistency comparison result is used to determine whether the reply message from the target ultra-wideband signal receiver is directed to the current sender. This is because only when the reply message targets the current sender does its feedback reception status have meaning for the current sender's data transmission, thus avoiding data adjustment based on irrelevant replies. On the other hand, the sensor data frame reception status directly reflects whether the operating condition data of the current superframe cycle has been effectively processed by the receiver. Based on this, in this embodiment, the sensor data frame for the next superframe cycle is determined based on the consistency comparison result and the sensor data frame reception status.

[0061] Step 340: Based on the transmitter timestamp synchronization source number of the next superframe period, the transmitter's most recent synchronization time of the next superframe period, the transmitter's current timestamp of the next superframe period, and the sensor data frame of the next superframe period, generate the data packet to be sent by the ultra-wideband signal transmitter in the next superframe period.

[0062] Here, the ultra-wideband signal transmitter constructs the data packet to be sent in the next superframe period based on the determined time synchronization parameters. This packet carries synchronization information fields (the transmitter's timestamp synchronization source number in the next superframe period, the transmitter's most recent synchronization time in the next superframe period, and the transmitter's current timestamp in the next superframe period) and the sensor data frame of the next superframe period, generating the data packet to be sent by the ultra-wideband signal transmitter in the next superframe period. This ensures the reliability and integrity of data transmission.

[0063] Thus, based on ultra-wideband wireless communication, this application proposes a wireless transmission method for equipment condition sensing signals by integrating the time division multiple access (TDMA) mechanism. (1) It effectively solves the problems of complex wiring, high maintenance cost, poor flexibility, and easy damage faced by wired communication methods for sensors. Specifically, by directly replacing the traditional wired method with UWB wireless communication technology, efficient remote transmission of sensing signals is realized, effectively avoiding problems such as complex wiring, high construction cost, difficult maintenance, and easy damage of cables. It is particularly suitable for mobile equipment, rotating parts, or industrial scenarios with limited space, and significantly improves the deployment flexibility and scalability of the system. (2) Compared with traditional narrowband wireless technology, it can achieve low latency, low power consumption, and strong anti-interference capability. Ultra-wideband technology itself has the characteristics of wide bandwidth, short pulse, and low power spectral density. Based on this, this application adopts a superframe and time slot allocation mechanism. The transmitting end is only awakened and sends data in the specified or contested time slot, and can be in a sleep state at other times, thereby realizing low power operation. At the same time, combined with the first waiting time in this scheme, it ensures that the first data message can be sent and responded to quickly and in an orderly manner, thus achieving low communication latency. (3) It has an anti-collision mechanism for wireless transmission of ultra-wideband signals, ensuring the integrity of wireless transmission of sensor (encoder) signals and low packet loss rate. Specifically, before sending the first data message, this application needs to determine the time slot allocation value of the sending end. If it is not empty, it waits for the first waiting time, thereby discretizing the sending time of different nodes in the time domain, effectively avoiding data collisions caused by multiple sending ends accessing the channel at the same time, and achieving a low packet loss rate. In addition, after sending the first data message, the sending end will compare its own attributes with the second data message from the first ultra-wideband signal receiving end. Based on the comparison result, the sending end can intelligently decide the data content of the next superframe period, thereby actively initiating retransmission when encountering accidental packet loss, ensuring the integrity of data transmission.

[0064] In some embodiments, the method further includes: If a third data packet is received from the second ultra-wideband signal receiver indicating a waiting period of three data packets, then in response to the third data packet, the third data packet and the first data packet are compared to generate a comparison result. The second ultra-wideband signal receiver is an ultra-wideband signal receiver that simultaneously receives the first data packet and other data packets replied to by other ultra-wideband receivers. The third data packet includes: receiver number, receiver current timestamp, receiver timestamp synchronization source number, third target transmitter number, and sensor data frame reception status. The third waiting period is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal at the ultra-wideband signal transmitter and the receiver number of the first ultra-wideband signal receiver. The comparison result includes a comparison result of the size of the receiver timestamp synchronization source number and the transmitter timestamp synchronization source number, and a comparison result of the consistency between the transmitter number and the third target transmitter number. Based on the transmitter timestamp synchronization source number, the transmitter's most recent synchronization time, the transmitter's current timestamp, and the size comparison result of the UWB signal transmitter, the transmitter timestamp synchronization source number, the transmitter's most recent synchronization time, and the transmitter's current timestamp for the next superframe period are determined; based on the consistency comparison result and the sensor data frame reception status, the sensor data frame for the next superframe period is determined. Based on the transmitter timestamp synchronization source number of the next superframe period, the transmitter's most recent synchronization time of the next superframe period, the transmitter's current timestamp of the next superframe period, and the sensor data frame of the next superframe period, a data packet to be sent by the ultra-wideband signal transmitter in the next superframe period is generated.

[0065] In this embodiment, after receiving the third data packet from the second ultra-wideband signal receiver indicating a waiting period of three times, the sending end initiates a parsing and decision-making process similar to that of processing a normal response (the second data packet). First, it compares the third data packet with its own attributes, generating two key comparison results: one is the relationship between the timestamp synchronization source numbers followed by both parties; the other is checking whether the third target sender number in the packet matches its own number, to confirm that the response is indeed directed at itself.

[0066] In this embodiment, after receiving the target data packet from the target ultra-wideband signal receiver, the ultra-wideband signal transmitter compares the key fields contained therein with its current state to generate a comparison result that guides subsequent synchronization and data updates.

[0067] Specifically, the sending end first compares the timestamp synchronization source number of the target receiver with its own current timestamp synchronization source number to determine if a more authoritative network time reference exists, generating a size comparison result. Second, it compares whether the target sender number in the target data packet matches its own number to confirm whether the data packet was indeed fed back to its own sender, generating a consistency comparison result. This comparison mechanism ensures the stability of system time synchronization and the consistency of data feedback, while laying the foundation for the synchronization parameter update and data scheduling of the next superframe cycle.

[0068] In this embodiment, the ultra-wideband signal transmitter constructs a data packet to be transmitted for the next superframe period based on the determined time synchronization parameters. This packet carries synchronization information fields (the transmitter's timestamp synchronization source number for the next superframe period, the transmitter's most recent synchronization time for the next superframe period, and the transmitter's current timestamp for the next superframe period) and the determined sensor data frame for the next superframe period.

[0069] In some embodiments, the method further includes: Obtain the duration of stillness at the ultra-wideband signal transmitter; Determine whether the continuous static time is greater than or equal to the sleep buffer period of the ultra-wideband signal transmitter. If so, determine that the ultra-wideband signal transmitter is in a sleep state; otherwise, determine that the ultra-wideband signal transmitter is in a wake-up state.

