Real-time control master-slave LoRa network time slot scheduling system

Abstract

The invention belongs to the technical field of LoRa wireless communication, and particularly relates to a real-time control master-slave LoRa network time slot scheduling system, which comprises a dynamic scheduling module, a deterministic time slot distribution module and a sensing and decision module. Generating a dynamic time slot allocation table according to the sensing and decision module, and broadcasting the dynamic time slot allocation table to the whole network through a beacon frame; the deterministic time slot distribution module receives the dynamic time slot distribution table, feeds back the dynamic time slot distribution table to a slave service state perception module according to a communication result preemptively executed by a conventional time slot and an emergency time slot, and finally sends a decision result to the dynamic adjustment module according to the slave service state so as to generate the dynamic time slot distribution table; the closed-loop control from service awareness to instruction execution is formed by organically integrating service state awareness, deterministic time slot allocation and real-time preemptive channel. Based on a dynamic time slot distribution mechanism of service awareness, the timeliness of the whole system network is improved, and the energy consumption of the whole network is reduced.

Description

Technical Field

[0001] This invention belongs to the field of LoRa wireless communication technology, specifically a real-time control master-slave LoRa network time-slotted scheduling system. Background Technology

[0002] Currently, most wireless detonation control systems use a master-slave network approach for detonation. This means that one wireless detonator is used as the master device, and multiple wireless terminals are used as slave devices. Electronic detonators are detonated wirelessly. This approach has high requirements for real-time performance and distance. In practical applications, LoRa modules are usually used for wireless communication.

[0003] In existing LoRa point-to-multipoint applications, to address the high collision and latency uncertainties caused by random access in ALOHA communication mode, as well as the rigid response and long polling cycle issues of host polling, Time Division Multiple Access (TDMA) with time slot allocation is a common technical approach. TDMA divides time into periodic frame structures, with each frame containing several fixed or dynamically allocated time slots. Each user transmits data only within a designated time slot, thus avoiding signal collisions and improving spectrum utilization. Each time slot corresponds to a user's exclusive communication period; time slot allocation can be static or dynamic, with the latter being more suitable for highly dynamic scenarios.

[0004] In current LoRa communication solutions, there are still significant defects and limitations when dealing with the specific scenario of "one-to-many, high real-time control". The existing solutions use fixed or quasi-static time slot allocation. Although some studies have proposed a dynamic adjustment approach that combines fixed and dynamic time slots, the adjustment basis is mostly limited to network load or simple priority. It fails to be deeply coupled with the specific and diverse service states of the upper layer, and cannot achieve on-demand communication and optimal network-level energy efficiency.

[0005] Therefore, the present invention provides a real-time control master-slave LoRa network time-slotted scheduling system. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a real-time control master-slave LoRa network time-slotted scheduling system, comprising a dynamic scheduling module, a deterministic time-slot allocation module, and a sensing and decision-making module;

[0008] The dynamic scheduling module is used to generate a dynamic time slot allocation table based on the perception and decision-making module, and broadcast it to the entire network via beacon frames;

[0009] The deterministic time slot allocation module divides dynamic time slots into regular time slots and emergency time slots. Regular time slots are used for collision-free communication, while emergency time slots are pre-set in the superframe structure.

[0010] The perception and decision-making module provides scheduling decision-making basis for the master based on the communication results of preemptive execution in regular and emergency time slots and the overall service status of the slave.

[0011] Preferably, the superframe structure is used to divide time into continuous second-level periods, each period including a synchronization beacon frame broadcast by the host and a pre-allocated slave-specific time slot, the length of which is dynamically adjusted according to service requirements.

[0012] Preferably, the execution process of the scheduling system includes the following steps:

[0013] S1: The slave device reports sensor data, device status, service attribute tags, and local channel assessment information to provide the host with the original basis for dynamic scheduling;

[0014] S2: The host generates a time slot allocation table by running a scheduling algorithm based on a dynamic network mapping table;

[0015] S3: After the slave device is synchronized, communication is carried out according to the allocated time slots. When a high-priority event occurs on the slave device, the regular time slot arrangement can be ignored, and the emergency time slot protocol in the superframe structure can be triggered immediately to achieve conflict-free preemptive communication.

