Time slot scheduling method and system integrating wireless and wired time sensitive networks

Abstract

The invention relates to the technical field of industrial communication data processing, in particular to a time slot scheduling method and system integrating wireless and wired time-sensitive networks, which comprises the following steps: receiving a service data stream from a wired TSN network through a wireless access point, identifying a service quality requirement parameter, determining a TDMA frame structure comprising a mixed time slot section according to the service quality requirement parameter, and sending the TDMA frame structure to the wireless access point; the mixed time slot segment is composed of a TSN guarantee time slot and a dynamic competition time slot. And the wireless access point maps the high-determinacy service flow to the TSN guarantee time slot, maps the rest of the high-determinacy service flow to the dynamic competition time slot, and executes time slot level mapping of the TSN guarantee time slot and the wired TSN scheduling period to realize transmission opportunity alignment. Data are sent in the aligned time slot, and the problem of end-to-end time delay certainty caused by mismatching of wireless CSMA / CA random access and a wired TSN time sensing shaping mechanism is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial communication data processing, and in particular to a time slot scheduling method and system fusing wireless and wired time sensitive networks. BACKGROUND

[0002] Currently, in the industrial internet, data communication, vehicle-mounted, etc. scene, through high-precision time synchronization, efficient flow scheduling and shaping mechanism, in the complex multi-service coexistence scene, provide bounded low latency and deterministic high reliability transmission guarantee for key data flow, effectively solve the pain point of uncertain latency in existing Ethernet communication, empower industrial control, intelligent driving system and other applications with extremely high real-time requirements.

[0003] The existing time slot scheduling technology has the following technical pain points, specifically: in the industrial automation scene, for example, the motion controller sends synchronization control instructions to multiple wireless connected industrial robots through the wired TSN network, the wired segment adopts the time-aware shaper for periodic and collision-free time slot scheduling, which guarantees the low latency and determinism of transmission; however, when the data packet arrives at the wireless access point and enters the wireless domain, due to the random contention access mechanism of the underlying wireless Wi-Fi communication based on CSMA / CA, the enhanced distributed channel access mode has inherent data packet collision probability and random backoff delay, which causes significant jitter of wireless air transmission delay; the mechanism mismatch between strict scheduling of the wired segment and random access of the wireless segment causes uncoordinated short boards in the end-to-end latency path, ultimately causing the robot to fail to receive instructions within the accurate time window, and further causing the synchronization accuracy of the motion control system to decrease or run unstable. SUMMARY

[0004] In view of the technical problems of the prior art, the present application provides a time slot scheduling method and system fusing wireless and wired time sensitive networks, which solves the technical problem that the end-to-end latency determinism is difficult to guarantee in the industrial automation scene due to the mismatch between the random contention access mechanism of wireless Wi-Fi based on CSMA / CA and the time-aware shaping mechanism of wired TSN.

[0005] To solve the above technical problems, the specific content of the present application is as follows:

[0006] In a first aspect, the present application provides a time slot scheduling method fusing wireless and wired time sensitive networks, comprising:

[0007] Step 1, the wireless access point receives the service data flow from the wired TSN network, and identifies the quality of service requirement parameter included in the service data flow;

[0008] Step 2, the wireless access point determines a time division multiple access (TDMA) frame structure for scheduling the traffic data streams according to the identified quality of service requirement parameters, the TDMA frame structure comprising hybrid time slot segments, each hybrid time slot segment being composed of a TSN-guaranteed time slot and a dynamic contention time slot;

[0009] Step 3, the wireless access point maps the traffic data streams to corresponding time slots in the hybrid time slot segments according to the quality of service requirement parameters, wherein the traffic data streams meeting the high determinacy requirement are mapped to the TSN-guaranteed time slots, and the remaining traffic data streams are mapped to the dynamic contention time slots;

[0010] Step 4, the wireless access point performs time slot level mapping between the TSN-guaranteed time slots and the wired TSN network scheduling period for the traffic data streams mapped to the TSN-guaranteed time slots, so that the transmission time of the TSN-guaranteed time slots allocated for the traffic data streams is aligned with the corresponding time window in the wired TSN network;

[0011] Step 5, the wireless access point transmits the traffic data streams in the aligned time slots.

[0012] Further, the time slot scheduling method for fusing wireless and wired time sensitive networks according to the present application, the step 4 comprises:

[0013] the wireless access point parses the target time window of the traffic data stream in the wired TSN scheduling period from the quality of service requirement parameters;

[0014] the wireless access point calculates the alignment offset of the target time window and the wireless TDMA superframe period according to the start time and the duration of the target time window;

[0015] the wireless access point determines the mapping relationship of the target time window in the sequence of wireless TDMA superframes according to the alignment offset;

[0016] the wireless access point maps the target time window to a fixed position time slot in one or more continuous wireless TDMA superframes according to the mapping relationship;

[0017] the wireless access point configures the fixed position time slot as the TSN-guaranteed time slot corresponding to the traffic data stream.

[0018] Further, the time slot scheduling method for fusing wireless and wired time sensitive networks according to the present application, the step 5 further comprises:

[0019] the wireless access point obtains the reliability level of the traffic data stream from the quality of service requirement parameters;

[0020] the wireless access point judges whether the reliability level exceeds a preset threshold;

[0021] If the reliability level exceeds the preset threshold, the wireless access point will activate at least two radio frequency front-ends operating in different frequency bands.

[0022] The wireless access point allocates the same TSN guaranteed time slot resources for service data streams on multiple activated frequency bands;

[0023] The wireless access point controls multiple radio frequency front-ends to synchronously transmit copies of the service data stream within the allocated TSN guaranteed time slots.

[0024] Furthermore, in the time slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, step 5 further includes:

[0025] The wireless access point stores copies of the service data stream to be sent into the transmission buffers corresponding to the multiple frequency band radio frequency front-ends.

[0026] The wireless access point acquires a clock signal synchronized with the wired TSN network and generates a sending trigger command based on this clock signal.

[0027] When the start of the mapped TSN guaranteed time slot is reached, the wireless access point sends a trigger command to all target radio frequency front-ends;

[0028] In response to a transmit trigger command, the RF front end reads a copy of the service data stream from its respective transmit buffer and transmits it.

[0029] Furthermore, in the time slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, step 1 includes:

[0030] The wireless access point parses the packet header of the service data stream and extracts the VLAN priority tag and flow identifier;

[0031] The wireless access point uses the flow identifier to query the local configuration database to obtain the latency limit, transmission period and reliability level parameters associated with the flow identifier;

[0032] The wireless access point inputs VLAN priority label, latency limit, transmission cycle and reliability level parameters into preset decision rules for weighted scoring to obtain a comprehensive score;

[0033] The wireless access point compares the comprehensive score with a preset threshold, and classifies the service data stream into TSN flow classification levels based on the comparison results. Higher levels correspond to TSN guaranteed time slots, while lower levels correspond to dynamic contention time slots.

[0034] Furthermore, in the time slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, the scheduling of dynamically contentious time slots includes:

[0035] The wireless access point monitors multiple service flow queues waiting to be transmitted within a dynamic contention time slot, and obtains the backlog data volume and preset priority weight of each service flow queue.