[0070] For example, let the sleep buffer period of the ultra-wideband signal transmitter be Tc. The ultra-wideband signal transmitter reads the continuous still time. When the continuous still time is greater than Tc, the transmitter enters the sleep state. Otherwise, it is determined that the ultra-wideband signal transmitter is in the wake-up state. In the wake-up state, the transmitter periodically sends data packets according to the superframe period.

[0071] In some embodiments, a first waiting duration is generated based on the transmitter time slot allocation value, the millisecond portion of the current timestamp of the ultra-wideband signal transmitter, the time slot for wireless transmission of the sensor signal, and the current superframe period, including: Determine whether the time slot allocation value of the transmitter, the millisecond part of the current timestamp of the ultra-wideband signal transmitter, the time slot of the wireless transmission of the sensor signal and the current superframe period meet the set conditions. If so, calculate the time slot allocation value of the transmitter, the millisecond part of the current timestamp of the ultra-wideband signal transmitter, the time slot of the wireless transmission of the sensor signal and the current superframe period based on the first calculation rule to generate the first waiting time. If not, the first waiting time is generated by calculating the time slot allocation value of the transmitting end, the millisecond part of the current timestamp of the ultra-wideband signal transmitting end, the time slot of the wireless transmission of the sensor signal, and the current superframe period based on the second calculation rule. Among them, the time slot for wireless transmission of sensor signals is calculated and generated based on the maximum total number of ultra-wideband signal receivers and the time occupied by the single one-way wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter, according to the third calculation rule; the current superframe period is calculated and generated based on the fourth calculation rule, according to the total number of ultra-wideband signal receivers, the total number of ultra-wideband signal transmitters, and the time occupied by the single one-way wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter. The condition is set as follows: tm-int(tm / T)×T≤t1×(x-1) The first calculation rule is: ts = t1 × (x-1) - (tm – int(tm / T) × T); The second calculation rule is: ts = t1 × x - (tm – int(tm / T) × T); The third calculation rule is: t1 = (1 + M) × t0; The fourth calculation rule is T = (1 + M) × t0 × N; Where tm is the millisecond portion of the current timestamp of the ultra-wideband signal transmitter, T is the current superframe period of the wireless transmission of the sensor signal, x is the time slot allocation value of the ultra-wideband signal transmitter, t1 is the time slot of the wireless transmission of the sensor signal, ts is the first waiting time, t0 is the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter, M is the total number of ultra-wideband signal receivers, N is the total number of ultra-wideband signal transmitters, and int() is the rounding function.

[0072] For example, the first waiting time ts is calculated as follows: First, let the millisecond portion of the current timestamp at the transmitting end be tm, the time slot allocation value at the transmitting end be x, the time slot for wireless transmission of the sensor signal be t1, and the superframe period for wireless transmission of the sensor signal be T.

[0073] When tm–int(tm / T)×T≤t1×(x-1), ts=t1×(x-1)-tm–int(tm / T)×T); otherwise, ts=t1×x-tm–int(tm / T)×T).

[0074] For example, let t0 be the time occupied by a single unidirectional wireless transmission and parsing of the sensor signal. Then, the time slot t1 of the wireless transmission of the sensor signal is (1+M)×t0, the superframe period T of the wireless transmission of the sensor signal is (1+M)×t0×N, and the frequency of the wireless transmission of the sensor signal is 1 / ((1+M)×t0×N).

[0075] In some embodiments, the method further includes: Determine whether the difference between the sender's timestamp synchronization source number and the sender's most recent synchronization time is greater than or equal to the timestamp synchronization source number reset buffer duration. If so, reset the sender's timestamp synchronization source number to the sender's number and set the sender's most recent synchronization time to the sender's current timestamp.

[0076] It is understandable that the local clock at the sending end will accumulate errors over time during continuous operation. When the running time reaches the timestamp synchronization source number reset buffer period Tb, the error may exceed the time synchronization range allowed by the system, causing deviations in time slot allocation and data transmission timing. Therefore, the sending end will monitor in real time and perform a reset operation.

[0077] For example, the sending end determines whether to reset the timestamp synchronization source number. Specifically, the timestamp synchronization source number reset buffer period is set to Tb. This means that after Tb, the sending end's clock error may exceed the time synchronization error range, requiring a reset. When the sending end's current timestamp - the sending end's most recent synchronization time ≥ Tb, the sending end's timestamp synchronization source number is reset to the sending end's own number, and the sending end's most recent synchronization time is set to the sending end's current timestamp. In this way, by restoring the synchronization source number to its own number and updating the most recent synchronization time to the current timestamp, the sending end reverts to using its local clock as a reference, preventing communication order from being affected by accumulated errors.

[0078] In some embodiments, determining the transmitter timestamp synchronization source number, the most recent synchronization time, and the current timestamp of the UWB signal transmitter for the next superframe period based on the transmitter timestamp synchronization source number, the most recent synchronization time, and the current timestamp of the UWB signal transmitter are compared with the size of the transmitter timestamp synchronization source number, the transmitter timestamp synchronization source number, and the current timestamp of the transmitter are all based on ... If the size comparison result shows that the sender's timestamp synchronization source number is greater than the receiver's timestamp synchronization source number, then the sender's timestamp synchronization source number for the next superframe period is set to the receiver's timestamp synchronization source number; the sender's most recent synchronization time for the next superframe period is set to the receiver's current timestamp; and the sender's current timestamp for the next superframe period is set to the receiver's current timestamp.

[0079] In this embodiment, if the size comparison result is that the timestamp synchronization source number of the receiving end is less than the timestamp synchronization source number of the sending end, then the timestamp synchronization source number of the sending end in the next superframe period is set to the timestamp synchronization source number of the receiving end, and the most recent synchronization time of the sending end in the next superframe period is set to the current timestamp of the receiving end.

[0080] Understandably, this operation aims to select a superior time reference. Here, the core of the first comparison result is determining the priority of the receiver's synchronization source and the transmitter's synchronization source (the smaller the synchronization source number, the more reliable the time reference). When the receiver's synchronization source number is smaller, it indicates that the time reference of either the first or second ultra-wideband signal receiver is superior. Therefore, the transmitter needs to align with this reference in the next cycle. In this way, by updating the synchronization source number, the most recent synchronization time, and the current timestamp, the transmitter's time is ensured to be consistent with the receiver's, guaranteeing the accuracy of subsequent time slot calculations and data transmission timing.

[0081] Here, if the receiver's synchronization source number is greater than or equal to the sender's synchronization source number, then no update is needed, and the sender's current time synchronization state is maintained.

[0082] For example, the sender's timestamp synchronization source number is compared with the target receiver's timestamp synchronization source number. If the sender's timestamp synchronization source number is larger than the target receiver's timestamp synchronization source number, the sender's timestamp synchronization source number is set to the target receiver's timestamp synchronization source number, and the sender's most recent synchronization time is set to the target receiver's current timestamp; otherwise, no processing is performed.