[0016] Preferably, the scheduling algorithm can achieve the following aspects:

[0017] a. For slave devices that are in stable condition but have low battery power, automatically extend their communication cycle;

[0018] b. Allocate more frequent communication opportunities to slave devices that require key monitoring or have poor channel quality;

[0019] c. The host periodically broadcasts beacon frames to achieve millisecond-level time synchronization and dispatch instructions across the entire network.

[0020] Preferably, the scheduling system is applied to a wireless detonation control system, wherein the host is a wireless detonator used to generate a dynamic time slot allocation table and broadcast it via beacon frames; the slave is a wireless terminal used to upload sensor data and status information within the allocated time slots; the wireless detonation control system includes a service perception module, a dynamic network mapping table module, a dynamic time slot scheduling module, and a deterministic time slot communication and emergency event preemption module.

[0021] Preferably, the service awareness module reports status data from the slave device and uploads the data to the host device within the corresponding dedicated time slot.

[0022] Preferably, the dynamic network mapping table module is a system in which the host dynamically updates the parameters in the network mapping table based on the status data reported by the slave, providing a dynamic scheduling basis for the next superframe transmission.

[0023] Preferably, the dynamic time slot scheduling module includes:

[0024] The faulty slave priority allocation unit is used to detect fault codes and allocate standard time slots;

[0025] Dense monitoring allocation unit, which allocates time slots based on continuous monitoring needs;

[0026] The period extension judgment unit allocates time slots only when the sleep superframe number matches.

[0027] Preferably, the deterministic time-slot communication and emergency event preemption module includes:

[0028] The slave synchronization unit compensates for clock deviation through a high-precision timer;

[0029] The standard time slot uses a question-and-answer protocol unit to enable bidirectional communication between the master and slave devices.

[0030] The hierarchical emergency time slot processing unit includes a micro-competition window and a controlled response window.

[0031] Preferably, the specific process steps of the hierarchical emergency time slot processing unit are as follows:

[0032] A1: Micro-competition window: The window is divided into multiple micro-slots;

[0033] A2: Host Arbitration and Nomination: The host listens to the entire micro contention window, records all successfully decoded data, and then broadcasts an emergency response list frame in the controlled response window, naming these devices in order;

[0034] A3: Controlled Reporting: The designated slave devices, in the order listed, report complete emergency data packets sequentially and without conflict within the sub-response window specified by the host.

[0035] The beneficial effects of this invention are as follows:

[0036] 1. The master-slave LoRa network time-slotted scheduling system of the present invention improves the system's adaptability and makes the system scheduling more intelligent. The scheduling decision is based on business logic such as device power, communication stability, and emergency event handling. From the master sending communication to the slave feedback, and then to the master executing the scheduling decision, the system continuously optimizes the time slot allocation and parameters, which greatly improves the adaptive capability of the network dynamic changes in the entire system network.

[0037] 2. The real-time control master-slave LoRa network time-slotted scheduling system of the present invention improves the real-time performance of the system by providing a dedicated emergency time slot preemption channel for slaves experiencing emergency events, without having to wait for the next superframe cycle, ensuring that the master can receive emergency event information in a very short time; and for slaves that are stable and have completed their tasks, an interval periodic access method is adopted, thereby shortening the overall superframe cycle and improving the real-time performance of data access.

[0038] 3. The real-time control master-slave LoRa network time-slotted scheduling system described in this invention improves system reliability, greatly eliminates conventional time-division multiple access conflicts, and ensures reliable reporting under multiple conflict events in the hierarchical emergency time slot protocol.

[0039] 4. The real-time control master-slave LoRa network time-slotted scheduling system described in this invention reduces the overall network-level energy efficiency and dynamically adjusts the access cycle through service awareness, so that most nodes with stable communication status are in sleep mode, thereby reducing the overall average power consumption of the network. Attached Figure Description

[0040] The invention will now be further described with reference to the accompanying drawings.

