Low-latency distributed reservation-based time-slot allocation method for helmet Bluetooth multi-hop intercom, node device, electronic equipment and computer readable storage medium

Abstract

The application discloses a low-latency distributed pre-reserved time slot allocation method for helmet Bluetooth multi-hop intercom, a node device, electronic equipment and a computer readable storage medium, which is applied to any intercom node in a helmet Bluetooth Mesh ad hoc network and comprises the following steps: S1, service triggering and packet-level deduplication processing: when the node triggers a local voice service through voice activity detection or receives audio data packets to be forwarded sent by a previous-hop neighbor node, an audio source identifier and a packet sequence number SN corresponding to the audio data are extracted, and a local processed packet table is inquired; S2, double determination of forwarding qualification; S3, distributed time slot reservation and unified arbitration; S4, time slot merging confirmation in an effective stage; and S5, data transmission and multi-hop link continuation. The application has the advantages of low latency and high reliability, can inhibit invalid multi-hop application, avoid repeated forwarding and ring propagation, and guarantee the continuity of a built voice link without relying on a whole network topology and central scheduling.

Description

Technical Field

[0001] This invention belongs to the field of wireless ad hoc networks and time division multiple access time slot allocation technology, specifically relating to a low-latency distributed reservation-based time slot allocation method, node device, electronic device and computer-readable storage medium for helmet Bluetooth multi-hop intercom. Background Technology

[0002] With the widespread adoption of Bluetooth headsets and wireless mesh networking technology, the demand for multi-node real-time voice communication in scenarios such as team cycling, outdoor work, and emergency command continues to grow. Existing time slot allocation schemes for Bluetooth headset communication systems mainly fall into two categories: one is a centralized scheduling scheme, where a central node collects all network service requests and distributes time slot allocation results; the other is a distributed hop-by-hop request scheme, where nodes, upon receiving voice data, directly initiate a time slot request to the next hop and forward it based on a local occupancy table.

[0003] In real-world applications involving dynamic topology, concurrent speech across multiple nodes, and multi-hop relay forwarding, existing solutions suffer from three core flaws: First, centralized scheduling schemes rely on a central node to make global decisions. In multi-hop scenarios, the control signaling transmission path is long and the link establishment latency is high. Furthermore, the failure of the central node will cause the entire network scheduling to fail. On the other hand, distributed hop-by-hop schemes lack a forwarding qualification screening mechanism. In dense networks, multiple adjacent nodes will repeatedly apply for the next hop time slot for the same audio stream, resulting in large ineffective control overhead and frequent time slot conflicts.

[0004] Second, the lack of packet-level deduplication and loop suppression mechanisms means that in loop network topologies, the same audio data packet may be forwarded and propagated repeatedly, further exacerbating the waste of time slot resources and latency fluctuations.

[0005] Third, in multi-service concurrent scenarios, there is a lack of clear priority arbitration strategies. New services are prone to preempting the time slot resources of established voice links, resulting in interruptions of ongoing calls and insufficient continuity and stability of voice intercom.

[0006] In existing technologies, both centralized scheduling and distributed hop-by-hop requests follow the design principle of "attempting to forward upon receiving a data packet" by default, and never pre-filter the eligibility for forwarding from the perspective of "whether forwarding has the value of adding coverage". The time slot conflicts and increased latency caused by invalid requests and repeated forwarding in dense topologies have always been technical pain points that have not been effectively solved in the field of distributed multi-hop intercom. At present, there is no solution that can simultaneously achieve low-latency link establishment, low-conflict forwarding and high voice continuity under the premise of no center and only local information.

[0007] Therefore, there is an urgent need for a distributed time slot allocation scheme that can achieve low-latency link establishment, suppress invalid requests and repeated propagation, and ensure the continuity of voice links by relying only on locally visible information. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention provides a low-latency distributed scheduled time slot allocation method, node device, electronic device, and computer-readable storage medium for helmet Bluetooth multi-hop intercom. Without relying on the entire network topology and central scheduling, it suppresses invalid multi-hop requests, avoids repeated forwarding and loop propagation, and ensures the continuity of established voice links, thereby achieving low-latency and more reliable multi-hop voice intercom time slot allocation.