[0036] The wireless access point calculates the proportion of time slots allocated to each service flow queue in the next scheduling cycle based on the backlog of data in each service flow queue and the preset priority weight.

[0037] The wireless access point uses time slot ratios to generate a scheduling sequence, which defines the transmission order of the traffic flow queue within a dynamically contentionable time slot.

[0038] The wireless access point transmits data sequentially from each service flow queue within the dynamic contention time slot according to the scheduling sequence.

[0039] Furthermore, in the time slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, step 1 further includes: before receiving service data streams from the wired TSN network, the wireless access point performs clock synchronization.

[0040] The wireless access point interacts with the master clock in the wired TSN network via a precision time protocol to obtain the global clock signal;

[0041] The wireless access point uses a global clock signal to calibrate the local clock and adjusts the start time of the local TDMA superframe based on this clock, so that the start boundary of the superframe is aligned with the start boundary of the wired TSN network scheduling cycle.

[0042] At the start of each adjusted superframe period, the wireless access point sends a beacon frame containing timing information.

[0043] Furthermore, in the time-slot scheduling method for converged wireless and wired time-sensitive networks described in this invention, step 5 further includes: after synchronously sending a copy of the service data stream at the wireless access point:

[0044] The wireless terminal receives multiple copies of the service data stream from at least two different frequency bands;

[0045] The wireless terminal evaluates the signal quality of multiple received copies, selects the copy with the best signal quality based on the evaluation results, and submits the selected copy uplink; alternatively, the wireless terminal merges and decodes multiple received copies, and submits the decoded data packets uplink.

[0046] Furthermore, in the time-slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, determining the Time Division Multiple Access (TDMA) frame structure for scheduling service data streams includes:

[0047] The wireless access point adopts a superframe structure that conforms to the WIA industrial wireless standard. The superframe structure includes a beacon segment and a hybrid time slot segment.

[0048] The wireless access point calculates the required length ratio of TSN guaranteed time slots to dynamically contested time slots within the mixed time slot segment based on the total number of TSN service flows identified in the current network and the service quality requirement parameters.

[0049] The wireless access point determines the length allocation of the TSN guaranteed time slot and the dynamically contested time slot within the mixed time slot segment in the subsequent superframe based on the calculated required length ratio.

[0050] Secondly, the present invention provides a time-slot scheduling system integrating wireless and wired time-sensitive networks, applied to the time-slot scheduling method for integrating wireless and wired time-sensitive networks as described above, comprising:

[0051] The receiving and identification module is used to receive service data streams from the wired TSN network and identify the quality of service requirement parameters included in the service data streams.

[0052] The frame structure determination module is used to determine the Time Division Multiple Access (TDMA) frame structure for scheduling service data streams based on the identified quality of service requirement parameters. The TDMA frame structure includes a hybrid time slot segment, which consists of a TSN-guaranteed time slot and a dynamically contentionable time slot.

[0053] The service mapping module is used to map service data streams to corresponding time slots in the mixed time slot segment according to the service quality requirement parameters. Among them, service data streams that meet the high determinism requirements are mapped to the TSN guaranteed time slots, and the remaining service data streams are mapped to the dynamic contention time slots.

[0054] The time slot mapping module is used to perform time slot-level mapping between the TSN guaranteed time slot and the wired TSN network scheduling cycle for service data flows mapped to TSN guaranteed time slots, so that the transmission timing of the TSN guaranteed time slot allocated to the service data flow is aligned with the corresponding time window in the wired TSN network.

[0055] The data transmission module is used to send service data streams within the aligned time slots.

[0056] Beneficial effects of this invention;

[0057] This invention replaces the existing random contention access mechanism based on CSMA / CA in wireless Wi-Fi with a Time Division Multiple Access (TDMA) frame structure. It constructs a hybrid time slot segment including TSN guaranteed time slots and dynamic contention time slots, enabling the classification and mapping of service flows based on quality of service (QoS) requirement parameters. High-deterministic service flows are mapped to TSN guaranteed time slots, while other service flows are mapped to dynamic contention time slots. Through time slot-level mapping, the transmission timing of the wireless TSN guaranteed time slots is precisely aligned with the corresponding time windows in the wired TSN network scheduling cycle, overcoming the mechanism mismatch between strict scheduling in wired segments and random access in wireless segments. Combined with a multi-frequency redundant transmission mechanism to simultaneously send data copies across multiple frequency bands, and the use of a weighted round-robin algorithm for scheduling dynamic contention time slots, transmission reliability and resource utilization efficiency are effectively improved, thereby achieving deterministic end-to-end latency guarantees in scenarios such as industrial automation. Attached Figure Description

[0058] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0059] Fig. 1 This is a schematic diagram of hybrid time slot scheduling provided by the present invention.

[0060] Fig. 2 This is a schematic diagram of the time slot scheduling process provided by the present invention.

[0061] Fig. 3 This is a schematic diagram of dual-frequency or multi-frequency redundant transmission provided by the present invention.

[0062] Fig. 4 A schematic diagram of the integrated wired TSN and wireless WIA system provided by the present invention. Detailed Implementation

[0063] To make the technical solution of the present invention clearer, the present invention will be clearly and completely described below with reference to specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. The present invention provided by various embodiments will be described in detail below with reference to the accompanying drawings. To better understand the purpose of the present invention, the present invention will be described in further detail below.

[0064] Firstly, please refer to Figs. 1 to 4 The present invention provides a time slot scheduling method for integrating wireless and wired time-sensitive networks, comprising:

[0065] Step 1: The wireless access point receives the service data stream from the wired TSN network and identifies the quality of service requirement parameters included in the service data stream.

[0066] Step 2: The wireless access point determines the Time Division Multiple Access (TDMA) frame structure for scheduling service data streams based on the identified quality of service requirement parameters. The TDMA frame structure includes a hybrid time slot segment, which consists of a TSN-guaranteed time slot and a dynamically contentionable time slot.

[0067] Step 3: The wireless access point maps the service data stream to the corresponding time slot in the mixed time slot segment according to the service quality requirement parameters. Among them, the service data stream that meets the high determinism requirement is mapped to the TSN guaranteed time slot, and the remaining service data stream is mapped to the dynamic contention time slot.

[0068] Step 4: For the service data stream mapped to the TSN guaranteed time slot, the wireless access point performs a time slot-level mapping between the TSN guaranteed time slot and the wired TSN network scheduling cycle, so that the transmission timing of the TSN guaranteed time slot allocated to the service data stream is aligned with the corresponding time window in the wired TSN network.

[0069] Step 5: The wireless access point sends the service data stream within the aligned time slot.

[0070] After the wireless access point is activated, its primary task is to establish a time synchronization foundation with the wired TSN network. By synchronizing with the wired master clock using a precise time protocol and obtaining the global clock signal, the wireless access point uses this signal to calibrate its local clock reference and aligns the start boundary of its local TDMA superframe with the start boundary of the wired TSN scheduling cycle. This end-to-end time synchronization mechanism provides a precise time reference for subsequent slot-level scheduling. For example, in industrial robot control scenarios, this synchronization ensures that wireless commands and wired control cycles are perfectly synchronized.