[0041] Figure 1 This is a schematic diagram of the superframe structure in this invention;

[0042] Figure 2 This is a schematic diagram of the scheduling system operation framework in this invention;

[0043] Figure 3 This is a schematic diagram of the dynamic emergency time slot process in this invention;

[0044] Figure 4 This is a schematic diagram of the system status monitoring and operation framework in this invention;

[0045] Figure 5 This is a schematic diagram of the dynamic allocation strategy in this invention;

[0046] Figure 6 This is a schematic diagram of dynamic scheduling decision-making in this invention;

[0047] Figure 7 This is a schematic diagram of the layered emergency time slot processing in this invention;

[0048] Figure 8 This is a schematic diagram of the time slot allocation table frame format in this invention;

[0049] Figure 9 This is a schematic diagram of the beacon broadcast frame format in this invention. Detailed Implementation

[0050] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0051] In existing LoRa point-to-multipoint applications, to address the high collision and latency uncertainties caused by random access in ALOHA communication mode, as well as the rigid response and long polling cycle issues of host polling, Time Division Multiple Access (TDMA) with time slot allocation is a common technical approach. TDMA divides time into periodic frame structures, with each frame containing several fixed or dynamically allocated time slots. Each user transmits data only within a designated time slot, thus avoiding signal collisions and improving spectrum utilization. Each time slot corresponds to a user's exclusive communication period; time slot allocation can be static or dynamic, with the latter being more suitable for highly dynamic scenarios.

[0052] However, current LoRa communication solutions still have significant shortcomings and limitations when dealing with the specific scenario of "one-to-many, high real-time control." Firstly, the existing solutions employ fixed or quasi-static time slot allocation. Although some research has proposed a dynamic adjustment approach combining fixed and dynamic time slots, the adjustment is mostly limited to network load or simple priorities, failing to deeply couple with the specific and diverse service states at the upper layer, and thus unable to achieve on-demand communication and optimal network-level energy efficiency. Secondly, the existing solutions primarily focus on reducing collisions, increasing throughput, or average energy saving. They lack consideration for hard real-time requirements, meaning they cannot guarantee that critical events are reliably delivered within a defined, extremely short time window. Based on this, the following design is proposed.

[0053] Example 1:

[0054] like Figures 1 to 2 As shown in the embodiment of the present invention, a real-time control master-slave LoRa network time-slotted scheduling system includes a dynamic scheduling module, a deterministic time slot allocation module, and a sensing and decision-making module.

[0055] The dynamic scheduling module is used to generate a dynamic time slot allocation table based on the perception and decision-making module, and broadcast it to the entire network via beacon frames;

[0056] The deterministic time slot allocation module divides dynamic time slots into regular time slots and emergency time slots. Regular time slots are used for collision-free communication, while emergency time slots are pre-set in the superframe structure.

[0057] The perception and decision-making module provides scheduling decision-making basis for the master based on the communication results of preemptive execution in regular and emergency time slots and the overall service status of the slave.

[0058] The scheduling system provided in this embodiment first generates a dynamic time slot allocation table based on the perception and decision-making module, and broadcasts the dynamic time slot allocation table to the entire network via beacon frames. The deterministic time slot allocation module receives the dynamic time slot allocation table and divides the dynamic time slots into regular time slots and emergency time slots. The regular time slots are used for conflict-free communication, and the emergency time slots are pre-set in the superframe structure. Based on the communication results of the preemptive execution of regular and emergency time slots, feedback is given to the slave service status perception. The master centrally executes the decision based on the slave service status and finally sends the decision result to the dynamic adjustment module to facilitate the generation of the dynamic time slot allocation table. By organically integrating service status perception, deterministic time slot allocation, and real-time preemption of channels, a closed-loop control from service perception to instruction execution is formed. Through an intelligent dynamic time slot allocation mechanism that is centrally controlled by the master and deeply integrated with service perception, communication conflicts are eliminated to the maximum extent, the overall network power consumption is reduced, and real-time performance is improved while ensuring deterministic and low-latency transmission of control instructions and status information.

[0059] like Figure 1 As shown, the superframe structure is used to divide time into continuous second-level periods. Each period includes a synchronization beacon frame broadcast by the host and a pre-allocated slave-specific time slot. The length of the slave-specific time slot is dynamically adjusted according to service requirements.

[0060] The superframe structure provided in this embodiment is a hierarchical scheduling system based on the superframe structure, which is used to divide time into continuous second-level periods. Each period contains a synchronization beacon broadcast by the host and a series of dedicated time slots allocated to each slave.