[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A low-latency distributed scheduled time slot allocation method for multi-hop Bluetooth intercom in helmets, applied to any intercom node in a helmet Bluetooth Mesh self-organizing network, includes the following steps: S1. Service Triggering and Packet-Level Deduplication: When the node triggers a local voice service through voice activity detection, or receives an audio data packet to be forwarded sent by the previous hop neighbor node, it extracts the audio source identifier and packet sequence number SN corresponding to the audio data and queries the local processed packet table. If the combination of the audio source identifier and SN already exists in the processed packet table, the current audio data is discarded directly. If it does not exist, the combination is registered in the processed packet table, and the control field in the audio data is parsed. The control field includes at least the current hop number and the identifier of the previous hop node. S2. Dual determination of forwarding qualification: The node first makes a basic threshold judgment based on the current hop count obtained by parsing and the preset maximum hop count. If the current hop count is not less than the preset maximum hop count, the next hop slot application process is terminated. If the current hop count is less than the preset maximum hop count, a new set of covering neighbors is calculated based on its own neighbor table and the neighbor table of the previous hop node. If the new set of covering neighbors is empty, it is determined that there is no new propagation value and the time slot application is terminated; otherwise, it is determined that the node is qualified to apply for the next hop continuation. S3. Distributed time slot reservation and unified arbitration: During the time slot reservation phase of a single system frame, the nodes that are eligible to apply act as requesting nodes and broadcast time slot reservation requests to all their neighboring nodes through control frames, while also broadcasting their own neighbor table and time slot occupancy table. After receiving a time slot reservation request, each neighboring node, based on its own time slot occupancy status, conducts unified arbitration on the various time slot request tasks it carries according to preset priority rules, and feeds back the time slot allocation result to the requesting node. S4. Effective Phase Time Slot Merging Confirmation: During the effective phase of a single system frame, the requesting node takes the intersection of the time slot allocation results fed back by all neighboring nodes to obtain a shared available time slot group. If there is at least one shared available time slot group, then one of them will be selected as the effective time slot for this allocation; If no shared available time slot group exists, the request for a time slot will be re-initiated in the next system frame; S5. Data transmission and multi-hop link continuation: During the data time slot phase of a single system frame, the requesting node sends local voice data or forwards audio data packets to be forwarded according to the effective time slot. The next-hop neighbor node that receives the forwarded data repeats steps S1 to S5 to establish a multi-hop voice transmission link hop by hop.

[0010] Preferably, the single system frame is divided into a time slot reservation stage, an activation stage, and a data time slot stage in sequence according to time order; The time slot reservation phase is a dedicated interaction period for control signaling, used to transmit time slot reservation requests, allocation responses, neighbor table and time slot occupancy table information; The effective phase is the result aggregation period, which is used to merge the local time slot allocation results of multiple nodes and generate a consistent effective time slot configuration; The data time slot is a dedicated transmission period for services, used for the transmission and relay forwarding of voice data.

[0011] Preferably, the step S2, which involves calculating the new covering neighbor set based on its own neighbor table and the neighbor table of the previous hop node, specifically includes: The node obtains its own stable neighbor set, as well as the neighbor set broadcast by the previous hop node through the control frame; The newly added overlay neighbor set is calculated using set operations. The operation rule is: newly added overlay neighbor set = its own stable neighbor set - the neighbor set broadcast by the previous hop node - the identifier of the previous hop node; The newly added coverage neighbor set represents the new coverage neighbor nodes that the node can add after forwarding audio data, nodes that cannot be directly reached by the previous hop node.

[0012] Preferably, the preset priority rules in step S3 are arranged from highest to lowest priority as follows: First priority: Voice resume task for locked links, used to ensure that established voice transmission links are not interrupted by new services; Second priority: Relay continuation request task, used to ensure that the voice stream being transmitted can be continued through multi-hop forwarding; Third priority: Locally initiated voice service tasks will be allocated after the time slot requirements of the first two types of tasks are met; Applications within the same priority are allocated sequentially based on current transmission hop count, waiting time, or node identifier.

[0013] Preferably, the local time slot occupancy tables of the nodes all adopt a one-dimensional array structure that matches the maximum number of nodes in the network, storing the occupancy status of each data time slot group; The locking and releasing of time slot resources is driven by the time slot occupancy table periodically broadcast by the node occupying the time slot: when the node occupying the time slot continuously carries the corresponding occupancy entry in its broadcast time slot occupancy table, the time slot group remains locked. When a node occupying a time slot detects that the service has ended, a neighbor link has failed, or there is no valid voice data for a consecutive preset period, it removes the corresponding occupied item and broadcasts the time slot release information. The other neighboring nodes then update their local time slot occupancy tables accordingly.