[0071] After clock synchronization is complete, the wireless access point begins receiving service data streams from the wired TSN network. The device parses the packet header fields, extracts key information such as VLAN priority tags and flow identifiers, and combines this with parameters preset in the local configuration database, such as latency limits, transmission cycles, and reliability levels, to form a complete set of service quality requirement parameters. This set of parameters serves as the basis for subsequent resource scheduling decisions; for example, motion control command streams may be identified as high-determinism services, while sensor status data may be classified as ordinary services.

[0072] Based on the identified Quality of Service (QoS) requirement parameters, the wireless access point dynamically constructs a TDMA frame structure. This frame employs a hybrid time-slot design, including fixed-allocation TSN guaranteed time slots and dynamically contested shared time slots. In practice, the device calculates the length ratio of the two types of time slots based on the characteristics of the current network traffic. For PLC control data requiring strictly periodic transmission, a fixed-position guaranteed time slot is allocated; while for non-periodic data, dynamically contested time slot resources are reserved.

[0073] During the service flow mapping phase, the wireless access point binds the identified high-determinism service flows to the TSN-guaranteed time slots. This process requires fine-grained time slot-level mapping: first, the target time window of the service flow within the wired-side scheduling cycle is parsed, and its alignment offset with the wireless superframe is calculated; then, the wired time window is mapped to a fixed time slot within consecutive wireless superframes. This mapping ensures that the timing of real-time control commands transmitted over the wireless air interface in industrial scenarios perfectly matches the wired-side scheduling cycle.

[0074] For service flows requiring high reliability, the system activates a multi-frequency redundancy mechanism. When the reliability level of a service flow is detected to exceed a threshold, the wireless access point simultaneously allocates the same TSN guarantee time slot resources in both the 2.4GHz and 5GHz bands and stores data copies in the corresponding transmission buffers for different frequency bands. At the start of the mapped time slot, the device triggers multi-band synchronous transmission based on a synchronization clock. This design effectively addresses frequency interference issues in industrial environments.

[0075] Dynamic contention for time slots is scheduled using a weighted round-robin algorithm. The wireless access point continuously monitors the backlog of data and priority weights in each service flow queue, dynamically calculating the time slot allocation ratio for the next cycle. This design ensures the transmission needs of high-bandwidth services such as video surveillance while also accommodating the timely upload of sensor data, allowing non-critical services to receive reasonable bandwidth allocation.

[0076] During the data transmission phase, the wireless access point strictly adheres to the established time slot mapping relationship. Within the TSN-guaranteed time slot, the device transmits high-priority data according to a preset timing sequence; in dynamically contentionable time slots, it transmits ordinary data in a round-robin fashion according to the scheduling sequence. When the receiving end obtains a copy of the multi-band transmission, it performs signal quality assessment and merging decoding to further improve transmission reliability. This invention's technical solution achieves end-to-end deterministic transmission from wired to wireless through the synergy of time slot-level scheduling and multi-frequency redundancy.

[0077] Specifically, in the time slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, step 4 includes:

[0078] The wireless access point parses the target time window of the service data stream in the wired TSN scheduling cycle from the quality of service requirement parameters.

[0079] The wireless access point calculates the alignment offset between the target time window and the wireless TDMA superframe period based on the start time and duration of the target time window.

[0080] The wireless access point determines the mapping relationship of the target time window in the wireless TDMA superframe sequence based on the alignment offset.

[0081] The wireless access point maps the target time window to a fixed time slot within one or more consecutive wireless TDMA superframes based on the mapping relationship.

[0082] The wireless access point configures the fixed location time slot as the TSN guarantee time slot corresponding to the service data stream.

[0083] After the wireless access point initiates the time slot mapping process, it extracts key scheduling information from the identified quality of service (QoS) requirement parameters. Specifically, the device parses the target time window parameters of the service flow within the wired TSN scheduling cycle. These parameters typically include the start time marker and duration span of the time window. Taking an industrial robot synchronous control scenario as an example, the motion control command flow might be configured to occupy a fixed time window of the first 500 microseconds within a 2-millisecond cycle.

[0084] After obtaining the target time window parameters, the wireless access point calculates its timing correspondence with the wireless TDMA superframe period. The device compares the start time of the target time window with the reference time of the wireless superframe and calculates the precise alignment offset based on the window duration. This offset calculation needs to consider clock synchronization error compensation between the wired and wireless domains, typically using a linear interpolation algorithm to eliminate accumulated errors. In actual deployments on automotive manufacturing lines, this calculation ensures that the control commands for the welding robot transmitted wirelessly perfectly match the 1-millisecond scheduling cycle on the wired side.

[0085] Based on the calculated alignment offset, the system establishes a mapping relationship between the wired time window and the wireless superframe sequence. During the mapping process, the wireless access point needs to determine whether the target time window spans multiple wireless superframe cycles and uses modular arithmetic to handle cycle boundary alignment. For video detection data streams with long durations, it may be necessary to allocate corresponding time slot resources within three consecutive superframes.

[0086] After completing the mapping calculation, the wireless access point begins to perform the specific time slot allocation operation. When the device maps the target time window to a fixed time slot within the wireless TDMA superframe, it reserves appropriate pre- and post-guard intervals to cope with clock drift. In semiconductor wafer handling scenarios, this guard interval is typically set to 5%-10% of the time slot length, which ensures timing fault tolerance without significantly reducing spectrum utilization.

[0087] In the final stage, the wireless access point configures the allocated fixed-location time slots as dedicated TSN-guaranteed time slots. During configuration, metadata such as time slot type identifiers, service flow binding information, and priority markers are written. This metadata is directly read by the RF front-end hardware during subsequent scheduling, enabling fast forwarding without parsing. For example, in a smart warehousing system, the navigation data stream of an AGV can achieve microsecond-level transmission determinism through this mechanism, effectively avoiding path planning conflicts caused by wireless latency jitter.

[0088] Specifically, in the time slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, step 5 further includes:

[0089] The wireless access point obtains the reliability level of the service data stream from the quality of service requirement parameters;

[0090] The wireless access point determines whether the reliability level exceeds a preset threshold.

[0091] If the reliability level exceeds the preset threshold, the wireless access point will activate at least two radio frequency front-ends operating in different frequency bands.

[0092] The wireless access point allocates the same TSN guaranteed time slot resources for service data streams on multiple activated frequency bands;

[0093] The wireless access point controls multiple radio frequency front-ends to synchronously transmit copies of the service data stream within the allocated TSN guaranteed time slots.

[0094] The wireless access point extracts the reliability level index of the service data stream from the identified quality of service requirement parameter set. This index is typically represented numerically by the transmission fault tolerance requirements. In industrial robot control scenarios, the reliability level of the motion command stream may be set to the highest level, while environmental sensor data may use a normal level. The device obtains the specific value by parsing the reliability field in the parameter set, and this value directly corresponds to the strength of the error recovery mechanism required by the service stream.

[0095] After obtaining the reliability level, the wireless access point compares it with a preset threshold. The threshold is dynamically adjusted according to the network deployment environment; for example, in an automotive welding workshop with strong electromagnetic interference, the threshold is set at a higher level to trigger redundant transmission. The comparison process uses a hardware comparator to achieve microsecond-level response, avoiding the delay introduced by software judgment. When the reliability level exceeds the threshold, the system immediately activates the multi-band transmission contingency plan.

