Single-wire bus-based multi-actuator adaptive synchronization communication control method and system

Abstract

This invention discloses a multi-actuator adaptive synchronous communication control method and system based on a single-wire bus, belonging to the field of communication control technology. It utilizes a single communication line to connect multiple actuators in parallel, sharing a common ground line to obtain a shared single-wire bus. Based on this single-wire bus, each actuator is adaptively networked to enable synchronous control. Only one synchronization line is needed to interconnect multiple devices, effectively reducing the number of wiring harnesses, connectors, and installation complexity, thus lowering the overall system cost. Furthermore, any actuator can initiate a synchronization event, and all actuators can participate in communication as synchronization nodes, eliminating the need for a fixed master control device and improving system flexibility and scalability. Through adaptive networking, the network status is automatically updated when actuators are added or removed, exhibiting good engineering adaptability and effectively reducing installation, debugging, and maintenance costs.

Description

Technical Field

[0001] This invention belongs to the field of communication control technology, specifically relating to a multi-actuator adaptive synchronous communication control method and system based on a single-wire bus. Background Technology

[0002] Currently, the synchronous control of multiple actuators mainly adopts the following methods: (1) Multi-wire bus communication mode: CAN bus and RS485 bus and other differential serial communication buses are used to connect all actuators to the same bus and exchange data through master-slave polling or token ring. Each actuator needs to be pre-configured with a unique bus address, which is usually achieved by DIP switch or software programming; (2) Independent operation mode: Each actuator receives control commands independently. There is no dedicated synchronous communication mechanism. The controller sends commands in sequence and each actuator executes them; (3) Hard synchronization mode: The start / stop synchronization of multiple devices is achieved through additional hard connections, such as using synchronous pulse signal lines, but it lacks status feedback and abnormal linkage capabilities.

[0003] However, existing technologies also have corresponding technical defects, including: (1) Complex wiring and high system cost: CAN and RS485 buses require at least two differential signal lines, a large number of wire harnesses, and each actuator node needs to be equipped with a bus transceiver, which increases hardware costs. For scenarios with limited installation space and long wiring distances, the wiring complexity is significantly increased; (2) Heavy reliance on master-slave structure and cumbersome configuration that is prone to errors: Each actuator must be pre-assigned a unique address. Common methods include DIP switches or writing through a dedicated programming tool. When the number of devices changes or a device fails and is replaced, the address needs to be reconfigured, resulting in poor scalability. Under the requirements of multi-master or peer-to-peer communication, the polling mode of the master-slave structure is inefficient and cannot support any device to actively initiate synchronization; (3) Poor real-time synchronization, unable to complete the entire process. Synchronization: In the master-slave polling mode, the controller sends instructions to each slave in sequence. The timing of the instructions arriving at each actuator is different, resulting in inconsistent start times for multiple devices. Some systems only achieve synchronization of start times. If the speed of a certain actuator fluctuates due to load changes during operation, other actuators cannot perceive and adjust in real time, resulting in accumulated position errors. The lack of real-time broadcasting and synchronization mechanism for operating status makes it difficult to meet the requirements of high-precision collaborative control. (4) Lack of adaptive networking capability and inability to automatically identify the number and topology of devices: The existing system cannot automatically detect the number of devices mounted on the bus and their unique identifiers during operation. When devices are added or removed, manual intervention or reconfiguration is required. It does not have plug-and-play characteristics and cannot dynamically establish a device address mapping table, which limits the system's intelligent and adaptive control capabilities.