[0061] like Figure 2 and Figure 3 As shown, the execution flow of the scheduling system includes the following steps:

[0062] S1: The slave device reports sensor data, device status, service attribute tags, and local channel assessment information to provide the host with the original basis for dynamic scheduling;

[0063] S2: The host generates a time slot allocation table by running a scheduling algorithm based on a dynamic network mapping table;

[0064] S3: After the slave device is synchronized, communication is carried out according to the allocated time slots. When a high-priority event occurs on the slave device, the regular time slot arrangement can be ignored, and the emergency time slot protocol in the superframe structure can be triggered immediately to achieve conflict-free preemptive communication.

[0065] The execution flow provided in this embodiment is as follows:

[0066] S1: Service Awareness and Status Reporting: Each slave device not only reports sensor or status data, but also attaches its service attribute tags, such as low power, normal periodic data, abnormal emergency alarm, and local channel assessment information, thereby providing the host with the original basis for dynamic scheduling.

[0067] S2: Centralized decision-making and dynamic time slot allocation by the host: The host maintains a dynamic network mapping table, integrates the service status of all slaves and historical communication success rates, and runs a scheduling algorithm;

[0068] S3: Deterministic Time-Slot Communication and Emergency Preemption: After slave synchronization, conflict-free one-question-one-answer communication is strictly performed within the allocated time slots to ensure deterministic delay in basic communication. After normal time-slot communication is completed, a dedicated emergency time slot is designed in the superframe structure. When a high-priority event occurs on a slave, the regular time-slot arrangement can be ignored, and an extremely short emergency command can be immediately sent within the micro-contention window of the emergency time slot. The master then sequentially calls upon the emergency slaves identified within the micro-contention window, thereby receiving conflict-free, complete emergency data reports.

[0069] like Figure 2 As shown, the scheduling algorithm can achieve the following:

[0070] a. For slave devices that are in stable condition but have low battery power, automatically extend their communication cycle;

[0071] b. Allocate more frequent communication opportunities to slave devices that require key monitoring or have poor channel quality;

[0072] c. The host periodically broadcasts beacon frames to achieve millisecond-level time synchronization and dispatch instructions across the entire network.

[0073] The scheduling algorithm provided in this embodiment can automatically extend the communication cycle and allocate more sparse time slots to slave devices that are stable and have low power. For slave devices that need to be monitored closely or have poor channel quality, more frequent communication opportunities are allocated. The master unit will periodically broadcast beacon frames containing the absolute time base and the latest time slot allocation table to achieve millisecond-level time synchronization and scheduling command issuance across the entire network.

[0074] Example 2:

[0075] like Figure 4 As shown, the scheduling system is applied to the wireless detonation control system, wherein the master is a wireless detonator, used to generate a dynamic time slot allocation table and broadcast it through beacon frames; the slave is a wireless terminal, used to upload sensor data and status information within the allocated time slots; the wireless detonation control system includes a service perception module, a dynamic network mapping table module, a dynamic time slot scheduling module, and a deterministic time slot communication and emergency event preemption module.

[0076] The wireless detonation control system provided in this embodiment is an application of a scheduling system. Its master unit is a wireless detonator, and its slave units are wireless terminals, which use a LoRa network for wireless communication. The wireless detonator controls the detonation of electronic detonators on all wireless terminals. It is required to be able to obtain the operating status and abnormal information of all wireless terminals in real time, and the wireless terminals and wireless detonators need to meet the requirement of continuous communication network operation time of 8 hours. The network detonation operation process is registration, network detection, password verification, charging, and detonation. The registration process is to assign addresses to wireless terminals. Subsequent communication is carried out one-to-one using the assigned addresses. Other instructions are broadcast. After the broadcast instructions are sent, the execution status of each terminal is monitored in real time until all terminal processes are completed before the next process is executed.

[0077] The wireless detonation control system is mainly built around four core modules: service perception, dynamic network mapping table, dynamic time slot scheduling, deterministic time slot communication, and emergency event preemption.

[0078] like Figure 4 As shown, the service awareness module reports status data from the slave device and uploads the data to the host device within the corresponding dedicated time slot.

[0079] When the service awareness module provided in this embodiment is in use, the wireless terminal reports status data including the current device ID, current process stage, process progress, collected data, and service tags, including signal strength, battery level, and abnormal error codes. The wireless terminal uploads data to the wireless detonator in the corresponding dedicated time slot.