[0096] When conditions are met, the wireless access point activates two or more RF front-ends operating in different frequency bands in parallel. Taking a typical industrial scenario as an example, the device simultaneously enables the power amplifiers of the 2.4GHz and 5GHz RF links and loads the baseband parameters for the corresponding frequency bands. During activation, frequency band availability is checked; if persistent interference exists in a certain frequency band, it automatically switches to a backup frequency band combination.

[0097] Once the RF front-end is ready, the wireless access point allocates identical TSN (Time Slot Number) resources across multiple frequency bands for the same service flow. During allocation, strict consistency in time slot location, length, and period parameters is maintained to ensure complete synchronization of transmission timing across frequency bands. In intelligent warehousing system applications, AGV navigation data flows simultaneously obtain time slot resources with the same number in both the 2.4GHz and 5GHz frequency bands, forming parallel transmission channels.

[0098] In the final stage, the wireless access point achieves multi-band synchronous transmission through precise timing control. The device generates a unified transmission trigger pulse based on a global clock signal and simultaneously sends commands to all RF front-ends at the start of the mapped TSN guaranteed time slot. Upon receiving the trigger signal, the RF front-ends read data copies from their respective buffers and apply band-specific modulation parameters to achieve phase synchronization of the air interface signals. This mechanism enables critical commands in CNC machine tool control scenarios to avoid sudden interference from a single band through dual-band transmission, significantly improving transmission reliability.

[0099] Specifically, in the time slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, step 5 further includes:

[0100] The wireless access point stores copies of the service data stream to be sent into the transmission buffers corresponding to the multiple frequency band radio frequency front-ends.

[0101] The wireless access point acquires a clock signal synchronized with the wired TSN network and generates a sending trigger command based on this clock signal.

[0102] When the start of the mapped TSN guaranteed time slot is reached, the wireless access point sends a trigger command to all target radio frequency front-ends;

[0103] In response to a transmit trigger command, the RF front end reads a copy of the service data stream from its respective transmit buffer and transmits it.

[0104] When preparing for multi-band transmission, the wireless access point first distributes copies of the service data stream to be transmitted to the corresponding transmit buffers of the radio frequency front-ends in different frequency bands. Each radio frequency front-end has an independent storage area; for example, buffer A corresponds to the 2.4GHz radio frequency front-end, and buffer B corresponds to the 5GHz radio frequency front-end. This isolated storage design effectively avoids data access conflicts between frequency bands. In industrial robotic arm control scenarios, copies of critical motion commands are stored simultaneously in buffers of both frequency bands, preparing for parallel transmission.

[0105] Subsequently, the wireless access point obtains a global clock signal from the precision time protocol synchronization module to maintain synchronization with the wired TSN network. This clock signal serves as the time reference for the system of this invention, and the device uses it as a reference to generate transmission trigger commands with precise timestamps. The command generation process employs a hardware-level clock tree synchronization mechanism to ensure that the timing deviation of multi-band command transmissions is controlled within the nanosecond level.

[0106] When the mapped TSN guaranteed time slot start date arrives, the wireless access point broadcasts a trigger command to all target RF front-ends via the control bus. Command transmission uses a parallel broadcast method, and each RF front-end performs hardware timestamp comparison upon receiving the command to eliminate time errors caused by transmission delays. In automotive welding production lines, this design enables RF front-ends distributed in different locations within the workshop to achieve microsecond-level synchronization.

[0107] Upon receiving a transmit trigger command, each RF front-end immediately reads a copy of the service data stream from its dedicated transmit buffer. The reading process uses direct memory access to avoid latency caused by central processing unit intervention. Each RF front-end applies frequency-band specific modulation parameters to the read data; for example, CCK modulation is used for the 2.4GHz band, and OFDM modulation is used for the 5GHz band. Ultimately, the signal is radiated simultaneously through the antenna array.

[0108] This multi-band synchronous transmission mechanism is particularly crucial in AGV navigation systems. When the automated guided vehicle passes through high-interference areas, dual-band transmission can effectively combat sudden interference in specific frequency bands. As long as the signal from one frequency band successfully arrives, reliable transmission of control commands can be guaranteed. The timing control accuracy of the process directly determines the determinism of end-to-end delay, which is a key technology for achieving seamless integration of wireless TSN and wired TSN.

[0109] Specifically, the time slot scheduling method for integrating wireless and wired time-sensitive networks according to the present invention includes step 1 as follows:

[0110] The wireless access point parses the packet header of the service data stream and extracts the VLAN priority tag and flow identifier;

[0111] The wireless access point uses the flow identifier to query the local configuration database to obtain the latency limit, transmission period and reliability level parameters associated with the flow identifier;

[0112] The wireless access point inputs VLAN priority label, latency limit, transmission cycle and reliability level parameters into preset decision rules for weighted scoring to obtain a comprehensive score;

[0113] The wireless access point compares the comprehensive score with a preset threshold, and classifies the service data stream into TSN flow classification levels based on the comparison results. Higher levels correspond to TSN guaranteed time slots, while lower levels correspond to dynamic contention time slots.

[0114] After receiving a service data stream from a wired TSN network, the wireless access point first parses the Ethernet frame header structure of the data packet. The device checks the priority code point in the VLAN tag field, extracts the 3-bit 802.1p priority value, and simultaneously extracts the five-tuple information from the IP header and transport layer header as the flow identifier. In industrial robot control systems, the VLAN priority of motion control command streams is typically marked as the highest level, 7, and the flow identifier corresponds to a specific communication session between the controller and the robotic arm.

[0115] After obtaining the flow identifier, the wireless access point uses it as an index to query the locally stored QoS configuration database. This database uses a hash table structure to store the pre-configured QoS parameters for each service flow, including the absolute value of the latency limit, the transmission period step size, and the reliability level enumeration value. The query process is implemented through a hardware-accelerated lookup engine, returning the latency requirements, periodicity characteristics, and reliability indicators for the corresponding flow identifier within microseconds. For example, in a CNC machine tool monitoring system, the latency limit for sensor data streams might be set to 10 milliseconds, and the transmission period might be configured to 100 milliseconds.

[0116] The wireless access point inputs the extracted VLAN priority tags, latency limits, transmission cycle times, and reliability level parameters into the decision engine for weighted evaluation. The decision rules assign dynamic weight coefficients to each parameter, with VLAN priority holding the base weight, latency urgency weight increasing as the latency limit decreases, and transmission cycle stability weight inversely proportional to the cycle length. The weighted calculation generates a comprehensive score, quantifying the intensity of the service flow's demand for deterministic transmission. In the intelligent warehousing system, the AGV navigation flow receives a high score due to its low latency requirements, while the environmental temperature and humidity data flow receives a relatively lower score.

[0117] In the final stage, the wireless access point compares the overall score with a preset threshold. The threshold is dynamically adjusted based on the current network load: it decreases under light load to expand the coverage area, and increases under heavy load to protect critical services. The comparison results classify service flows into a binary category: flows with scores exceeding the threshold are mapped to high-level TSN (Transport Service Number) guaranteed time slots, while the rest flow into low-level dynamically contested time slots. In the automotive welding production line, the robot synchronization control flow always receives guaranteed time slots, while the equipment log flow is allocated to contested time slots.