[0004] Therefore, how to provide an effective technical solution to address the problems of complex wiring, high system cost, heavy reliance on master-slave structure, cumbersome and error-prone configuration, poor real-time synchronization, inability to achieve full-process synchronization, and lack of adaptive networking capabilities in existing technologies has become an urgent problem to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-actuator adaptive synchronous communication control method and system based on a single-wire bus, so as to solve the above-mentioned problems existing in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a multi-actuator adaptive synchronous communication control method based on a single-wire bus, comprising: Multiple actuators are connected in parallel using a single communication line and share a common ground line to obtain a shared single-wire bus. Each actuator has a built-in single-wire transceiver circuit. When any actuator sends data on the single-wire bus, the single-wire transceiver circuit is switched to the drive state to drive the single-wire bus level. After the data transmission is completed, the single-wire transceiver circuit is automatically restored to the continuous listening state. Based on a single-wire bus, each actuator is adaptively networked so that each actuator can be synchronously controlled using the single-wire bus.

[0007] In one possible design, based on a single-wire bus, each actuator is adaptively networked, including: An actuator sends a query broadcast frame to a single-wire bus; After receiving the query broadcast frame, the other online actuators determine the transmission time slot according to the identifier of the actuator, and send a response frame containing the corresponding identifier within the transmission time slot; The actuator receives response frames sent by all online actuators, identifies the response frames, and obtains the identifiers corresponding to the online actuators. Each online actuator is assigned a communication address, and the communication address is sent to the corresponding online actuator via unicast frames.

[0008] In one possible design, the expression for the transmission slot is: ; In the formula, For the transmission time slot, For the identifier corresponding to the actuator, The total number of time slots divided, The duration of a unit time slot.

[0009] In one possible design, when any actuator transmits data on the single-wire bus, the single-wire transceiver circuit is switched to a drive state to drive the single-wire bus level, and after the data transmission is completed, the single-wire transceiver circuit is automatically restored to a continuous listening state, including: In the idle state, the actuator's transmit pin is configured to multiplexed open-drain output mode; When any actuator needs to send a data frame, enable the send drive and switch the send pin to multiplexed push-pull output mode to drive the single-wire bus level; After the data frame is sent, the transmit driver is automatically turned off, and the transmit pin is restored to the multiplexed open-drain output mode to release bus control.

[0010] In one possible design, a single-wire bus is used to synchronously control each actuator, including: Each actuator acquires a synchronization event and generates a synchronization broadcast frame based on the synchronization event; Based on a single-wire bus, a synchronization broadcast frame is sent to all actuators so that all actuators can simultaneously receive the synchronization broadcast frame and perform the action corresponding to the synchronization event.

[0011] In one possible design, the synchronization event includes at least one of start synchronization, stop synchronization, abnormal synchronization, and state synchronization; The synchronous broadcast frame includes a synchronous event type field.

[0012] In one possible design, the method further includes: When any actuator detects an operational or communication anomaly, it generates an anomaly synchronization broadcast frame and sends the anomaly synchronization broadcast frame to the single-wire bus. If any actuator does not receive any single-wire bus signal or response within a preset time, it is determined to be a communication anomaly, thus triggering the sending of the anomaly synchronization broadcast frame. Upon receiving the abnormal synchronization broadcast frame, all actuators synchronously stop running and enter a safe state.

[0013] Secondly, the present invention provides a multi-actuator adaptive synchronous communication control system based on a single-wire bus, comprising: The bus construction module is used to connect multiple actuators in parallel using a single communication line and share a common ground line to obtain a shared single-wire bus. Each actuator has a built-in single-wire transceiver circuit. When any actuator sends data on the single-wire bus, the single-wire transceiver circuit is switched to the drive state to drive the single-wire bus level. After the data transmission is completed, the single-wire transceiver circuit is automatically restored to the continuous listening state. The bus construction module is also used to control the single-wire transceiver circuit of the actuator to release the bus drive signal in the non-transmitting state and continuously monitor the communication data on the single-wire bus; when the actuator needs to send data, it switches the single-wire transceiver circuit to multiplexed push-pull drive mode and actively drives the single-wire bus level to complete the data transmission; after the data transmission is completed, it automatically switches to multiplexed open-drain monitoring mode and exits the bus drive state. The networking synchronization module is used to adaptively network each actuator based on a single-wire bus, so that each actuator can be synchronously controlled using the single-wire bus.