[0080] like Figure 4 and Figure 5 As shown, the dynamic network mapping table module is a system in which the host dynamically updates the parameters in the network mapping table based on the status data reported by the slave, providing a dynamic scheduling basis for the next superframe transmission.

[0081] The dynamic network mapping table module provided in this embodiment, when in use, the host defines an array in memory to cache the dynamic network mapping table data structure. Each array sequence corresponds to the relevant service information of a known wireless terminal. The host dynamically updates the parameters in the network mapping table based on the status data reported by the slave, providing a dynamic scheduling basis for the next superframe transmission. The specific data structure is described in the table below:

[0082] Of the parameters above, the device ID is written during slave registration; slave battery level, process progress, and fault codes are obtained from the slave's uploaded status data; historical average signal strength and historical communication success rate refer to the integration of parameters uploaded by the slave in a single detonation process; the sleep superframe number and the number of intensive monitoring sessions are used in conjunction with the allocation strategy; the three modes in the allocation strategy are dynamically adjusted based on the parameters mentioned above, with a fixed period as the default; the adjustment steps for the intensive monitoring and extended period adjustment algorithms are as follows:

[0083] B1: First, determine whether the slave device meets the conditions for intensive monitoring. If the following conditions are met, then the intensive monitoring strategy is adopted:

[0084] (1) The historical average signal strength is below -110dBm, and the number of continuous monitoring time slots is set to 5;

[0085] (2) If the historical communication success rate is less than 70%, the number of continuous monitoring time slots is set to 3 time slots;

[0086] (3) If a fault occurs during the execution of the slave device, the actual number of continuous monitoring is set to 2 time slots;

[0087] B2: Determine if the slave device meets the conditions for extending the cycle. If the following conditions are met, then the extended cycle strategy is adopted:

[0088] (1) The slave process has been completed, and the sleep superframe number is the current superframe number + 2, that is, it is read at intervals of 1 superframe cycle;

[0089] (2) For slave devices that have completed the process and have a battery level below 20%, the hibernation superframe number is the current superframe number + 3;

[0090] B3: If the conditions of steps B1 and B2 are not met, then a fixed cycle is used.

[0091] like Figure 6 , Figure 8 and Figure 9 As shown, the dynamic time slot scheduling module includes:

[0092] The faulty slave priority allocation unit is used to detect fault codes and allocate standard time slots;

[0093] Dense monitoring allocation unit, which allocates time slots based on continuous monitoring needs;

[0094] The period extension judgment unit allocates time slots only when the sleep superframe number matches.

[0095] The dynamic time slot scheduling module provided in this embodiment includes a time slot allocation table frame format, a beacon broadcast frame format, and a dynamic scheduling decision algorithm. The core of the dynamic time slot scheduling algorithm is that the host updates the network mapping table of each slave based on the service tags and status data reported by each slave. At the beginning of each superframe period, the time slot table is dynamically updated, thereby improving the timeliness of the entire network. The scheduling algorithm process is as follows:

[0096] C1: Initialize an empty time slot table with a length equal to the total number of available time slots in this superframe.

[0097] C2: Obtain the network mapping table generated by the last superframe data update, poll the service data of each extension in the mapping table in turn, search for extensions with abnormal fault codes, and prioritize the allocation of standard time slots to achieve faster response to the host.

[0098] C3: Search the network mapping table for extensions with the allocation strategy of intensive monitoring, and allocate standard time slots according to the corresponding number of continuous monitoring time slots.

[0099] C4: Search the network mapping table to allocate standard time slots to extensions with a fixed periodicity allocation strategy.

[0100] C5: Search the network mapping table for extensions with extended periods. If the current superframe number is equal to the dormant superframe number, then allocate a standard time slot; otherwise, this superframe period will not be allocated.

[0101] like Figure 7 As shown, the deterministic time-slot communication and emergency event preemption module includes:

[0102] The slave synchronization unit compensates for clock deviation through a high-precision timer;

[0103] The standard time slot uses a question-and-answer protocol unit to enable bidirectional communication between the master and slave devices.

[0104] The hierarchical emergency time slot processing unit includes a micro-competition window and a controlled response window.