[0014] Preferably, the stable neighbor set of the node is established and maintained through a two-way, two-level confirmation mechanism: First-level reception confirmation: The node confirms that its ability to receive signals from the peer node meets preset requirements based on the state of continuously receiving control frames from the peer node; Second-level confirmation: The node confirms that the receiving capability of the peer node to receive its own signal meets the preset requirements based on the receiving status fed back in the control frame of the peer node. A node will only add the peer node to its stable neighbor set when both bidirectional transmission and reception capabilities are confirmed; if the confirmation conditions are not met for a consecutive preset period, the corresponding neighbor relationship will be deleted.

[0015] Preferably, the step S1 of triggering local voice service through voice activity detection specifically involves: the node caching the locally collected audio data, determining whether the audio is valid voice through voice activity detection, and triggering the local voice service time slot application process when continuous valid voice activity is detected.

[0016] The present invention also discloses a low-latency distributed scheduled time slot allocation node device for helmet Bluetooth multi-hop intercom, used to execute the above-mentioned low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom, including a packet-level deduplication module, an audio buffer and VAD determination module, a neighbor management module, a next-hop continuation application module, a control frame generation and parsing module, a time slot occupancy table maintenance module, and a task arbitration module. The control frame generation and parsing module is used to receive external audio data packets and control frames, and to send control frames and audio data outwards. The input of the packet-level deduplication module is connected to the audio data output of the control frame generation and parsing module, and the output of the packet-level deduplication module is connected to the first input of the next-hop continuation application module. It is used to perform audio source identification and SN deduplication processing on the received previous-hop audio data packet, and output the unprocessed valid audio data to the next-hop continuation application module. The input terminal of the audio buffer and VAD determination module is used to receive locally collected audio data. The output terminal of the audio buffer and VAD determination module is connected to the second input terminal of the next hop continuation application module, which is used to buffer locally collected audio data, determine valid voice through voice activity detection, and trigger local voice service time slot application. The input terminal of the neighbor management module is connected to the control information output terminal of the control frame generation and parsing module, and the output terminal of the neighbor management module is connected to the next-hop continuation application module and the control frame generation and parsing module respectively. It is used to maintain a stable neighbor table through a two-way two-level confirmation mechanism, provide neighbor data to the next-hop continuation application module, and broadcast the local neighbor table through the control frame generation and parsing module. The output of the next-hop continuation application module is connected to the input of the task arbitration module. It is used to determine the forwarding eligibility based on the current hop count of the audio data and the newly added coverage neighbor set, and submit the eligible time slot application to the task arbitration module. The task arbitration module is bidirectionally connected to the time slot occupancy table maintenance module and the control frame generation and parsing module, respectively. It is used to combine the time slot occupancy status of the time slot occupancy table maintenance module, perform unified arbitration on various time slot applications according to preset priority rules, and send and receive time slot reservation requests and allocation results through the control frame generation and parsing module. The time slot occupancy table maintenance module is bidirectionally connected to the control frame generation and parsing module, and is used to synchronize the time slot occupancy information of neighboring nodes through the control frame generation and parsing module, and update and maintain the local time slot occupancy table.

[0017] The present invention also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described low-latency distributed scheduled time slot allocation method for helmet-mounted Bluetooth multi-hop intercom.

[0018] The present invention also discloses a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described low-latency distributed scheduled time slot allocation method for helmet-mounted Bluetooth multi-hop intercom.