[0083] In some embodiments, determining the sensor data frame for the next superframe period based on the consistency comparison result and the sensor data frame reception status includes: If the consistency comparison result is consistent and the sensor data frame reception status is failure, then the sensor data frame of the next superframe period is determined to be the sensor data frame of the current superframe period. If the consistency comparison result is inconsistent, or the sensor data frame reception status is successful, then the sensor data frame of the next superframe period is determined to be the sensor data frame to be collected.

[0084] Understandably, the consistency comparison result is used to filter reply messages related to the current sender. Therefore, the reception status is only meaningful for the current sender's data transmission when the target sender number of the target data message matches its own number. The reception status directly reflects the transmission effect of the current data: if it matches and fails, it means that the current data has not been effectively processed and needs to be retransmitted to avoid loss; if it does not match (the reply is irrelevant to itself) or succeeds (the data has been effectively processed), there is no need to retransmit, and it is switched to newly collected data to ensure that the latest operating status information of the equipment is transmitted, which meets the real-time data requirements of industrial scenarios.

[0085] For example, it is determined whether the sender number of the sending end is consistent with the target sender number of the target data packet: if the sender number of the sending end is consistent with the target sender number, and the sensor data frame reception status in the second data packet is "failed", then the sending end will continue to send the sensor data frame to the next superframe period; otherwise, no processing is performed.

[0086] This application also provides a wireless transmission method for equipment condition sensing signals based on ultra-wideband (UWB), applied to an UWB signal receiver, wherein there is at least one UWB signal receiver, such as... Figure 4 As shown, the method includes: Step 410: Receive the first data packet sent by the ultra-wideband signal transmitter. The first data packet includes: transmitter number, transmitter current timestamp, transmitter timestamp synchronization source number, first target receiver number, and sensor data frame. The first data packet is a data packet sent immediately by the ultra-wideband transmitter in the wake-up state or sent after waiting for a first waiting time within the current superframe period.

[0087] In this embodiment, the receiving end receives a first data packet sent by the ultra-wideband signal transmitter. The first data packet includes: transmitter number, transmitter current timestamp, transmitter timestamp synchronization source number, first target receiver number, and sensor data frame. The first data packet is a data packet sent immediately by the ultra-wideband transmitter in the wake-up state or sent after waiting for a first waiting time within the current superframe period.

[0088] Step 420: Determine whether other data packets sent by other ultra-wideband signal receivers are received simultaneously. If not, determine that the current ultra-wideband signal receiver is the first ultra-wideband signal receiver, and in response to the first data packet, determine that the sender timestamp synchronization source number is less than the receiver timestamp synchronization source number of the first ultra-wideband signal receiver. Then, set the receiver timestamp synchronization source number of the first ultra-wideband signal receiver to the sender timestamp synchronization source number; set the most recent synchronization time of the receiver of the first ultra-wideband signal receiver to the current timestamp of the sender.

[0089] It is understandable that when the receiving end processes messages from the sending end, it can be divided into the following two core scenarios: Scenario 1: The ultra-wideband signal receiver only receives the first data message sent by the ultra-wideband signal sender; Scenario 2: The ultra-wideband signal receiver simultaneously receives the first data message sent by the ultra-wideband signal sender and other messages sent by other ultra-wideband signal receivers.

[0090] In this embodiment, corresponding to the above scenario one, it is determined whether other data packets sent by other ultra-wideband signal receivers are received at the same time. If not, the current ultra-wideband signal receiver is determined to be the first ultra-wideband signal receiver.

[0091] For scenario one, the following steps will be executed in sequence: (1) Time synchronization authority judgment and update Understandably, in response to the first data packet, the sender's timestamp synchronization source number in the first data packet is compared with the receiver's own timestamp synchronization source number. If it is determined that the sender's timestamp synchronization source number is less than the receiver's timestamp synchronization source number of the first ultra-wideband signal receiver, then the receiver's timestamp synchronization source number of the first ultra-wideband signal receiver is set as the sender's timestamp synchronization source number; the most recent synchronization time of the receiver of the first ultra-wideband signal receiver is set as the sender's current timestamp. In this way, time synchronization information (i.e., the smaller synchronization source number) can spread outward from the authoritative source, eventually making the time base of all nodes in the network tend to be consistent.

[0092] Step 430: Based on the first consistency comparison result of the current value of the transmitter time slot allocation table of the first ultra-wideband signal receiver and the transmitter number, and the second consistency comparison result of the receiver number of the first ultra-wideband signal receiver and the first target receiver number, determine the sensor data frame reception status of the first ultra-wideband signal receiver; the transmitter time slot allocation table includes the correspondence between the transmitter number and the time slot allocation value.

[0093] Specifically, if the sender's timestamp synchronization source number is less than its own number, it indicates that the clock source followed by the sender is more authoritative. In this case, the receiver will perform a synchronization operation: update its own receiver timestamp synchronization source number to the sender's synchronization source number, and update the receiver's most recent synchronization time to the sender's current timestamp in the first data packet.

[0094] Step 404: Generate a second data packet based on the receiver number of the first ultra-wideband signal receiver, the current timestamp of the receiver, the timestamp synchronization source number of the receiver, the second target transmitter number of the first ultra-wideband signal receiver, and the sensor data frame reception status; determine a second waiting time based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal at the ultra-wideband signal transmitter and the receiver number of the first ultra-wideband signal receiver; after waiting for the second waiting time, send the second data packet; wherein, the second target receiver number is the transmitter number.

[0095] In this embodiment, after completing step 430, the following operations are performed: (2) Data message validity verification In this embodiment, the sensor data frame reception status of the first ultra-wideband signal receiver is determined based on the first consistency comparison result between the value of the transmitter time slot allocation table of the first ultra-wideband signal receiver at the current time and the transmitter number, and the second consistency comparison result between the receiver number of the first ultra-wideband signal receiver and the first target receiver number.

[0096] In this embodiment, the sender time slot allocation table includes the correspondence between sender numbers and time slot allocation values. It can be understood that the first consistency comparison result is used to verify whether the value of the sender time slot allocation table at the current time is consistent with the sender number in the first data packet.

[0097] Understandably, the second consistency comparison result is used to verify whether its own receiver number is consistent with the target receiver number in the first data packet.

[0098] Based on the combination of the two comparison results above, the final sensor data frame reception status (e.g., "success", "failure" or "ignore") is determined.

[0099] Generate and delay sending a reply message.

[0100] In this embodiment, a second data packet is generated based on the receiver number of the first ultra-wideband signal receiver, the current timestamp of the receiver, the timestamp synchronization source number of the receiver, the second target transmitter number of the first ultra-wideband signal receiver, and the sensor data frame reception status.

[0101] Here, based on all the above information, a second data packet is encapsulated and generated. This second data packet is the target data packet to be sent, which includes: receiver number, receiver current timestamp, receiver timestamp synchronization source number, second target sender number (i.e., the sender number in the first data packet), and sensor data frame reception status.