[0014] Thirdly, the present invention provides a computer device comprising a memory, a processor, and a transceiver connected in sequence and communication, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the multi-actuator adaptive synchronous communication control method based on a single-wire bus as described in the first aspect above.

[0015] Fourthly, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, perform the multi-actuator adaptive synchronous communication control method based on a single-wire bus as described in the first aspect above.

[0016] Fifthly, the present invention provides a computer program product containing instructions that, when executed on a computer, cause the computer to perform the multi-actuator adaptive synchronous communication control method based on a single-wire bus as described in the first aspect above.

[0017] The beneficial effects of this invention are as follows: This invention discloses a multi-actuator adaptive synchronous communication control method and system based on a single-wire bus. It uses a single communication line to connect multiple actuators in parallel and share a common ground line to obtain a shared single-wire bus. Each actuator has a built-in single-wire transceiver circuit. When any actuator transmits data on the single-wire bus, the single-wire transceiver circuit is switched to a driving state to drive the single-wire bus level. After data transmission is completed, the single-wire transceiver circuit automatically returns to a continuous listening state. Based on the single-wire bus, each actuator is adaptively networked to enable synchronous control of each actuator using the single-wire bus. This invention uses a single-wire bus structure to achieve synchronous communication between multiple actuators. Compared with traditional communication methods such as CAN and RS485 buses, it eliminates the need for additional differential communication lines and complex communication interface circuits. Only a single synchronization line is required to interconnect multiple devices, effectively reducing the number of wiring harnesses, connectors, and installation complexity, thus lowering the overall system cost. Furthermore, it employs a master-slave broadcast synchronization mechanism, allowing any actuator to initiate a synchronization event, and all actuators can participate in communication as synchronization nodes. This eliminates the need for a fixed master control device, thereby improving system flexibility and scalability. Through adaptive networking, it eliminates the need for manual address configuration or rewiring for each actuator. When adding or removing actuators, the network status is automatically updated, demonstrating excellent engineering adaptability. This effectively reduces installation, debugging, and maintenance costs, facilitating application and promotion. Attached Figure Description

[0018] Figure 1 A flowchart of a multi-actuator adaptive synchronous communication control method based on a single-wire bus provided in an embodiment of the present invention; Figure 2 This is a block diagram of a multi-actuator adaptive synchronous communication control system based on a single-wire bus, provided in an embodiment of the present invention. Detailed Implementation

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0020] It should be understood that although the terms first, second, etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the invention.

[0021] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0022] Example: like Figure 1 As shown, the first aspect of this embodiment provides a multi-actuator adaptive synchronous communication control method based on a single-wire bus, which can be executed, but is not limited to, by a computer device or virtual machine with certain computing resources, such as a personal computer or smartphone, or by a virtual machine; the multi-actuator adaptive synchronous communication control method includes, but is not limited to, the following steps: S1. Using a single communication line, multiple actuators are connected in parallel and share a common ground line to obtain a shared single-wire bus. Each actuator has a built-in single-wire transceiver circuit. When any actuator sends data on the single-wire bus, the single-wire transceiver circuit is switched to the drive state to drive the single-wire bus level. After the data transmission is completed, the single-wire transceiver circuit is automatically restored to the continuous listening state. In practice, all actuators are connected in parallel through a single communication line and share a common ground line to form a single-line bus. The bus is kept in a low-level idle state by default. Each actuator has a single-line transceiver circuit inside. The TXD of each actuator's transmitter drives the single-line bus level through a transistor, and the RXD of each actuator's receiver continuously monitors the bus status through an inverting and shaping circuit, thereby realizing half-duplex communication.