[0019] By adopting the above technical solution, the present invention has the following beneficial effects: (1) Low link establishment latency and strong system robustness: The single system frame adopts a three-stage convergence structure of "time slot reservation to activation to data time slot", which can complete control coordination and data transmission within a low latency period. The control signaling interaction path is short and there is no need to wait for scheduling results for multiple frames, which greatly shortens the establishment latency of multi-hop links. At the same time, the pure distributed architecture is adopted, with no central node dependency, no single point of failure risk, and adapts to dynamic topology changes in helmet intercom scenarios. The efficiency of disconnection recovery and realignment is higher. (2) Effectively suppress invalid requests and repeated propagation, and reduce time slot conflicts: On the one hand, by using the new coverage gain filtering mechanism based on the difference of the neighbor table, the "forward if it can be received" is upgraded to "forward only if there is new coverage value", which eliminates invalid multi-hop requests with no propagation significance from the source and greatly reduces repeated time slot contention in dense networks; on the other hand, by using the packet-level deduplication mechanism of "audio source identifier and SN", duplicate packets, multi-path backflow packets and loop packets are directly blocked from entering the control flow, avoiding loop forwarding under the ring network topology, and significantly reducing control overhead and the probability of time slot conflicts. (3) Ensure the continuity of voice links and improve the intercom experience: Adopt a three-level priority unified arbitration strategy of "link locking priority, relay continuation priority, and local new task back" to ensure that the established voice call links are not interrupted by new services, while ensuring that the voice stream being transmitted can be successfully completed through multi-hop relay continuation, effectively reducing voice interruption and stuttering, and improving the voice fluency and stability in multi-hop intercom scenarios. (4) Lightweight collaboration and strong scalability: All nodes can make all decisions by relying only on local neighbor information and time slot occupancy information within a one-hop range. There is no need to be aware of the entire network topology or global synchronization scheduling. The system has low implementation complexity and can flexibly support the networking of nodes of different scales, adapting to various application scenarios of helmet Bluetooth intercom. In summary, this invention has the advantages of low latency, high reliability, and the ability to suppress invalid multi-hop requests, avoid repeated forwarding and loop propagation, and ensure the continuity of established voice links without relying on the entire network topology and central scheduling. Attached Figure Description

[0020] Figure 1 This is a flowchart of the low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom according to the present invention; Figure 2 This is a schematic diagram of the structure of a single system frame of the present invention; Figure 3 This is a topology diagram in one embodiment of the present invention; Figure 4 yes Figure 3 A schematic diagram of the view occupancy table for node 3 in the middle; Figure 5 yes Figure 3A schematic diagram of the view occupancy table for node 4 in the middle; Figure 6 yes Figure 3 A schematic diagram of the view occupancy table for node 7 in the middle. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0022] The components of the embodiments of the invention described and shown in the accompanying drawings can typically be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0023] 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.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] Example 1 This embodiment proposes a low-latency distributed scheduled time slot allocation method, node device, electronic device, and computer-readable storage medium for multi-hop Bluetooth intercom in helmets. It can be applied to any intercom node in a helmet Bluetooth Mesh self-organizing network, such as a helmet Bluetooth headset or a smart helmet intercom terminal. The invention follows the logic of "pre-filtering → qualification determination → resource application → result confirmation → transmission continuation." All nodes in the network follow a unified frame structure and time slot rules, completing the time slot allocation for multi-hop voice intercom through distributed collaboration, without requiring a central node for global scheduling.

[0027] The essential difference between this scheme and existing distributed time slot allocation is that existing technologies all take "data packet reachability" as a prerequisite for forwarding, while this scheme takes "forwarding with added propagation value" as a prerequisite, eliminating invalid relays from the root of forwarding decisions, rather than taking backoff measures after a conflict occurs.

[0028] It should be noted that the appendix to this invention... Figure 3 The numbers 1-7 represent nodes 1-7, where nodes 2, 4, and 5 simultaneously have audio transmission services, meaning they are occupied. Figure 4-6 This is a schematic diagram representing the occupancy tables for the perspectives of node 3, node 4, and node 7, respectively.

[0029] like Figures 1-6 As shown, in one embodiment of the present invention, the low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom includes the following steps: S1. Service triggering and packet-level deduplication: When the node (i.e. any intercom node in the helmet Bluetooth Mesh self-organizing network mentioned above) triggers local voice service through voice activity detection, or receives audio data packets to be forwarded sent by the previous hop neighbor node, the audio source identifier and packet sequence number SN corresponding to the audio data are extracted, and the local processed packet table is queried. If the combination of the audio source identifier and SN already exists in the processed packet table, the current audio data is directly discarded. The processed packet table uses a hash table or circular cache structure to store the most recent 200 records of combinations of "audio source identifier and SN". A sliding window aging mechanism is used to automatically clear historical records that exceed 10 system frames. The SN uses 16-bit cyclic incrementing encoding. When a loop occurs, the packet repetition is determined together with the receiving time window to avoid misjudgment caused by sequence number loop. If it does not exist, the combination is registered in the processed packet table, and the control field in the audio data is parsed. The control field includes at least the current hop number and the identifier of the previous hop node. Specifically, step S1 is the starting point of the entire low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom, which includes two types of triggering scenarios, and prioritizes packet-level deduplication to avoid triggering invalid processes.