[0102] In this embodiment, a second waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal at the ultra-wideband signal transmitter and the receiver number of the first ultra-wideband signal receiver; after waiting for the second waiting time, a second data packet is sent.

[0103] Understandably, to avoid new conflicts caused by multiple receivers responding simultaneously, the receiver will wait for a second waiting period before sending the second data packet. This waiting period is determined by the time (t0) occupied by the single-way wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter and its own receiver number, thus realizing time division multiple access in the response phase.

[0104] Thus, based on ultra-wideband (UWB) wireless communication, this application embodiment integrates the Time Division Multiple Access (TDMA) mechanism and synchronization control strategy, which can (1) effectively solve the problems of complex wiring, high maintenance cost, poor flexibility, and easy damage faced by wired communication methods of sensors. (2) Compared with traditional narrowband wireless technology, it can achieve low latency, low power consumption, and strong anti-interference capability. UWB technology itself has the characteristics of wide bandwidth, short pulse, and low power spectral density. On this basis, the receiver achieves orderly response by precisely controlling the second waiting time, avoiding message conflicts and ensuring low latency communication. At the same time, based on the comparison result of the timestamp synchronization source number, the receiver sets the timestamp synchronization source number of the first UWB signal receiver to the timestamp synchronization source number of the transmitter. The receiver's most recent synchronization time is set to the transmitter's current timestamp, thereby realizing dynamic updating of its own synchronization state, maintaining the network time reference, and providing a basis for time slot-based low power scheduling. (3) It has an anti-collision mechanism for UWB signal wireless transmission, ensuring the integrity and low packet loss rate of encoder signal wireless transmission. Specifically, when the receiving end receives only the first data packet sent by the ultra-wideband signal transmitter, it achieves orderly acknowledgment by precisely controlling the second waiting period, avoiding packet collisions and ensuring low-latency communication. Furthermore, based on a consistency comparison between the transmitter's time slot allocation table and the target number, it determines the data reception status and generates the corresponding second data packet. This mechanism, in conjunction with the transmitter's time slot allocation, effectively avoids data collisions that may be caused by multiple receivers simultaneously responding. Combined with a packet retransmission mechanism based on the reception status, it ensures signal transmission integrity and a low packet loss rate from the receiving side.

[0105] In some embodiments, the method further includes: If other data packets are received simultaneously from other ultra-wideband signal receivers, the current ultra-wideband signal receiver is determined to be the second ultra-wideband signal receiver. In response to the other data packets, the receiver timestamp synchronization source number of the second ultra-wideband signal receiver is set to the other receiver timestamp synchronization source number of the other data packets; the most recent synchronization time of the second ultra-wideband signal receiver is set to the receiver's current timestamp in the other data packets; and the receiver's current timestamp of the second ultra-wideband signal receiver is set to the receiver's current timestamp of the other data packets. Based on the first consistency comparison result between the value of the transmitter time slot allocation table of the second ultra-wideband signal receiver at the current time and the transmitter number, and the second consistency comparison result between the receiver number of the second ultra-wideband signal receiver and the target receiver number in the first data packet, the sensor data frame reception status of the second ultra-wideband signal receiver is determined. Based on the receiver number of the second ultra-wideband signal receiver, the receiver timestamp synchronization source number, the current timestamp of the receiver, the third target transmitter number of the second ultra-wideband signal receiver, and the sensor data frame reception status, a third data packet is generated; a third waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter and the receiver number of the second ultra-wideband signal receiver; after waiting for the third waiting time, the third data packet is sent; wherein, the third target transmitter number is the transmitter number in the first data packet.

[0106] In this embodiment, when the ultra-wideband signal receiver simultaneously receives the first data packet and replies from other ultra-wideband signal receivers, corresponding to scenario two, the processing flow, based on scenario one, adds a priority processing step: Priority time synchronization processing In this embodiment, if other data packets are received simultaneously from other ultra-wideband signal receivers, the current ultra-wideband signal receiver is determined to be the second ultra-wideband signal receiver. In response to the other data packets, the receiver timestamp synchronization source number of the second ultra-wideband signal receiver is set to the other receiver timestamp synchronization source number of the other data packets; the most recent synchronization time of the second ultra-wideband signal receiver is set to the receiver's current timestamp in the other data packets; and the receiver's current timestamp of the second ultra-wideband signal receiver is set to the receiver's current timestamp of the other data packets.

[0107] Here, the time information held by other receivers after network collaboration is more reliable or up-to-date than the initial transmission from a single sender.

[0108] Based on this, if the first data packet sent by the ultra-wideband signal transmitter and other data packets replied by the ultra-wideband signal receiver are received simultaneously, the synchronization source number of the other receiver timestamp of the other data packets is set to the synchronization source number of the receiver timestamp, and the current timestamp of the other receiver of the other data packets is set to the current timestamp of the receiver.

[0109] (2) Data message validity verification This step is the same as step 2 in "Scenario 1". Based on the first consistency comparison result between the value of the transmitter time slot allocation table of the second ultra-wideband signal receiver at the current time and the transmitter number, and the second consistency comparison result between the receiver number of the second ultra-wideband signal receiver and the target receiver number in the first data packet, the sensor data frame reception status of the second ultra-wideband signal receiver is determined.

[0110] (3) Generate and delay sending a collaborative reply message Based on the receiver number of the second ultra-wideband signal receiver, the receiver timestamp synchronization source number, the receiver current timestamp, the third target transmitter number of the second ultra-wideband signal receiver, and the sensor data frame reception status, a third data message is generated; and after waiting for a third waiting time, the third data message is sent; its content structure is similar to that of the second data message.

[0111] Thus, this application embodiment, based on ultra-wideband wireless communication, integrates time-division multiple access (TDMA) mechanisms and distributed synchronization control strategies. By defining differentiated behaviors of the receiver in different network scenarios, it achieves comprehensive optimization of system performance. Specifically, through the collaborative processing of two typical scenarios—a first ultra-wideband signal receiver and a second ultra-wideband signal receiver—the following technical effects are achieved: (1) Effectively solves the problems of complex wiring, high maintenance costs, poor flexibility, and easy damage faced by wired communication methods for sensors. By wirelessly receiving the first data packet and responding differently to the second and third data packets, a complete wireless confirmation mechanism is constructed, replacing the traditionally necessary wired connection. This design frees the system from the constraints of physical cables, making it particularly suitable for scenarios with difficult wiring, such as mobile equipment or rotating parts, and significantly improving deployment flexibility and maintainability.