[0118] Specifically, the time slot scheduling method for integrating wireless and wired time-sensitive networks according to the present invention includes the scheduling of dynamically contentious time slots as follows:

[0119] The wireless access point monitors multiple service flow queues waiting to be transmitted within a dynamic contention time slot, and obtains the backlog data volume and preset priority weight of each service flow queue.

[0120] The wireless access point calculates the proportion of time slots allocated to each service flow queue in the next scheduling cycle based on the backlog of data in each service flow queue and the preset priority weight.

[0121] The wireless access point uses time slot ratios to generate a scheduling sequence, which defines the transmission order of the traffic flow queue within a dynamically contentionable time slot.

[0122] The wireless access point transmits data sequentially from each service flow queue within the dynamic contention time slot according to the scheduling sequence.

[0123] The wireless access point continuously monitors the service flow queue status within the dynamically contested time slots, collecting the backlog data volume of each queue in real time via hardware counters. The monitoring cycle is synchronized with the TDMA superframe structure. In industrial video surveillance scenarios, video stream queues generated by cameras and sensor queues generated by data acquisition devices each establish independent counting units. The device simultaneously reads pre-configured priority weight parameters, with each weight dynamically adjusted according to the service type; for example, the weight of video streams is higher than that of sensor data.

[0124] After obtaining the real-time queue status, the wireless access point performs weighted polling calculations. The calculation engine multiplies the backlog of data in each service flow queue by its corresponding priority weight to obtain a weighted value. After summing the weighted values ​​of all queues, the proportion of each queue's weighted value in the total is the proportion of time slots to be allocated in the next cycle. In the intelligent warehousing system, although the AGV navigation data flow has a small data volume, it can still obtain a large proportion of time slots due to its high priority weight.

[0125] Based on the calculated time slot ratio, the scheduler generates a specific transmission sequence. The sequence generation algorithm adopts the maximum-minimum fair allocation principle to ensure that each queue receives at least the minimum available time slot. The sequence explicitly marks the transmission start point and duration of each service flow queue, forming a complete scheduling timetable. For bursty data flows, the system reserves elastic time slots to cope with sudden transmission demands.

[0126] In the final execution phase, the wireless access point operates strictly according to the scheduling sequence. At the start of the dynamic contention time slot segment, the device activates the transmission permissions of each service flow queue sequentially according to the sequence indication. Each queue transmits data within the designated time slot window, and immediately releases resources to subsequent queues after transmission is completed. This mechanism effectively balances the transmission needs of high-bandwidth video surveillance and small-packet data from sensors in an industrial IoT environment, ensuring timely transmission of high-priority services while making full use of the bandwidth resources of the dynamic time slot segment.

[0127] Specifically, in the time slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, step 1 further includes: before receiving service data streams from the wired TSN network, the wireless access point performs clock synchronization.

[0128] The wireless access point interacts with the master clock in the wired TSN network via a precision time protocol to obtain the global clock signal;

[0129] The wireless access point uses a global clock signal to calibrate the local clock and adjusts the start time of the local TDMA superframe based on this clock, so that the start boundary of the superframe is aligned with the start boundary of the wired TSN network scheduling cycle.

[0130] At the start of each adjusted superframe period, the wireless access point sends a beacon frame containing timing information.

[0131] Before processing service data streams, the wireless access point needs to establish a time synchronization foundation with the wired TSN network. The device initiates a synchronization request to the master clock in the wired network via a precise time protocol, a process involving multiple bidirectional timestamp exchanges. The synchronization messages returned by the master clock carry precise time information. After parsing each message, the wireless access point obtains the global clock signal, which becomes the time reference for the system of this invention.

[0132] Upon receiving the global clock signal, the wireless access point immediately initiates a local clock calibration procedure. The device compares the value of the local clock counter with the global clock signal to calculate the clock offset. The calibration process employs a progressive adjustment strategy, eliminating accumulated errors by fine-tuning the oscillation frequency of the local clock. In industrial robot control scenarios, this calibration ensures that the clock deviation between the wireless side and the wired controller is controlled within the hundreds of nanoseconds.

[0133] After clock calibration, the wireless access point begins adjusting the timing structure of the local TDMA superframe. The device recalculates the start point of the superframe period based on the calibrated local clock. During the adjustment process, the wireless access point phase-aligns the superframe start boundary with the start boundary of the wired TSN network scheduling period. In automotive manufacturing applications, this alignment ensures that the wireless transmission time slots precisely correspond to the wired network scheduling window.

[0134] After timing adjustments are completed, the wireless access point generates and sends a beacon frame at the beginning of each superframe period. The beacon frame includes crucial timing information, such as the superframe sequence number, time slot allocation table, and clock synchronization status. This information enables the wireless terminal to maintain time synchronization with the access point and establishes a timing reference for subsequent data transmission. In intelligent warehousing systems, AGVs (Automated Guided Vehicles) can accurately predict the timing of TSN (Time Slot Number) guarantee time slots by analyzing the timing information in the beacon frames, thereby achieving low-latency data transmission and reception.

[0135] The clock synchronization process forms a complete control loop. The wireless access point continuously monitors the clock deviation from the wired network, and automatically re-initiates the synchronization process when the deviation exceeds a threshold. This dynamic synchronization mechanism can effectively cope with clock drift and network jitter, providing a reliable time reference for hybrid time-slot scheduling.

[0136] Specifically, in the time-slot scheduling method for integrating wireless and wired time-sensitive networks described in this invention, step 5 further includes: after the wireless access point synchronously sends a copy of the service data stream:

[0137] The wireless terminal receives multiple copies of the service data stream from at least two different frequency bands;

[0138] The wireless terminal evaluates the signal quality of multiple received copies, selects the copy with the best signal quality based on the evaluation results, and submits the selected copy uplink; alternatively, the wireless terminal merges and decodes multiple received copies, and submits the decoded data packets uplink.

[0139] After multi-band synchronous transmission is completed at the wireless access point, the wireless terminal simultaneously receives copies of the service data stream through multiple independent radio frequency links. Each radio frequency link corresponds to a specific operating frequency band, and the terminal uses a parallel receiving mechanism to process multiple signals. Taking an industrial AGV control system as an example, the on-board communication module maintains a listening state in both the 2.4GHz and 5GHz frequency bands, capturing signal copies from different propagation paths through antenna diversity technology.

[0140] The terminal performs real-time signal quality assessment on multiple received replicas. The assessment module measures the signal-to-noise ratio, received signal strength indication, and bit error rate parameters for each replica and calculates a comprehensive quality score. In smart manufacturing scenarios, AGVs may encounter metal obstacles during movement, causing frequency-selective fading. In this case, the 5GHz replica may show a higher signal-to-noise ratio, while the 2.4GHz replica exhibits a more stable signal strength.

[0141] Based on the quality assessment results, the terminal executes a replica selection strategy. The system compares the overall quality score of each replica with a dynamic threshold and selects the replica with the highest score for further processing. The selection process considers the real-time requirements of the business flow; for control command-related businesses, low-latency replicas are prioritized, while for data acquisition-related businesses, high-reliability replicas are preferred. This selection mechanism effectively handles sudden interference in robot collaboration scenarios.