[0030] The first type of trigger is the local voice service trigger: the node caches the locally collected audio data and determines whether the audio is valid voice through voice activity detection (VAD). When continuous valid voice activity is detected, it determines that a transmission link needs to be established or maintained for the local voice service, triggering the time slot application process.

[0031] The speech activity detection can be implemented using various mature solutions, such as time-domain threshold decision based on short-time energy and zero-crossing rate, frequency-domain detection based on spectral entropy or MFCC features, or standardized algorithms such as WebRTCVAD and G.729AnnexB. This invention does not improve the speech activity detection algorithm itself, but only uses its speech determination result as the triggering condition for time slot application.

[0032] The second type of trigger is relay forwarding trigger: When a node receives an audio data packet to be forwarded from the previous hop neighbor node during the data time slot phase, it needs to determine whether the audio packet should continue to the next hop.

[0033] Regardless of the trigger type, the node first extracts the audio source identifier and packet sequence number (SN) corresponding to the audio data, and queries the recently processed packet table maintained locally. If the combination of the audio source identifier and SN already exists in the processed packet table, it means that the audio packet has been previously received, processed, or participated in the forwarding decision by this node, and belongs to a duplicate packet, a multi-path backflow packet, or a loopback packet. At this time, the current audio data is directly discarded, and the next hop request is no longer triggered repeatedly, thus blocking repeated propagation from the source.

[0034] If the combination does not exist, it is immediately registered in the processed packet table to prevent the process from being repeatedly triggered when the same packet is received from other paths. Then, the control fields in the audio packet header are parsed, including at least the current hop count, the previous hop node identifier, and the stream identifier. This step unifies "local initiation" and "relay continuation" into the same processing link, avoiding the design of two independent control processes for the source node and the relay node, thus reducing system complexity.

[0035] S2. Dual determination of forwarding qualification: The node first makes a basic threshold judgment based on the current hop count obtained by parsing and the preset maximum hop count. If the current hop count is not less than the preset maximum hop count, the next hop slot application process is terminated. If the current hop count is less than the preset maximum hop count, a new set of covering neighbors is calculated based on its own neighbor table and the neighbor table of the previous hop node. If the new set of covering neighbors is empty, it is determined that there is no new propagation value and the time slot application is terminated; otherwise, it is determined that the node is qualified to apply for the next hop continuation. Step S2, which involves calculating the new set of covering neighbors based on its own neighbor table and the neighbor table of the previous hop node, specifically includes: The node obtains its own stable neighbor set, as well as the neighbor set broadcast by the previous hop node through the control frame; The newly added overlay neighbor set is calculated using set operations. The operation rule is: newly added overlay neighbor set = its own stable neighbor set - the neighbor set broadcast by the previous hop node - the identifier of the previous hop node; The newly added coverage neighbor set represents the new coverage neighbor nodes that the node can add after forwarding audio data, which cannot be directly reached by the previous hop node. The stable neighbor set of the node is established and maintained through a two-way, two-level confirmation mechanism: First-level reception confirmation: The node confirms that its ability to receive signals from the peer node meets preset requirements based on the state of continuously receiving control frames from the peer node; Second-level confirmation: The node confirms that the receiving capability of the peer node to receive its own signal meets the preset requirements based on the receiving status fed back in the control frame of the peer node. A node will only add the peer node to its stable neighbor set when both bidirectional transmission and reception capabilities are confirmed. If the confirmation conditions are not met for a consecutive preset period, the corresponding neighbor relationship will be deleted. The specific judgment thresholds for the two-level bidirectional confirmation mechanism are as follows: Level 1 reception confirmation: if the local end receives 3 consecutive control frames from the peer node and the received signal-to-noise ratio meets the threshold requirement, the local end's reception capability is deemed to be up to standard. Level 2 transmission confirmation: if the local end detects its own node ID in the neighbor table broadcast by the peer for 3 consecutive frames, the peer's reception capability is deemed to be up to standard. The peer node will only be added to the stable neighbor set when both bidirectional conditions are met. If no control frames are received from the peer for 5 consecutive frames, the corresponding neighbor relationship will be deleted.