[0112] (2) Compared with traditional narrowband wireless technology, it can achieve low latency, low power consumption, and strong anti-interference capability. Ultra-wideband technology itself has the characteristics of wide bandwidth, short pulse, and low power spectral density. On this basis, this solution uses a waiting time mechanism in two scenarios (second waiting time and third waiting time) to stagger the response time of different receivers in the time domain, avoiding collision retransmission of acknowledgment messages and reducing the overall communication latency. At the same time, the dynamic synchronization mechanism of the receiver based on the timestamp synchronization source number (whether following the sender or other receivers) ensures the time consistency of all nodes in the network, laying a solid foundation for sleep scheduling based on precise time slots, thereby realizing low-power operation at the system level.

[0113] (3) It possesses anti-collision and collision recovery mechanisms for ultra-wideband signal wireless transmission, ensuring the integrity and low packet loss rate of encoder signal wireless transmission. This solution constructs a dual guarantee mechanism through the design of two scenarios: In the ideal scenario without collisions, the first ultra-wideband signal receiver completes the reception confirmation in an orderly manner through consistency verification of the time slot allocation table and the target number, avoiding invalid transmission from the source; In the non-ideal scenario where collisions occur, the second ultra-wideband signal receiver can not only recover from the collision and maintain network time consistency by synchronizing with other receivers, but also use a unique third waiting time mechanism to discretize its confirmation message with the responses of other receivers in time, effectively avoiding secondary collisions. These two scenarios complement each other, jointly ensuring extremely high data transmission integrity and a low packet loss rate.

[0114] In this embodiment, the third waiting time is determined based on the time occupied by the single-way wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter and the receiver number of the second ultra-wideband signal receiver.

[0115] Similarly, the third data packet is sent after a third waiting period. This delay mechanism ensures that network responses remain orderly even in multi-receiver collaborative scenarios.

[0116] In some embodiments, the sensor data frame reception status of the first ultra-wideband signal receiver is determined based on a first consistency comparison result between the current value of the transmitter time slot allocation table of the first ultra-wideband signal receiver and the transmitter number, and a second consistency comparison result between the receiver number of the first ultra-wideband signal receiver and the first target receiver number. This includes: If the first consistency comparison result is consistent and the second consistency comparison result is consistent, the sensor data frame reception status is determined to be successful. If the first consistency comparison result is consistent and the second consistency comparison result is inconsistent, the sensor data frame reception status is determined to be ignored; If the first consistency comparison result is inconsistent, and the second consistency comparison result is consistent, the sensor data frame reception status is determined to be failed. If the first consistency comparison result is inconsistent and the second consistency comparison result is inconsistent, the sensor data frame reception status is determined to be ignored.

[0117] For example, determine whether the value of the sender time slot allocation table of receiver m1 at the current time is consistent with the sender number in the first data packet: (1) If the value of the time slot allocation table of the receiver m1 at the current time is consistent with the sender number in the first data packet, then it is further determined whether the receiver number of the receiver m1 is consistent with the target receiver number in the first data packet: (1.1) If the receiver number of receiver m1 is consistent with the target receiver number in the first data packet, then receiver m1 processes the sensor data frame in the first data packet and sets the sensor data frame reception status to "success". (1.2) If the receiver number of receiver m1 is inconsistent with the target receiver number in the first data packet, receiver m1 will not process the sensor data frame in the first data packet and will set the sensor data frame reception status to "ignore".

[0118] (2) If the value of the time slot allocation table of the receiver m1 at the current time is inconsistent with the sender number in the first data packet, then it is further determined whether the receiver number of the receiver m1 is consistent with the target receiver number in the first data packet: (2.1) If the receiver number of receiver m1 is consistent with the target receiver number in the first data packet, then receiver m1 will not process the sensor data frame in the first data packet and will set the sensor data frame reception status to "failure". (2.2) If the receiver number of receiver m1 is inconsistent with the target receiver number in the first data packet, receiver m1 will not process the sensor data frame in the first data packet and will set the sensor data frame reception status to "ignore".

[0119] In some embodiments, the method further includes: Determine whether the difference between the receiver timestamp synchronization source number and the most recent synchronization time of the first ultra-wideband signal receiver is greater than or equal to the set timestamp synchronization source number reset buffer duration. If so, reset the receiver timestamp synchronization source number of the first ultra-wideband signal receiver to the receiver number of the first ultra-wideband signal receiver, and set the most recent synchronization time of the first ultra-wideband signal receiver to the current timestamp of the first ultra-wideband signal receiver.

[0120] For example, the receiving end m1 determines whether the timestamp synchronization source number needs to be reset. Specifically, the timestamp synchronization source number reset buffer period is set to Tb. This means that after Tb, the clock of the receiving end m1 may have an error exceeding the time synchronization error range, requiring a reset. When the current timestamp of the receiving end m1 minus the most recent synchronization time of the receiving end is greater than or equal to Tb, the timestamp synchronization source number of the receiving end is reset to the receiving end number, and the most recent synchronization time of the receiving end is set to the current timestamp of the receiving end.

[0121] The embodiments of this application will now be described in detail with reference to an application example.

[0122] This application example provides a method for wireless transmission of equipment operating condition signals based on ultra-wideband, and the technical effects include: (1) Effectively solves the problems of complex wiring, high maintenance cost, poor flexibility and easy damage faced by wired communication methods of sensors; (2) Compared with traditional narrowband wireless technology, it can achieve low latency, low power consumption and strong anti-interference capability; (3) It has an anti-collision mechanism for ultra-wideband signal wireless transmission to ensure the integrity of encoder signal wireless transmission and low packet loss rate.

[0123] 1. Composition of the sensor signal wireless transmission system The sensor signal wireless transmission system includes: N sensors, N ultra-wideband signal transmitters and M ultra-wideband signal receivers. The sensors and ultra-wideband signal transmitters are connected via RS485 or CAN proximity.

[0124] Here, the attributes of the ultra-wideband signal transmitter include: transmitter ID, current timestamp, timestamp synchronization source ID, most recent synchronization time, timeslot allocation value, target receiver ID, and sensor data frame. The initial value of the timestamp synchronization source ID is the transmitter ID, the initial value of the most recent synchronization time is zero, and the initial value of the timeslot allocation value is empty.

[0125] Here, the attributes of the ultra-wideband signal receiver include: receiver number, current timestamp, timestamp synchronization source number, most recent synchronization time, transmitter time slot allocation table, target transmitter number, and sensor data frame reception status. The initial value of the timestamp synchronization source number is the receiver number, the initial value of the most recent synchronization time is zero, and the transmitter time slot allocation table consists of N transmitter numbers sorted in ascending order.

[0126] Below, in conjunction with Figure 5 The method for wireless transmission of equipment operating condition signals based on ultra-wideband provided in this application example is described in detail, including the following steps: Step 501: When the ultra-wideband signal transmitter is woken up, it sends the first data packet.

[0127] In practical applications, when the ultra-wideband signal transmitter is awakened, it reads the transmitter's time slot allocation value. If the transmitter's time slot allocation value is empty, it immediately sends the first data packet. If the transmitter's time slot allocation value is not empty, let the transmitter's time slot allocation value be x. The ultra-wideband signal transmitter sends the first data packet after a waiting time ts. The waiting time (i.e., the first waiting duration) ts is calculated as follows: Here, we assume that the millisecond portion of the current timestamp at the sending end is tm.