[0023] Specifically, in step S1, when any actuator transmits data on the single-wire bus, the single-wire transceiver circuit is switched to the drive state to drive the single-wire bus level, and after the data transmission is completed, the single-wire transceiver circuit is automatically restored to the continuous listening state, including: S11. In the idle state, configure the actuator's transmit pin to multiplexed open-drain output mode; S12. When any actuator needs to send a data frame, enable the send drive and switch the send pin to multiplexed push-pull output mode to drive the single-wire bus level; S13. After the data frame is sent, the transmit driver is automatically turned off, and the transmit pin is restored to the multiplexed open-drain output mode to release bus control.

[0024] Preferably, during initialization, the transmit pin of the single-wire transceiver circuit is configured in multiplexed open-drain output mode, the receive pin remains in receive state, and the single-wire bus remains in a low-level idle state so that all actuator receivers see that it is idle. When the transmit end of an actuator needs to send data, it enables the transmit driver, switches the transmit pin to multiplexed push-pull output mode, actively outputs a start bit, pulls the single-wire bus high, and then transmits data byte by byte via a transmit interrupt. During transmission, the transmit end actively drives the single-wire bus level. During transmission, other actuators continuously monitor the single-wire bus status, automatically enter the receiving process, and use the UART protocol to parse the received single-wire bus data. When the data frame is sent, the transmit driver is automatically turned off, the transmit pin is restored to the open-drain listening state, thereby automatically releasing bus control and restoring the bus to an idle low-level state. Any device can re-initiate communication after detecting that the bus is idle, realizing single-wire half-duplex communication between multiple actuators. This embodiment adopts a communication control mechanism of interrupt upon completion of transmission and automatic bus release. It can realize single-bus half-duplex communication without the need for an additional direction control chip, which can avoid the data conflict problem caused by inaccurate direction switching timing in traditional half-duplex communication. At the same time, it uses low-cost discrete components to replace dedicated bus transceivers, which can significantly reduce wiring complexity, hardware costs and installation difficulty.

[0025] In a preferred embodiment, the transmitting end of an actuator needs to send data, specifically through a transistor-controlled bus. Specifically, when TXD outputs high, the NPN transistor is turned on, the PNP transistor is turned on, and the single-wire bus level is high. When TXD outputs low, the NPN transistor is turned off, the PNP transistor is turned off, and the single-wire bus level is low. This ensures that the level on the single-wire bus is exactly the opposite of the TXD output. The single-wire bus is monitored by the receiving ends RXD of all actuators, but only one actuator's TXD is allowed to drive the bus at a time.

[0026] S2. Based on a single-wire bus, each actuator is adaptively networked so that each actuator can be synchronously controlled using the single-wire bus.

[0027] Specifically, in step S2, based on a single-wire bus, adaptive networking is performed for each actuator, including: S21. An actuator sends a query broadcast frame to the single-wire bus; S22. After receiving the query broadcast frame, the remaining online actuators determine the transmission time slot according to the identifier corresponding to the actuator, and send a response frame containing the corresponding identifier within the transmission time slot; S23. The actuator receives response frames sent by all online actuators, identifies the response frames, and obtains the identifiers corresponding to the online actuators; S24. Assign a communication address to each online actuator and send the communication address to the corresponding online actuator via unicast frames.

[0028] The expression for the transmission time slot is: ; In the formula, For the transmission time slot, For the identifier corresponding to the actuator, The total number of time slots divided, The duration of a unit time slot, where, It should be greater than the current maximum possible number of devices.

[0029] It should be noted that, through the conflict avoidance mechanism, each actuator only sends data in its corresponding transmission time slot, thus preventing multiple devices from occupying the bus at the same time.

[0030] In one possible implementation, the online query process of the actuator includes: the initiating actuator sending an online query command to the single-wire bus, each actuator returning a response within the corresponding time window, and the system counting the number of responses to automatically identify the number of currently online devices.