[0036] Specifically, step S2 uses a two-layer progressive judgment to filter out nodes that truly have forwarding value. The first layer is the hop count threshold limit, and the second layer is the neighbor coverage gain filter.

[0037] The first layer of basic threshold judgment: The node compares the current hop count obtained from parsing with the preset maximum hop count. The preset maximum hop count can use the system default value (e.g., 4 hops by default) without requiring global calculation by the source node. It can also be flexibly adjusted within the range of 2-8 hops depending on the network size to constrain the spread of the voice stream, avoid resource waste in large-scale networks, and adapt to team intercom scenarios with different numbers of people. If the current hop count is not less than the preset maximum hop count, it means that the audio propagation depth has reached the upper limit, and the node terminates the next hop slot application process to prevent the voice stream from spreading infinitely in large-scale networks.

[0038] If the current hop count is less than the preset maximum hop count, then proceed to the second layer of neighbor coverage filtering: the node obtains its own stable neighbor set and the neighbor set broadcast by the previous hop node through the control frame, and calculates the new coverage neighbor set through set operations. The operation rules are as follows: The newly added overlay neighbor set = its own stable neighbor set - the neighbor set broadcast by the previous hop node - the identifier of the previous hop node; The subtraction of the previous hop node identifier is to avoid mistakenly including the return direction in the new coverage. The physical meaning of this new coverage neighbor set is: after this node continues to forward the audio packet, it can add coverage to the previous hop neighbor nodes that the previous hop could not directly reach.

[0039] The core of calculating the newly added coverage neighbor set is to determine the propagation gain of the forwarding behavior of this node. In addition to the set difference operation method described in this embodiment, those skilled in the art can also adopt equivalent determination methods according to the actual scenario, such as weighted judgment of coverage quality based on the received signal strength of neighbor nodes, or judgment based on the hop gain of the newly added node. All of these fall within the scope of the inventive concept of "using the value of newly added coverage as a threshold for forwarding qualification" of this invention.

[0040] The neighbor tables used for calculation in this invention are all stable neighbor tables that have undergone bidirectional two-level confirmation, excluding nodes that are unidirectionally reachable or whose links are unstable, ensuring that the calculation results of the newly added coverage set have practical propagation significance, and avoiding invalid forwarding decisions based on unreliable links.

[0041] If the set of newly added coverage neighbors is empty, it means that the node cannot deliver the audio to any new node by continuing to forward it, and there is no new propagation value. This is an invalid multi-hop application, and the node will back off directly and will not enter the current round of slot reservation. If the set is not empty, the node is determined to be eligible for the next hop continuation application.

[0042] This mechanism upgrades the traditional coarse-grained criterion of "if it can be received, it may be forwarded" to a fine-grained criterion of "only allowing applications when there is new coverage value". It can actively filter out a large number of invalid relay nodes in dense mesh topologies, significantly reducing time slot contention and control overhead.

[0043] S3. Distributed time slot reservation and unified arbitration: During the time slot reservation phase of a single system frame, the nodes that are eligible to apply act as requesting nodes and broadcast time slot reservation requests to all their neighboring nodes through control frames, while also broadcasting their own neighbor table and time slot occupancy table. The single system frame is divided into a time slot reservation phase, an activation phase, and a data time slot phase in sequence. For example, if the total duration of a single system frame is 20ms, it is divided into the following phases in sequence: a time slot reservation phase of 4ms, which includes 8 equal-length control time slots, each control time slot being 0.5ms, corresponding to the control signaling transmission window of one node; an activation phase of 1ms, used for merging and confirming time slot results; and a data time slot phase of 15ms, divided into 5 equal-length data time slot groups, each group being 3ms, used to carry the transmission or forwarding of one voice service. The above parameters can be flexibly adjusted according to the network node scale and voice coding rate. After receiving a time slot reservation request, each neighboring node, based on its own time slot occupancy status, conducts unified arbitration on the various time slot request tasks it carries according to preset priority rules, and feeds back the time slot allocation result to the requesting node. The time slot reservation phase is a dedicated interaction period for control signaling, used to transmit time slot reservation requests, allocation responses, neighbor table and time slot occupancy table information; The effective phase is the result aggregation period, which is used to merge the local time slot allocation results of multiple nodes and generate a consistent effective time slot configuration; The data time slot is a dedicated transmission period for services, used for the transmission and relay forwarding of voice data.