[0128] Here, when tm–int(tm / T)×T≤t1×(x-1), ts=t1×(x-1)-(tm–int(tm / T)×T); Otherwise, ts = t1 × x - tm – int(tm / T) × T).

[0129] Here, the content of the first data message includes the sender number, the sender's current timestamp, the sender's timestamp synchronization source number, the target receiver number, and the sensor data frame.

[0130] Step 502: The receiving end processes the data packet only if it receives the message from the sending end.

[0131] In practical applications, assume that the ultra-wideband signal receiver m1 only receives messages from the transmitter, and the receiver number of receiver m1 is m1. Compare the timestamp synchronization source number of receiver m1 with the timestamp synchronization source number of the transmitter in the first data packet. If the timestamp synchronization source number of the transmitter in the first data packet is smaller than the timestamp synchronization source number of receiver m1, then set the timestamp synchronization source number of receiver m1 to the timestamp synchronization source number of the transmitter in the first data packet, and set the most recent synchronization time of receiver m1 to the current timestamp of the transmitter in the first data packet. Here, it is determined whether the value of the transmitter time slot allocation table of receiver m1 at the current time is consistent with the transmitter number in the first data packet: (1) If the value of the time slot allocation table of the receiver m1 at the current time is consistent with the sender number in the first data packet, then it is further determined whether the receiver number of the receiver m1 is consistent with the target receiver number in the first data packet: (1.1) If the receiver number of receiver m1 is consistent with the target receiver number in the first data packet, then receiver m1 processes the sensor data frame in the first data packet and sets the sensor data frame reception status to "success". (1.2) If the receiver number of receiver m1 is inconsistent with the target receiver number in the first data packet, receiver m1 will not process the sensor data frame in the first data packet and will set the sensor data frame reception status to "ignore".

[0132] (2) If the value of the time slot allocation table of the receiver m1 at the current time is inconsistent with the sender number in the first data packet, then it is further determined whether the receiver number of the receiver m1 is consistent with the target receiver number in the first data packet: (2.1) If the receiver number of receiver m1 is consistent with the target receiver number in the first data packet, then receiver m1 will not process the sensor data frame in the first data packet and will set the sensor data frame reception status to "failure". (2.2) If the receiver number of receiver m1 is inconsistent with the target receiver number in the first data packet, receiver m1 will not process the sensor data frame in the first data packet and will set the sensor data frame reception status to "ignore".

[0133] Here, the ultra-wideband signal receiver m1 replies with a second data message after a time interval of t0×m1 (i.e., the second waiting time). The content of the second data message includes the receiver number, the receiver's current timestamp, the receiver timestamp synchronization source number, the target transmitter number, and the sensor data frame reception status. The target transmitter number is the transmitter number in the first data message.

[0134] The receiving end m1 determines whether the timestamp synchronization source number needs to be reset. The specific method is as follows: Let the timestamp synchronization source number reset buffer period be Tb. That is, after Tb, the clock of the receiving end m1 may have an error exceeding the time synchronization error range, requiring a reset. When the current timestamp of the receiving end m1 minus the most recent synchronization time of the receiving end is greater than or equal to Tb, the timestamp synchronization source number of the receiving end is reset to the receiving end number, and the most recent synchronization time of the receiving end is set to the current timestamp of the receiving end.

[0135] Step 503: The receiving end processes the data packet after simultaneously receiving both the sending end message and the receiving end message.

[0136] In practical applications, suppose that ultra-wideband signal receivers m2, m3 and m4 receive messages from both the sender and receiver simultaneously. Taking receiver m2 as an example, receiver m2 is numbered as m2.

[0137] (1) The receiving end m2 processes the second data packet The receiver timestamp synchronization source number of receiver m2 is set to the receiver timestamp synchronization source number in the second data packet. The most recent synchronization time of receiver m2 is set to the current timestamp of receiver m2 in the second data packet. The current timestamp of receiver m2 is set to the current timestamp of receiver m2 in the second data packet.

[0138] (2) The receiving end m2 processes the first data packet. The processing method is the same as step 402 (1~2).

[0139] (3) The receiving end m2 replies with a third data packet Here, the ultra-wideband signal receiver m2 starts from the moment it receives the first data message and waits for t0×m2 (i.e., the third waiting time) before replying with a third data message. The content of the third data message includes the receiver number, the receiver's current timestamp, the receiver's timestamp synchronization source number, the target transmitter number, and the sensor data frame reception status. The target transmitter number is the transmitter number in the first data message.

[0140] Similarly, receiver m3 processes the second data packet, receiver m3 processes the first data packet, receiver m3 replies with the fourth data packet, and so on.

[0141] Step 504: The ultra-wideband signal transmitter processes the data packets replied by the receiver.

[0142] Here, the sending end processes the second, third, and fourth data packets in response from the receiving end in sequence, taking the second data packet as the target data packet as an example.

[0143] Here, the sender's timestamp synchronization source number is compared with the receiver's timestamp synchronization source number in the second data packet. If the sender's timestamp synchronization source number is larger than the receiver's timestamp synchronization source number in the second data packet, then the sender's timestamp synchronization source number is set to the receiver's timestamp synchronization source number in the second data packet, the sender's most recent synchronization time is set to the receiver's current timestamp in the second data packet, and the sender's current timestamp is set to the receiver's current timestamp in the second data packet; otherwise, no processing is performed.

[0144] Here, it is determined whether the sender number of the sending end is consistent with the target sender number in the second data packet: if the sender number of the sending end is consistent with the target sender number in the second data packet, and the sensor data frame reception status in the second data packet is "failed", then the sending end will continue to send the sensor data frame to the next superframe period; otherwise, no processing is performed.

[0145] (1) The sending end determines whether to reset the timestamp synchronization source number. The sending end determines whether to reset the timestamp synchronization source number as follows: Let the timestamp synchronization source number reset buffer period be Tb. This means that after Tb, the sending end's clock error may exceed the time synchronization error range, requiring a reset. When the sending end's current timestamp - the sending end's most recent synchronization time ≥ Tb, the sending end's timestamp synchronization source number is reset to the sending end's number, and the sending end's most recent synchronization time is set to the sending end's current timestamp.

[0146] (2) The sending end determines whether to sleep or periodically send data packets. Let the sleep buffer period of the sending end be Tc. The sending end reads the continuous still time. When the continuous still time is greater than Tc, the sending end enters the sleep state. Otherwise, the sending end periodically sends data packets according to the superframe period.