[0031] In practice, the initiating executor receives the query start command and initializes the query address and retry count. Then, the initiating executor sends an online query command to the single-wire bus and starts a response timer. Each executor receives the online query command and returns a response within its corresponding time window. If the initiating executor receives a response at the current target address, the query is successful. If the query is not complete, the query address is incremented by 1, and the online query command is sent again. If the query is complete, the query is successful. If the initiating executor does not receive a response at the current target address, the query times out. If the retry count is less than 7, the online query command is resent. If the retry count is greater than or equal to 7, the query fails.

[0032] Furthermore, in step S2, a single-wire bus is used to synchronously control each actuator, including: S25. Any actuator acquires a synchronization event and generates a synchronization broadcast frame based on the synchronization event; S26. Based on a single-wire bus, a synchronization broadcast frame is sent to all actuators so that all actuators simultaneously receive the synchronization broadcast frame and perform the action corresponding to the synchronization event.

[0033] In practice, each actuator continuously listens to the single-line bus. When it receives a synchronization broadcast frame, it parses the synchronization event type in the synchronization broadcast frame, executes the corresponding action, and updates the local synchronization status.

[0034] In a preferred embodiment, the synchronization event includes at least one of start synchronization, stop synchronization, abnormal synchronization, and state synchronization; The synchronous broadcast frame includes a synchronous event type field.

[0035] It should be noted that the start synchronization function enables all actuators to run synchronously; the stop synchronization function enables all actuators to stop synchronously; the abnormal synchronization function enables all actuators to enter protection synchronously; and the status synchronization function enables multiple actuators to maintain the same operating status.

[0036] Furthermore, the method also includes: when any actuator detects an operational or communication abnormality, generating an abnormal synchronization broadcast frame and sending the abnormal synchronization broadcast frame to the single-wire bus, wherein if any actuator does not receive any single-wire bus signal or response within a preset time, it is determined to be a communication abnormality, thereby triggering the transmission of the abnormal synchronization broadcast frame; after all actuators receive the abnormal synchronization broadcast frame, they synchronously stop running and enter a safe state.

[0037] The first aspect of this embodiment provides a multi-actuator adaptive synchronous communication control method based on a single-wire bus. This method uses a single-wire bus structure to achieve synchronous communication among multiple actuators, requiring only one synchronization line to interconnect multiple devices. This effectively reduces the number of wiring harnesses, connectors, and installation complexity, thus lowering the overall system cost. Existing multi-actuator synchronization systems typically rely on a fixed master-slave architecture, requiring manual configuration of device addresses or DIP switch settings, resulting in complex configuration and expansion difficulties. This method employs a masterless broadcast synchronization mechanism, where any device can initiate a synchronization event, and all actuators can participate in communication as synchronization nodes. No fixed master control device is required, thereby improving system flexibility and scalability. Through an online query and response mechanism, the number of currently online actuators can be automatically identified, and device networking can be automatically completed without manual address configuration or rewiring for each actuator. When adding or removing devices, the network status can be automatically updated, demonstrating excellent engineering adaptability and effectively reducing installation, commissioning, and maintenance costs. When any device sends a synchronization event, the remaining devices can simultaneously receive and execute the corresponding actions, thereby reducing timing errors caused by traditional polling control or serial communication, improving the consistency and synchronization accuracy of multiple actuator actions, and making it suitable for multi-motor synchronous operation scenarios. Each actuator automatically calculates the transmission time slot based on its own identifier, thus avoiding multiple devices occupying the bus simultaneously and improving communication stability and reliability. When any actuator detects a communication or operational abnormality, it can broadcast an abnormal synchronization signal to all devices, enabling all actuators to synchronize into a safe state, thereby avoiding problems such as asynchrony, mechanical strain, or system instability caused by some actuators continuing to operate, significantly improving overall safety.