[0142] As an alternative, the terminal can initiate a multi-copy merging decoding process. Before merging, each copy is time-synchronized to eliminate latency differences caused by multipath transmission. Then, a maximum ratio merging algorithm is used to weight and combine the copies, with the weighting coefficient proportional to the signal-to-noise ratio of each copy. In warehousing and logistics systems, this merging strategy can significantly improve the decoding success rate of AGV navigation data.

[0143] In the final stage, the terminal delivers the processed data packets to the upper-layer application. For the optimal replica selection scheme, the terminal directly parses the payload data of that replica; for the merged decoding scheme, the terminal performs forward error correction decoding on the merged signal. After decoding, the terminal transmits the valid data to the application processor via the internal bus, completing end-to-end data transmission from the wireless interface to the application layer.

[0144] Specifically, the time slot scheduling method for integrating wireless and wired time-sensitive networks according to the present invention includes determining the Time Division Multiple Access (TDMA) frame structure for scheduling service data streams, which includes:

[0145] The wireless access point adopts a superframe structure that conforms to the WIA industrial wireless standard. The superframe structure includes a beacon segment and a hybrid time slot segment.

[0146] The wireless access point calculates the required length ratio of TSN guaranteed time slots to dynamically contested time slots within the mixed time slot segment based on the total number of TSN service flows identified in the current network and the service quality requirement parameters.

[0147] The wireless access point determines the length allocation of the TSN guaranteed time slot and the dynamically contested time slot within the mixed time slot segment in the subsequent superframe based on the calculated required length ratio.

[0148] The wireless access point adopts a superframe structure conforming to the WIA industrial wireless communication standard as the basic framework for time division multiple access (TDMA) transmission. This superframe structure consists of two main parts: a pilot beacon segment and a service transmission segment. The service transmission segment employs a hybrid time slot design. The beacon segment carries network synchronization information and resource allocation tables, while the hybrid time slot segment includes fixed-allocation TSN-guaranteed time slots and dynamically shared contentionable time slots. In industrial automation scenarios, this structure provides a deterministic transmission channel for motion control commands while reserving flexible access opportunities for sensor data.

[0149] The device continuously counts the number of identified TSN service flows in the current network and calculates resource requirements based on the service quality requirements of each service flow. The calculation process comprehensively considers the latency sensitivity, transmission cycle characteristics, and reliability level of the service flows, and uses a weighted algorithm to determine the ratio of the two types of time slots within a mixed time slot segment. In an automotive manufacturing line, motion controller flows and sensor data flows receive different time slot weights based on their service quality parameters.

[0150] Based on the calculated time slot ratio requirements, the wireless access point dynamically adjusts the time slot allocation scheme for subsequent superframes. The adjustment process employs a gradual optimization strategy, updating time slot boundaries in real time according to network load changes while ensuring the service quality of existing business flows. This mechanism enables AGV navigation flows in intelligent warehousing systems to obtain fixed time slot guarantees, while environmental monitoring data dynamically shares remaining resources.

[0151] Once the time slot allocation scheme is determined, the wireless access point broadcasts the new time slot mapping table via beacon frames. Terminal devices, by parsing the time slot allocation information in the beacon frames, accurately perceive the location of the TSN-guaranteed time slots and the boundaries of dynamic contention periods. In collaborative industrial robot scenarios, this design enables multiple robots to accurately predict transmission opportunities and avoid wireless interface conflicts.

[0152] The frame structure determination process forms a closed-loop control. The wireless access point continuously monitors changes in service flow characteristics, and when a new service flow is detected or the quality of service requirements of an existing flow change, it re-triggers the time slot ratio calculation and allocation process. This dynamic adjustment mechanism effectively adapts to the dynamic changes in service flows in industrial scenarios, maintaining end-to-end transmission determinism.

[0153] Secondly, the present invention provides a time-slot scheduling system integrating wireless and wired time-sensitive networks, applied to the time-slot scheduling method for integrating wireless and wired time-sensitive networks as described above, comprising:

[0154] The receiving and identification module is used to receive service data streams from the wired TSN network and identify the quality of service requirement parameters included in the service data streams.

[0155] The frame structure determination module is used to determine the Time Division Multiple Access (TDMA) frame structure for scheduling service data streams based on the identified quality of service requirement parameters. The TDMA frame structure includes a hybrid time slot segment, which consists of a TSN-guaranteed time slot and a dynamically contentionable time slot.

[0156] The service mapping module is used to map service data streams to corresponding time slots in the mixed time slot segment according to the service quality requirement parameters. Among them, service data streams that meet the high determinism requirements are mapped to the TSN guaranteed time slots, and the remaining service data streams are mapped to the dynamic contention time slots.

[0157] The time slot mapping module is used to perform time slot-level mapping between the TSN guaranteed time slot and the wired TSN network scheduling cycle for service data flows mapped to TSN guaranteed time slots, so that the transmission timing of the TSN guaranteed time slot allocated to the service data flow is aligned with the corresponding time window in the wired TSN network.

[0158] The data transmission module is used to send service data streams within the aligned time slots.

[0159] In industrial automation scenarios, motion controllers send synchronization control commands to wirelessly connected industrial robots via wired TSN networks. Existing solutions suffer from a mismatch between the strict scheduling on the wired side and the random access mechanism on the wireless side, resulting in end-to-end latency jitter. This invention addresses this technical challenge by employing a time-slot scheduling method that integrates wireless and wired time-sensitive networks. The specific implementation is as follows.

[0160] After the wireless access point starts up, it first executes a clock synchronization process, interacting with the master clock in the wired TSN network via a precise time protocol to obtain the global clock signal. The wireless access point uses the global clock signal to calibrate its local clock and adjusts the start time of its local TDMA superframe based on this current clock, aligning the superframe start boundary with the start boundary of the wired TSN network scheduling cycle. At the beginning of each adjusted superframe cycle, the wireless access point sends a beacon frame containing timing information, providing a precise time reference for subsequent time slot scheduling. For example, in an automotive manufacturing line, this synchronization mechanism ensures that the timing of wireless command transmission perfectly matches the wired control cycle, preventing a decrease in robot synchronization accuracy.

[0161] The wireless access point receives service data streams from the wired TSN network, parses the packet header to extract the VLAN priority tag and flow identifier. It uses the flow identifier to query the local configuration database to obtain the associated latency limit, transmission period, and reliability level parameters. The wireless access point inputs the VLAN priority tag, latency limit, transmission period, and reliability level parameters into preset decision rules for weighted scoring, obtaining a comprehensive score. The comprehensive score is compared with a preset threshold, and based on the comparison result, the service data stream is classified into TSN flow classification levels. Higher levels correspond to TSN guaranteed time slots, and lower levels correspond to dynamic contention time slots. Taking an intelligent warehousing system as an example, the AGV navigation data stream, due to its low latency requirements, receives a high score and is mapped to a high-level TSN guaranteed time slot, while the environmental sensor data stream is allocated to a dynamic contention time slot.