[0147] In an exemplary embodiment, this application also provides a computer storage medium, specifically a computer-readable storage medium storing a computer program thereon. This computer program can be executed by a processor to complete the steps of the method described in this application embodiment. The computer-readable storage medium can be a memory such as ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0148] It should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0149] Furthermore, the technical solutions described in the embodiments of this application can be arbitrarily combined without conflict. The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A wireless transmission method for equipment condition sensing signals based on ultra-wideband (UWB), applied to an UWB signal transmitter, wherein there is at least one UWB signal transmitter, and the at least one UWB signal transmitter is connected one-to-one with at least one sensor of the equipment in operation, characterized in that, The method includes: Within the current superframe period, if the ultra-wideband signal transmitter is in a wake-up state, it is determined whether the transmitter time slot allocation value of the ultra-wideband signal transmitter is empty. If so, the first data packet is immediately sent. If not, a first waiting time is generated based on the transmitter time slot allocation value, the millisecond portion of the current timestamp of the ultra-wideband signal transmitter, the time slot for wireless transmission of the sensor signal, and the current superframe period. After waiting for the first waiting time, the first data packet of the ultra-wideband signal transmitter is sent. The first data packet includes: transmitter number, transmitter current timestamp, transmitter timestamp synchronization source number, first target receiver number, and sensor data frame. If a second data packet is received from the first ultra-wideband signal receiver after a second waiting period, then in response to the second data packet, the comparison result between the receiving end timestamp synchronization source number of the first ultra-wideband signal receiver and the transmitting end timestamp synchronization source number of the ultra-wideband signal transmitter, and the consistency comparison result between the transmitting end number of the ultra-wideband signal transmitter and the second target transmitting end number of the first ultra-wideband signal receiver are determined; wherein, the first ultra-wideband signal receiver is an ultra-wideband signal receiver that only receives the first data packet; the second data packet includes: receiver number, current timestamp of the receiver, receiving end timestamp synchronization source number, second target transmitting end number, and sensor data frame reception status; wherein, the second target The sender number is the sender number of the first data packet; the second waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal of the ultra-wideband signal transmitter and the receiver number of the first ultra-wideband signal receiver; the sender timestamp synchronization source number of the ultra-wideband signal transmitter, the most recent synchronization time of the ultra-wideband signal transmitter, the current timestamp of the ultra-wideband signal transmitter, and the size comparison result are used to determine the sender timestamp synchronization source number, the most recent synchronization time, and the current timestamp of the sender in the next superframe period; the sensor data frame in the next superframe period is determined based on the consistency comparison result and the sensor data frame reception status. Based on the timestamp synchronization source number of the transmitter in the next superframe period, the most recent synchronization time of the transmitter in the next superframe period, the current timestamp of the transmitter in the next superframe period, and the sensor data frame in the next superframe period, a data packet to be sent by the ultra-wideband signal transmitter in the next superframe period is generated. The step of generating a first waiting time based on the time slot allocation value of the transmitting end, the millisecond portion of the current timestamp of the ultra-wideband signal transmitting end, the time slot for wireless transmission of the sensor signal, and the current superframe period includes: Determine whether the time slot allocation value of the transmitting end, the millisecond part of the current timestamp of the ultra-wideband signal transmitting end, the time slot of the wireless transmission of the sensor signal, and the current superframe period meet the set conditions. If so, calculate the time slot allocation value of the transmitting end, the millisecond part of the current timestamp of the ultra-wideband signal transmitting end, the time slot of the wireless transmission of the sensor signal, and the current superframe period based on the first calculation rule to generate the first waiting time. If not, the first waiting time is generated by calculating the time slot allocation value of the transmitting end, the millisecond part of the current timestamp of the ultra-wideband signal transmitting end, the time slot of the wireless transmission of the sensor signal, and the current superframe period based on the second calculation rule. The time slot for wireless transmission of sensor signals is calculated based on a third calculation rule, taking into account the maximum total number of ultra-wideband signal receivers and the time required for a single unidirectional wireless transmission and parsing of sensor signals at the ultra-wideband signal transmitter. The current superframe period is calculated based on a fourth calculation rule, taking into account the total number of ultra-wideband signal receivers, the total number of ultra-wideband signal transmitters, and the time required for a single unidirectional wireless transmission and parsing of sensor signals at the ultra-wideband signal transmitter. The setting condition is: tm-int(tm / T)×T≤t1×(x-1). The first calculation rule is: ts = t1 × (x - 1) - (tm – int(tm / T) × T); The second calculation rule is: ts = t1 × x - (tm – int(tm / T) × T); The third calculation rule is: t1 = (1 + M) × t0; The fourth calculation rule is T = (1 + M) × t0 × N; Where tm is the millisecond portion of the current timestamp of the ultra-wideband signal transmitter, T is the current superframe period of the wireless transmission of the sensor signal, x is the time slot allocation value of the ultra-wideband signal transmitter, t1 is the time slot of the wireless transmission of the sensor signal, ts is the first waiting time, t0 is the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter, M is the total number of ultra-wideband signal receivers, N is the total number of ultra-wideband signal transmitters, and int() is the rounding function.

2. The method according to claim 1, characterized in that, The method further includes: If a third data packet is received indicating that the second ultra-wideband (UWB) signal receiver is waiting for a third waiting period, then in response to the third data packet, the following comparison results are determined: the size comparison result between the receiving end timestamp synchronization source number of the second UWB signal receiver and the transmitting end timestamp synchronization source number of the UWB signal transmitter, and the consistency comparison result between the transmitting end number of the UWB signal transmitter and the third target transmitting end number of the second UWB signal receiver. The second UWB signal receiver is an UWB signal receiver that simultaneously receives the first data packet and other data packets replied by other UWB receivers. The third data packet includes: receiver number, current timestamp of the receiver, receiving end timestamp synchronization source number, third target transmitting end number, and sensor data frame reception status. The third waiting period is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal of the UWB signal transmitter and the receiver number of the first UWB signal receiver. Based on the transmitter timestamp synchronization source number of the ultra-wideband signal transmitter, the transmitter's most recent synchronization time, the transmitter's current timestamp, and the size comparison result, the transmitter timestamp synchronization source number, the transmitter's most recent synchronization time, and the transmitter's current timestamp for the next superframe period are determined; based on the consistency comparison result and the sensor data frame reception status, the sensor data frame for the next superframe period is determined. Based on the transmitter timestamp synchronization source number of the next superframe period, the transmitter's most recent synchronization time of the next superframe period, the transmitter's current timestamp of the next superframe period, and the sensor data frame of the next superframe period, a data packet to be transmitted by the ultra-wideband signal transmitter in the next superframe period is generated.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the duration of stillness at the ultra-wideband signal transmitter; Determine whether the continuous static time is greater than or equal to the sleep buffer period of the ultra-wideband signal transmitter. If yes, determine that the ultra-wideband signal transmitter is in a sleep state; if no, determine that the ultra-wideband signal transmitter is in the wake-up state.