[0038] like Figure 2 As shown, the second aspect of this embodiment provides a multi-actuator adaptive synchronous communication control system based on a single-wire bus, including: The bus construction module is used to connect multiple actuators in parallel using a single communication line and share a common ground line to obtain a shared single-wire bus. Each actuator has a built-in single-wire transceiver circuit. When any actuator sends data on the single-wire bus, the single-wire transceiver circuit is switched to the drive state to drive the single-wire bus level. After the data transmission is completed, the single-wire transceiver circuit is automatically restored to the continuous listening state. The bus construction module is also used to control the single-wire transceiver circuit of the actuator to release the bus drive signal in the non-transmitting state and continuously monitor the communication data on the single-wire bus; when the actuator needs to send data, it switches the single-wire transceiver circuit to multiplexed push-pull drive mode and actively drives the single-wire bus level to complete the data transmission; after the data transmission is completed, it automatically switches to multiplexed open-drain monitoring mode and exits the bus drive state. The networking synchronization module is used to adaptively network each actuator based on a single-wire bus, so that each actuator can be synchronously controlled using the single-wire bus.

[0039] The working process, working details and technical effects of the multi-actuator adaptive synchronous communication control system based on a single-wire bus provided in the second aspect of this embodiment can be found in the multi-actuator adaptive synchronous communication control method based on a single-wire bus described in the first aspect, and will not be repeated here.

[0040] This embodiment provides a computer device including a memory, a processor, and a transceiver connected in sequence. The memory stores a computer program, the transceiver sends and receives messages, and the processor reads the computer program and executes the single-wire bus-based multi-actuator adaptive synchronous communication control method described in the first aspect. Specifically, the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out (FIFO) memory, and / or first-in-last-out (FILO) memory, etc.; the processor may include, but is not limited to, an STM32F105 series microprocessor. Furthermore, the computer device may also include, but is not limited to, a power supply module, a display screen, and other necessary components.

[0041] The working process, working details and technical effects of the aforementioned computer device provided in the third aspect of this embodiment can be found in the multi-actuator adaptive synchronous communication control method based on a single-wire bus described in the first aspect, and will not be repeated here.

[0042] The fourth aspect of this embodiment provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when executed on a computer, perform the multi-executor adaptive synchronous communication control method based on a single-wire bus as described in the first aspect. The computer-readable storage medium refers to a data storage medium, which may include, but is not limited to, floppy disks, optical disks, hard disks, flash memory, USB flash drives, and / or Memory Sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0043] The working process, working details and technical effects of the aforementioned computer-readable storage medium provided in the fourth aspect of this embodiment can be found in the multi-actuator adaptive synchronous communication control method based on a single-wire bus as described in the first aspect, and will not be repeated here.

[0044] The fifth aspect of this embodiment provides a computer program product, including a computer program or instructions, which, when executed by a computer, are used to implement the multi-actuator adaptive synchronous communication control method based on a single-wire bus as described in the first aspect.

[0045] The working process, working details and technical effects of the aforementioned computer program product provided in this embodiment can be found in the multi-actuator adaptive synchronous communication control method based on a single-wire bus as described in the first aspect, and will not be repeated here.

[0046] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-actuator adaptive synchronous communication control method based on a single-wire bus, characterized in that, include: Multiple actuators are connected in parallel using a single communication line and share a common ground line to obtain a shared single-wire bus. Each actuator has a built-in single-wire transceiver circuit. When any actuator sends data on the single-wire bus, the single-wire transceiver circuit is switched to the drive state to drive the single-wire bus level. After the data transmission is completed, the single-wire transceiver circuit is automatically restored to the continuous listening state. Based on a single-wire bus, each actuator is adaptively networked so that each actuator can be synchronously controlled using the single-wire bus.

2. The multi-actuator adaptive synchronous communication control method based on a single-wire bus according to claim 1, characterized in that, Based on a single-wire bus, adaptive networking is implemented for each actuator, including: An actuator sends a query broadcast frame to a single-wire bus; After receiving the query broadcast frame, the other online actuators determine the transmission time slot according to the identifier of the actuator, and send a response frame containing the corresponding identifier within the transmission time slot; The actuator receives response frames sent by all online actuators, identifies the response frames, and obtains the identifiers corresponding to the online actuators. Each online actuator is assigned a communication address, and the communication address is sent to the corresponding online actuator via unicast frames.