[0105] The deterministic time-slot communication and emergency event preemption module provided in this embodiment is the implementation of the entire system's communication protocol layer. It needs to ensure microsecond-level timing accuracy for both the master and slave devices, as well as a hierarchical emergency time-slot processing flow for emergency events. The slave synchronization unit utilizes a high-precision timer to construct a dedicated, continuously incrementing software clock for the communication system. Based on the timestamp in the beacon broadcast and its own reception time, the slave calculates and compensates for clock deviation and transmission delay with the master. The specific process steps are as follows:

[0106] D1: Initialize a timer, enable timer overflow interrupt, and define a 64-bit software clock that increments each time an interrupt is triggered;

[0107] D2: After the host beacon broadcast arrives, obtain the software clock time;

[0108] D3: Calculate the theoretical reception time = host beacon broadcast timestamp + transmission delay. The slave device modifies its counting frequency according to the compensation algorithm to ensure consistency with the host.

[0109] The specific steps of the one-question-one-response protocol unit within the standard time slot are as follows:

[0110] E1: After the slave device recognizes that the current timeslot is an acknowledgment timeslot, the slave device immediately uploads its uplink data packets;

[0111] E2: After the host successfully receives the uplink data packet, the remaining time of the same time slot is the window for the host to send control commands. The host can send control commands within this time slot.

[0112] E3: Within the standard time slot, a protective interval is reserved at the end of the time slot to accommodate minor timing errors.

[0113] like Figure 7 As shown, the specific process steps of the hierarchical emergency time slot processing unit are as follows:

[0114] A1: Micro-competition window: The window is divided into multiple micro-slots;

[0115] A2: Host Arbitration and Nomination: The host listens to the entire micro contention window, records all successfully decoded data, and then broadcasts an emergency response list frame in the controlled response window, naming these devices in order;

[0116] A3: Controlled Reporting: The designated slave devices, in the order listed, report complete emergency data packets sequentially and without conflict within the sub-response window specified by the host.

[0117] The hierarchical emergency time slot processing unit provided in this embodiment allocates a long emergency time slot processing window within the superframe period to avoid communication conflicts when multiple slave devices experience emergency events. In the micro contention window, the slave device with an emergency event randomly selects a micro time slot and sends an extremely short, fixed-format emergency signaling frame + device ID + emergency event + frame tail, expressed as: 0xFF + 1 byte + 1 byte fault code + 0xFE.

[0118] Working principle: First, a dynamic time slot allocation table is generated by the perception and decision-making module and broadcast to the entire network via beacon frames. The deterministic time slot allocation module receives the dynamic time slot allocation table and divides the dynamic time slots into regular time slots and emergency time slots. Regular time slots are used for conflict-free communication, while emergency time slots are pre-set in the superframe structure. Based on the communication results of the regular and emergency time slots, feedback is sent to the slave service status perception module. The slave service status is then integrated, and the master unit centrally executes the decision. Finally, the decision result is sent to the dynamic adjustment module to facilitate the generation of the dynamic time slot allocation table. By organically integrating service status perception, deterministic time slot allocation, and real-time preemption of channels, a closed-loop control from service perception to instruction execution is formed.

[0119] Based on the service-aware dynamic time slot allocation mechanism, the host can perceive the service status of the entire network in real time by parsing the service tags in the data reported by the slave, and dynamically reconstruct the time slot allocation table for each superframe period accordingly. This allocation mechanism is a deep coupling between communication resource scheduling and upper-layer services, realizing the transformation from fixed resource allocation to on-demand intelligent allocation, thereby improving the timeliness of the entire system network and reducing the energy consumption of the entire network.

[0120] This hierarchical emergency time slot protocol supports concurrent multi-event scenarios. The emergency preemption time slot is designed as a three-stage protocol: "micro-contention window + host arbitration + controlled response window". In the event of a sudden incident, the device first sends a very short signaling frame [frame header + ID + event code + frame trailer] for micro-contention. After host arbitration, devices are guided to report complete data in an orderly manner through a roll call approach. This protocol resolves preemption conflicts in emergency scenarios involving multiple slave devices, minimizing the probability and impact of random collisions without sacrificing real-time performance, thus achieving deterministic and reliable transmission in emergency scenarios.