4. The method according to claim 1, characterized in that, The method further includes: Determine whether the difference between the timestamp synchronization source number of the sending end and the most recent synchronization time of the sending end is greater than or equal to the timestamp synchronization source number reset buffer duration. If so, reset the timestamp synchronization source number of the sending end to the sending end number, and set the most recent synchronization time of the sending end to the current timestamp of the sending end.

5. The method according to claim 1 or 2, characterized in that, The step of determining the transmitter timestamp synchronization source number, the most recent synchronization time, the current timestamp of the ultra-wideband signal transmitter, and the size comparison result for the next superframe period includes: If the size comparison result is that the sending end timestamp synchronization source number is greater than the receiving end timestamp synchronization source number, then the sending end timestamp synchronization source number of the next superframe period is set to the receiving end timestamp synchronization source number; the most recent synchronization time of the sending end in the next superframe period is set to the current timestamp of the receiving end; and the current timestamp of the sending end in the next superframe period is set to the current timestamp of the receiving end. The step of determining the sensor data frame for the next superframe period based on the consistency comparison result and the sensor data frame reception status includes: If the consistency comparison result is consistent and the sensor data frame reception status is failure, then the sensor data frame of the next superframe period is determined to be the sensor data frame of the current superframe period. If the consistency comparison result is inconsistent, or the sensor data frame reception status is successful, then the sensor data frame of the next superframe period is determined to be the sensor data frame to be collected.

6. A wireless transmission method for equipment condition sensing signals based on ultra-wideband (UWB), applied to an UWB signal receiver, wherein the UWB signal receiver is at least one, characterized in that... The method includes: The system receives a first data packet sent by an ultra-wideband signal transmitter. The first data packet includes: transmitter number, current timestamp of the transmitter, timestamp synchronization source number of the transmitter, first target receiver number, and sensor data frame. The first data packet is a data packet sent immediately by the ultra-wideband transmitter in the wake-up state or sent after waiting for a first waiting time within the current superframe period. Determine whether other data packets sent by other ultra-wideband signal receivers are received simultaneously. If not, determine that the current ultra-wideband signal receiver is the first ultra-wideband signal receiver. In response to the first data packet, determine that the timestamp synchronization source number of the sending end is less than the timestamp synchronization source number of the receiving end of the first ultra-wideband signal receiver. Then, set the timestamp synchronization source number of the receiving end of the first ultra-wideband signal receiver to the timestamp synchronization source number of the sending end. Set the most recent synchronization time of the receiving end of the first ultra-wideband signal receiver to the current timestamp of the sending end. Based on the first consistency comparison result between the current value of the transmitter time slot allocation table of the first ultra-wideband signal receiver and the transmitter number, and the second consistency comparison result between the receiver number of the first ultra-wideband signal receiver and the first target receiver number, the sensor data frame reception status of the first ultra-wideband signal receiver is determined; the transmitter time slot allocation table includes the correspondence between the transmitter number and the time slot allocation value. A second data packet is generated based on the receiver ID of the first ultra-wideband signal receiver, the current timestamp of the receiver, the timestamp synchronization source ID of the receiver, the second target transmitter ID of the first ultra-wideband signal receiver, and the sensor data frame reception status. A second waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal at the ultra-wideband signal transmitter and the receiver ID of the first ultra-wideband signal receiver. After waiting for the second waiting time, the second data packet is sent. The second target receiver ID is the transmitter ID. The determination of the sensor data frame reception status of the first ultra-wideband signal receiver, based on the first consistency comparison result between the current value of the transmitter time slot allocation table of the first ultra-wideband signal receiver and the transmitter number, and the second consistency comparison result between the receiver number of the first ultra-wideband signal receiver and the first target receiver number, includes: If the first consistency comparison result is consistent and the second consistency comparison result is consistent, the sensor data frame reception status is determined to be successful. If the first consistency comparison result is consistent and the second consistency comparison result is inconsistent, the sensor data frame reception status is determined to be ignored; If the first consistency comparison result is inconsistent and the second consistency comparison result is consistent, the sensor data frame reception status is determined to be failed. If the first consistency comparison result is inconsistent and the second consistency comparison result is inconsistent, the sensor data frame reception status is determined to be ignored.

7. The method according to claim 6, characterized in that, The method further includes: If other data packets are received simultaneously from other ultra-wideband signal receivers, the current ultra-wideband signal receiver is determined to be the second ultra-wideband signal receiver. In response to the other data packets, the receiver timestamp synchronization source number of the second ultra-wideband signal receiver is set to the other receiver timestamp synchronization source number of the other data packets; the most recent synchronization time of the second ultra-wideband signal receiver is set to the receiver's current timestamp in the other data packets; and the receiver's current timestamp of the second ultra-wideband signal receiver is set to the receiver's current timestamp of the other data packets. Based on the first consistency comparison result of the value of the transmitter time slot allocation table of the second ultra-wideband signal receiver at the current time with the transmitter number and the second consistency comparison result of the receiver number of the second ultra-wideband signal receiver with the target receiver number in the first data packet, the sensor data frame reception status of the second ultra-wideband signal receiver is determined. A third data packet is generated based on the receiver number of the second ultra-wideband signal receiver, the timestamp synchronization source number of the receiver, the current timestamp of the receiver, the third target transmitter number of the second ultra-wideband signal receiver, and the sensor data frame reception status. A third waiting time is determined based on the time occupied by the single unidirectional wireless transmission and parsing of the sensor signal corresponding to the ultra-wideband signal transmitter and the receiver number of the second ultra-wideband signal receiver. After waiting for the third waiting time, the third data packet is sent. The third target transmitter number is the transmitter number in the first data packet.

8. The method according to claim 6, characterized in that, The method further includes: Determine whether the difference between the receiver timestamp synchronization source number and the most recent synchronization time of the first ultra-wideband signal receiver is greater than or equal to the set timestamp synchronization source number reset buffer duration. If so, reset the receiver timestamp synchronization source number of the first ultra-wideband signal receiver to the receiver number of the first ultra-wideband signal receiver, and set the most recent synchronization time of the first ultra-wideband signal receiver to the current timestamp of the first ultra-wideband signal receiver.

9. An ultra-wideband signal transmitting device, wherein there is at least one ultra-wideband signal transmitting device, and the at least one ultra-wideband signal transmitting device is connected to at least one sensor of the operating equipment in a one-to-one correspondence, characterized in that, The device includes: Microcontroller unit; An ultra-wideband radio frequency module is electrically connected to the microcontroller unit, wherein the microcontroller unit is used to perform the steps of the method according to any one of claims 1 to 5.

10. An ultra-wideband signal receiving device, wherein the ultra-wideband signal receiving device is at least one, characterized in that, The device includes: Microcontroller unit; An ultra-wideband radio frequency module is electrically connected to the microcontroller unit, wherein the microcontroller unit is used to perform the steps of the method according to any one of claims 6 to 9.

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