3. The multi-actuator adaptive synchronous communication control method based on a single-wire bus according to claim 2, characterized in that, The expression for the transmission time slot is: ； In the formula, For the transmission time slot, For the identifier corresponding to the actuator, The total number of time slots divided, The duration of a unit time slot.

4. The multi-actuator adaptive synchronous communication control method based on a single-wire bus according to claim 1, characterized in that, When any actuator transmits data on the single-wire bus, the single-wire transceiver circuit is switched to drive mode to drive the single-wire bus level, and automatically restored to continuous listening mode after data transmission is completed, including: In the idle state, the actuator's transmit pin is configured to multiplexed open-drain output mode; When any actuator needs to send a data frame, enable the send drive and switch the send pin to multiplexed push-pull output mode to drive the single-wire bus level; After the data frame is sent, the transmit driver is automatically turned off, and the transmit pin is restored to the multiplexed open-drain output mode to release bus control.

5. The multi-actuator adaptive synchronous communication control method based on a single-wire bus according to claim 1, characterized in that, Synchronous control of each actuator is achieved using a single-wire bus, including: Each actuator acquires a synchronization event and generates a synchronization broadcast frame based on the synchronization event; Based on a single-wire bus, a synchronization broadcast frame is sent to all actuators so that all actuators can simultaneously receive the synchronization broadcast frame and perform the action corresponding to the synchronization event.

6. The multi-actuator adaptive synchronous communication control method based on a single-wire bus according to claim 5, characterized in that, The synchronization event includes at least one of the following: start synchronization, stop synchronization, abnormal synchronization, and state synchronization; The synchronous broadcast frame includes a synchronous event type field.

7. The multi-actuator adaptive synchronous communication control method based on a single-wire bus according to claim 1, characterized in that, The method further includes: When any actuator detects an operational or communication anomaly, it generates an anomaly synchronization broadcast frame and sends the anomaly synchronization broadcast frame to the single-wire bus. If any actuator does not receive any single-wire bus signal or response within a preset time, it is determined to be a communication anomaly, thus triggering the sending of the anomaly synchronization broadcast frame. Upon receiving the abnormal synchronization broadcast frame, all actuators synchronously stop running and enter a safe state.

8. A multi-actuator adaptive synchronous communication control system based on a single-wire bus, used to implement the method according to any one of claims 1 to 7, characterized in that, include: The bus construction module is used to connect multiple actuators in parallel using a single communication line and share a common ground line to obtain a shared single-wire bus. Each actuator has a built-in single-wire transceiver circuit. When any actuator sends data on the single-wire bus, the single-wire transceiver circuit is switched to the drive state to drive the single-wire bus level. After the data transmission is completed, the single-wire transceiver circuit is automatically restored to the continuous listening state. The bus construction module is also used to control the single-wire transceiver circuit of the actuator to release the bus drive signal in the non-transmitting state and continuously monitor the communication data on the single-wire bus; when the actuator needs to send data, it switches the single-wire transceiver circuit to multiplexed push-pull drive mode and actively drives the single-wire bus level to complete the data transmission; after the data transmission is completed, it automatically switches to multiplexed open-drain monitoring mode and exits the bus drive state. The networking synchronization module is used to adaptively network each actuator based on a single-wire bus, so that each actuator can be synchronously controlled using the single-wire bus.

9. A computer device, characterized in that, The system includes a memory, a processor, and a transceiver that are sequentially and communicatively connected. The memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the multi-actuator adaptive synchronous communication control method based on a single-wire bus as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or the instructions are executed by the computer, they implement the multi-actuator adaptive synchronous communication control method based on a single-wire bus as described in any one of claims 1 to 7.

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