[0162] The wireless access point determines the Time Division Multiple Access (TDMA) frame structure for scheduling service data streams based on the identified Quality of Service (QoS) requirement parameters. The TDMA frame structure adopts a superframe structure conforming to the WIA industrial wireless standard, including a beacon segment and a hybrid time slot segment. The hybrid time slot segment consists of TSN guaranteed time slots and dynamic contention time slots. Based on the total number of TSN service streams identified in the current network and the QoS requirement parameters, the wireless access point calculates the required length ratio of TSN guaranteed time slots to dynamic contention time slots within the hybrid time slot segment, and determines the length allocation of the two types of time slots within the hybrid time slot segment in subsequent superframes. For example, in a semiconductor wafer handling scenario, motion control command streams are allocated fixed-length TSN guaranteed time slots, while video surveillance data streams share dynamic contention time slot resources.

[0163] The wireless access point maps service data streams to corresponding time slots within a hybrid time slot segment. For service data streams mapped to TSN guaranteed time slots, a time slot-level mapping between the TSN guaranteed time slot and the wired TSN network scheduling cycle is performed. The wireless access point parses the target time window of the service data stream within the wired TSN scheduling cycle from the quality of service requirement parameters. Based on the start time and duration of the target time window, it calculates the alignment offset between the window and the wireless TDMA superframe cycle. According to the alignment offset, the mapping relationship of the target time window within the wireless TDMA superframe sequence is determined. The target time window is mapped to a fixed-position time slot within one or more consecutive wireless TDMA superframes, and the fixed-position time slot is configured as the TSN guaranteed time slot corresponding to the service data stream. In industrial robot control scenarios, this mapping ensures that the wired time window precisely corresponds to the fixed time slot in the wireless superframe, achieving transmission timing alignment.

[0164] For service data streams with high reliability requirements, the wireless access point (KAP) obtains the reliability level from the Quality of Service (QoS) requirements parameters and determines whether it exceeds a preset threshold. If the threshold is exceeded, the KAP activates at least two radio frequency (RF) front-ends operating in different frequency bands, such as simultaneously activating the 2.4 GHz and 5 GHz bands. The KAP allocates the same TSN (Transmission Safety Number) guarantee time slot resources for the service data stream across the activated frequency bands and controls multiple RF front-ends to synchronously transmit copies of the service data stream within the allocated TSN guarantee time slots. The KAP stores the copies of the service data stream to be transmitted into the transmission buffers corresponding to the multiple frequency band RF front-ends, obtains a clock signal synchronized with the wired TSN network, and generates a transmission trigger command based on this clock signal. When the start of the mapped TSN guarantee time slot arrives, the KAP sends a transmission trigger command to all target RF front-ends. The RF front-ends respond to the command, read the copy from their respective transmission buffers, and transmit. This multi-frequency redundancy transmission mechanism can effectively combat sudden single-band interference in automotive welding workshops with strong electromagnetic interference.

[0165] The scheduling of dynamic contention time slots employs a weighted round-robin algorithm. The wireless access point monitors multiple service flow queues awaiting transmission within a dynamic contention time slot, obtaining the backlog data volume and preset priority weight for each queue. Based on the backlog data volume and priority weight, it calculates the proportion of time slots allocated to each service flow queue in the next scheduling cycle, generates a scheduling sequence using this proportion, and defines the transmission order of service flow queues within the dynamic contention time slot segment. The wireless access point then transmits data sequentially from each service flow queue within the dynamic contention time slot segment according to the scheduling sequence. In an industrial IoT environment, this scheduling balances the transmission demands of high-volume video surveillance and small-packet sensor data, ensuring timely transmission of high-priority services while fully utilizing bandwidth resources.

[0166] After the wireless access point synchronously transmits a copy of the service data stream, the wireless terminal receives multiple copies from at least two different frequency bands. The wireless terminal evaluates the signal quality of the received copies and selects the copy with the best signal quality for uplink delivery based on the evaluation results; alternatively, it merges and decodes multiple copies, then delivers the decoded data packets uplink. For example, an AGV (Automated Guided Vehicle) receives navigation commands via dual-frequency communication during movement, selecting the copy with the highest signal-to-noise ratio to improve transmission reliability.

[0167] This invention addresses the technical problem of difficulty in guaranteeing end-to-end delay determinism due to the mismatch between the random contention access mechanism based on CSMA / CA in wireless Wi-Fi and the time-aware shaping mechanism in wired TSN. It proposes a time-slot scheduling method that integrates wireless and wired time-sensitive networks. This method replaces the random contention mechanism with a deterministic scheduling framework based on Time Division Multiple Access (TDMA), constructing a hybrid time-slot structure that includes TSN-guaranteed time slots and dynamically contentionable time slots. The wireless access point first synchronizes with the wired TSN network master clock via a precise time protocol, acquires the global clock signal, and calibrates the local TDMA superframe start boundary to establish a unified time reference.

[0168] When service data flows enter the wireless domain, the wireless access point parses the packet header to extract the VLAN priority tag and flow identifier. Combining this with latency limits, transmission cycles, and reliability level parameters from the local configuration database, a weighted scoring mechanism is used to classify the service flows into different levels. High-deterministic service flows are mapped to the TSN-guaranteed time slot in the TDMA frame, while other service flows are mapped to dynamically contentionable time slots. This classification and mapping mechanism avoids the inherent random backoff behavior of CSMA / CA from the source.

[0169] For TSN-guaranteed time slots, the wireless access point performs a time slot-level mapping operation: it parses the target time window in the wired-side scheduling cycle from the Quality of Service (QoS) parameters, calculates its alignment offset with the wireless TDMA superframe, and maps the wired time window to a fixed time slot in consecutive wireless superframes. This mapping ensures that the timing of wireless transmission is strictly aligned with the wired scheduling cycle. For example, the transmission time of motion control commands on the wireless air interface is completely synchronized with the wired-side gating list window, eliminating cross-domain scheduling deviations.

[0170] To address the uncertainty of wireless channels, this invention introduces a multi-frequency redundant transmission mechanism. When the reliability level of a service flow exceeds a threshold, the wireless access point activates multiple frequency band RF front-ends to synchronously transmit data copies within the same TSN guarantee time slot. The receiver selects the optimal copy or merges and decodes it through signal quality assessment, improving the transmission success rate. This design effectively overcomes the latency jitter caused by sudden interference in a single frequency band.

[0171] The dynamic contention time slots employ a weighted round-robin scheduling algorithm, dynamically allocating time slot ratios based on the backlog of data in the service flow queues and priority weights. This scheduling method preserves transmission opportunities for non-critical services while avoiding the uncertainty caused by completely fair competition in CSMA / CA through weight control.

[0172] By replacing CSMA / CA random access with TDMA frame structure, achieving cross-domain scheduling alignment through time slot-level mapping, enhancing wireless reliability through multi-frequency redundancy, and optimizing contention resource allocation through weighted polling, this invention constructs an end-to-end deterministic transmission path from wired to wireless, solving the latency jitter problem caused by mismatched access mechanisms in industrial automation scenarios.