[0121] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A real-time control master-slave LoRa network time-slotted scheduling system, comprising a dynamic scheduling module, a deterministic time-slot allocation module, and a sensing and decision-making module; characterized in that: The dynamic scheduling module is used to generate a dynamic time slot allocation table based on the perception and decision-making module, and broadcast it to the entire network via beacon frames; The deterministic time slot allocation module divides dynamic time slots into regular time slots and emergency time slots. Regular time slots are used for collision-free communication, while emergency time slots are pre-set in the superframe structure. The perception and decision-making module provides scheduling decision-making basis for the master based on the communication results of preemptive execution in regular and emergency time slots and the overall service status of the slave.

2. The real-time control master-slave LoRa network time-slotted scheduling system according to claim 1, characterized in that: The superframe structure is used to divide time into continuous second-level periods. Each period includes a synchronization beacon frame broadcast by the host and a pre-allocated slave-specific time slot. The length of the slave-specific time slot is dynamically adjusted according to service requirements.

3. The real-time control master-slave LoRa network time-slotted scheduling system according to claim 1, characterized in that: The execution process of the scheduling system includes the following steps: S1: The slave device reports sensor data, device status, service attribute tags, and local channel assessment information to provide the host with the original basis for dynamic scheduling; S2: The host generates a time slot allocation table by running a scheduling algorithm based on a dynamic network mapping table; S3: After the slave device is synchronized, communication is carried out according to the allocated time slots. When a high-priority event occurs on the slave device, the regular time slot arrangement can be ignored, and the emergency time slot protocol in the superframe structure can be triggered immediately to achieve conflict-free preemptive communication.

4. A real-time control master-slave LoRa network time-slotted scheduling system according to claim 3, characterized in that: The scheduling algorithm can achieve the following: a. For slave devices that are in stable condition but have low battery power, automatically extend their communication cycle; b. Allocate more frequent communication opportunities to slave devices that require key monitoring or have poor channel quality; c. The host periodically broadcasts beacon frames to achieve millisecond-level time synchronization and dispatch instructions across the entire network.

5. A real-time control master-slave LoRa network time-slotted scheduling system according to claim 1, characterized in that: The scheduling system is applied to the wireless detonation control system, wherein the master is a wireless detonator used to generate a dynamic time slot allocation table and broadcast it through beacon frames; the slave is a wireless terminal used to upload sensor data and status information within the allocated time slots; the wireless detonation control system includes a service perception module, a dynamic network mapping table module, a dynamic time slot scheduling module, and a deterministic time slot communication and emergency event preemption module.

6. A real-time control master-slave LoRa network time-slotted scheduling system according to claim 5, characterized in that: The service awareness module reports status data from the slave device and uploads the data to the host device within the corresponding dedicated time slot.

7. A real-time control master-slave LoRa network time-slotted scheduling system according to claim 5, characterized in that: The dynamic network mapping table module is a system in which the host dynamically updates the parameters in the network mapping table based on the status data reported by the slave, providing a dynamic scheduling basis for the next superframe transmission.

8. A real-time control master-slave LoRa network time-slotted scheduling system according to claim 5, characterized in that: The dynamic time slot scheduling module includes: The faulty slave priority allocation unit is used to detect fault codes and allocate standard time slots; Dense monitoring allocation unit, which allocates time slots based on continuous monitoring needs; The period extension judgment unit allocates time slots only when the sleep superframe number matches.

9. A real-time control master-slave LoRa network time-slotted scheduling system according to claim 5, characterized in that: The deterministic time-slot communication and emergency event preemption module includes: The slave synchronization unit compensates for clock deviation through a high-precision timer; The standard time slot uses a question-and-answer protocol unit to enable bidirectional communication between the master and slave devices. The hierarchical emergency time slot processing unit includes a micro-competition window and a controlled response window.

10. A real-time control master-slave LoRa network time-slotted scheduling system according to claim 9, characterized in that: The specific process steps of the hierarchical emergency time slot processing unit are as follows: A1: Micro-competition window: The window is divided into multiple micro-slots; A2: Host Arbitration and Nomination: The host listens to the entire micro contention window, records all successfully decoded data, and then broadcasts an emergency response list frame in the controlled response window, naming these devices in order; A3: Controlled Reporting: The designated slave devices, in the order listed, report complete emergency data packets sequentially and without conflict within the sub-response window specified by the host.

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