Claims

1. A time slot scheduling method for fusing wireless and wired time sensitive networks, characterized in that, The method comprises: Step 1, a wireless access point receives a service data stream from a wired TSN network, and identifies quality of service requirement parameters included in the service data stream; Step 2, the wireless access point determines a time division multiple access (TDMA) frame structure for scheduling the service data stream according to the identified quality of service requirement parameters, the TDMA frame structure comprising a mixed time slot segment, the mixed time slot segment being composed of a TSN guaranteed time slot and a dynamic contention time slot; Step 3, the wireless access point maps the service data stream to a corresponding time slot in the mixed time slot segment according to the quality of service requirement parameters, wherein the service data stream meeting a high determinacy requirement is mapped to the TSN guaranteed time slot, and the remaining service data stream is mapped to the dynamic contention time slot; Step 4, the wireless access point performs time slot level mapping between the TSN guaranteed time slot and a scheduling cycle of the wired TSN network for the service data stream mapped to the TSN guaranteed time slot, so that a transmission opportunity of the TSN guaranteed time slot allocated for the service data stream is aligned with a corresponding time window in the wired TSN network; Step 5, the wireless access point transmits the service data stream in the aligned time slot.

2. The time-slot scheduling method for fusing wireless and wired time-sensitive networks of claim 1, wherein, The step 4 comprises: The wireless access point parses a target time window of the service data stream in the wired TSN scheduling cycle from the quality of service requirement parameters; The wireless access point calculates an alignment offset of the target time window and a wireless TDMA superframe cycle according to a start time and a duration of the target time window; The wireless access point determines a mapping relationship of the target time window in a sequence of wireless TDMA superframes according to the alignment offset; The wireless access point maps the target time window to a fixed position time slot in one or more continuous wireless TDMA superframes according to the mapping relationship; The wireless access point configures the fixed position time slot as the TSN guaranteed time slot corresponding to the service data stream.

3. The time-slot scheduling method for fusing wireless and wired time- sensitive networks of claim 1, wherein, The step 5 further comprises: The wireless access point obtains a reliability level of the service data stream from the quality of service requirement parameters; The wireless access point judges whether the reliability level exceeds a preset threshold; If the reliability level exceeds the preset threshold, the wireless access point activates at least two radio frequency front ends working in different frequency bands; The wireless access point allocates the same TSN guaranteed time slot resource for the service data stream on the activated multiple frequency bands; The wireless access point controls the multiple radio frequency front ends to synchronously transmit the copies of the service data stream in the allocated TSN guaranteed time slot.

4. The time-slot scheduling method for fusing wireless and wired time- sensitive networks of claim 3, wherein, The step 5 further comprises: The wireless access point respectively stores the to-be-transmitted copies of the service data stream in the transmission buffer corresponding to the multiple frequency band radio frequency front ends; The wireless access point obtains a clock signal synchronized with the wired TSN network, and generates a transmission trigger instruction based on the clock signal at this moment; When the start point of the mapped TSN guaranteed time slot arrives, the wireless access point issues the transmission trigger instruction to all target radio frequency front ends; The radio frequency front end reads the copy of the service data stream from the respective transmission buffer and transmits the copy in response to the transmission trigger instruction.

5. The time-slot scheduling method for fusing wireless and wired time- sensitive networks of claim 1, wherein, The step 1 comprises: The wireless access point parses a message header of the service data stream, and extracts a VLAN priority tag and a flow identifier; The wireless access point queries a local configuration database using the flow identifier to obtain an upper limit of latency, a transmission period, and a reliability level parameter associated with the flow identifier; The wireless access point inputs the VLAN priority label, the upper limit of latency, the transmission period, and the reliability level parameter into a preset decision rule for weighted scoring to obtain a comprehensive score; The wireless access point compares the comprehensive score with a preset threshold, and divides the service data flow into TSN flow classification levels according to the comparison result, wherein a high level corresponds to a TSN guaranteed time slot, and a low level corresponds to a dynamic competition time slot.

6. The time-slot scheduling method for fusing wireless and wired time- sensitive networks of claim 5, wherein, The scheduling of the dynamic competition time slot includes: The wireless access point monitors a plurality of service flow queues to be transmitted in the dynamic competition time slot, and obtains a backlog data volume and a preset priority weight of each service flow queue; The wireless access point calculates a time slot proportion allocated to each service flow queue in a next scheduling period according to the backlog data volume and the preset priority weight of each service flow queue; The wireless access point generates a scheduling sequence using the time slot proportion, and the scheduling sequence defines a transmission order of the service flow queues in the dynamic competition time slot segment; The wireless access point transmits data from each service flow queue in turn in the dynamic competition time slot segment according to the scheduling sequence.

7. The time-slot scheduling method for fusing wireless and wired time- sensitive networks of claim 1, wherein, The step 1 further includes that, before receiving the service data flow from the wired TSN network, the wireless access point performs clock synchronization: The wireless access point interacts with a master clock in the wired TSN network through a precision time protocol to obtain a global clock signal; The wireless access point calibrates a local clock using the global clock signal, and adjusts a starting time of a local TDMA superframe based on the clock to align a starting boundary of the superframe with a starting boundary of a scheduling period of the wired TSN network; The wireless access point transmits a beacon frame including timing information at the beginning of each adjusted superframe period.

8. The time-slot scheduling method for fusing wireless and wired time- sensitive networks of claim 3, wherein, The step 5 further includes that, after the wireless access point synchronously transmits the copies of the service data flow: The wireless terminal receives a plurality of copies of the service data flow from at least two different frequency bands; The wireless terminal performs signal quality evaluation on the received plurality of copies, selects a copy with the best signal quality according to the evaluation result, and submits the selected copy to an uplink; or, the wireless terminal performs merging and decoding on the received plurality of copies, and submits the decoded data packet to the uplink.

9. The time-slot scheduling method for fusing wireless and wired time-sensitive networks of claim 1, wherein, The determination of the time division multiple access (TDMA) frame structure for scheduling the service data flow includes: The wireless access point adopts a superframe structure conforming to a WIA industrial wireless standard, and the superframe structure includes a beacon segment and a mixed time slot segment; The wireless access point calculates a required length proportion of the TSN guaranteed time slot and the dynamic competition time slot in the mixed time slot segment according to a total number of the TSN service flows identified in the current network and the quality of service requirement parameter; The wireless access point determines a length allocation of the TSN guaranteed time slot and the dynamic competition time slot in the mixed time slot segment in a subsequent superframe according to the calculated required length proportion.

10. A time slot scheduling system for a converged wireless and wired time sensitive network, applied to the time slot scheduling method for a converged wireless and wired time sensitive network according to any one of claims 1 to 9, characterized in that, It includes: A receiving identification module is configured to receive a service data flow from a wired TSN network, and identify a quality of service requirement parameter included in the service data flow; a frame structure determination module, configured to determine a time division multiple access (TDMA) frame structure for scheduling the service data flows according to the identified quality of service requirement parameters, the TDMA frame structure comprising a mixed time slot segment, the mixed time slot segment being composed of TSN guaranteed time slots and dynamic contention time slots; a service mapping module, configured to map the service data flows to corresponding time slots in the mixed time slot segment according to the quality of service requirement parameters, wherein service data flows meeting high determinacy requirements are mapped to the TSN guaranteed time slots, and the rest of the service data flows are mapped to the dynamic contention time slots; a time slot mapping module, configured to perform time slot level mapping between the TSN guaranteed time slots and a scheduling period of a wired TSN network for the service data flows mapped to the TSN guaranteed time slots, so that transmission time of the TSN guaranteed time slots allocated for the service data flows is aligned with corresponding time windows in the wired TSN network; and a data sending module, configured to send the service data flows in the aligned time slots.

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