[0044] The preset priority rules mentioned in step S3, in descending order of priority, are as follows: First priority: Voice resume task for locked links. This task ensures that established voice transmission links are not interrupted by new services. For established voice transmission links, priority is given to protecting their time slot resources to prevent unexpected interruptions by new services and ensure voice continuity. The link locking condition is: if a service successfully occupies the same time slot group for two consecutive system frames and data transmission is normal, the link corresponding to that service enters a locked state. The time slot release trigger conditions are: service termination, failure of the corresponding neighboring link, or no valid voice data for three consecutive system frames. If any of these conditions are met, the corresponding occupied slot is removed and release information is broadcast. Second priority: Relay continuation request task, used to ensure that the voice stream being transmitted completes multi-hop forwarding continuation. This type of task corresponds to the forwarding requirements of the multi-hop voice stream being transmitted, and prioritizes ensuring that the voice stream completes hop-by-hop continuation to avoid relay link interruption. Third priority: Locally initiated voice service tasks are allocated after the time slot requirements of the first two types of tasks are met. After the time slot requirements of the first two types of high-priority tasks are met, the remaining resources are then allocated to newly initiated local services. Applications within the same priority are allocated sequentially according to the current number of transmission hops, waiting time, or node identifier. After arbitration, each neighboring node reports its time slot allocation result back to the node that initiated the request.

[0045] During the time slot reservation phase of a single system frame, eligible nodes act as requesting nodes, broadcasting their time slot reservation requests to all neighboring nodes via control frames, while simultaneously broadcasting their own neighbor table and time slot occupancy table. All control signaling is exchanged uniformly during the reservation phase, while the data phase only carries business data, achieving separation between the control plane and the data plane.

[0046] After receiving a time slot reservation request, each neighboring node, based on its own maintained local time slot occupancy status, conducts unified arbitration on all time slot application tasks it carries according to preset priority rules, rather than adopting an immediate competition method of "first come, first served".

[0047] In step S3, the control frame is encapsulated using a unified frame format. The frame header includes the frame type, source node ID, and frame sequence number. The payload carries corresponding information based on the frame type. Specifically: (1) Neighbor table message: The load is a list of node IDs of stable neighbors. When using bitmap encoding, each bit corresponds to a node ID; (2) Time slot occupancy table message: The load is a one-dimensional array structure, the array index corresponds to the data time slot group number, and the element value stores the occupancy node ID and the service type identifier (local service / forwarding service and corresponding source ID). (3) Time slot reservation request message: The payload includes the number of time slots requested and the corresponding number of audio source ID groups and the current hop group; (4) Time slot allocation result message: The load contains a list of available time slot group numbers, a set of allocated device IDs, and a set of time slots allocated to each device.

[0048] S4. Effective Phase Time Slot Merging Confirmation: During the effective phase of a single system frame, the requesting node takes the intersection of the time slot allocation results fed back by all neighboring nodes to obtain a shared available time slot group. If there is at least one shared available time slot group, then one of them will be selected as the effective time slot for this allocation; If no shared available time slot group exists, the request for a time slot will be re-initiated in the next system frame; Specifically, during the activation phase of a single system frame, the requesting node takes the intersection of the time slot allocation results reported by all neighboring nodes and extracts the available data time slot group that is mutually recognized by all neighbors as a shared available time slot group. Since each neighboring node only knows the time slot occupancy information from its own local perspective, the allocation result of a single neighbor may have perspective bias. By taking the intersection, a conflict-free time slot that is recognized by all relevant nodes can be obtained, ensuring the consistency of distributed allocation.

[0049] The specific intersection operation can be implemented by comparing each bit: the requesting node traverses all data time slot groups in numerical order. If the time slot group is marked as available in the available lists of all neighbors, it is included in the set of shared available time slot groups. The selection rule for the final effective time slot, in addition to the minimum number priority mentioned in this embodiment, can also select the optimal time slot group based on channel quality, historical conflict rate, service priority, and other dimensions. All of these do not deviate from the core logic of this invention of "using the multi-node consensus result as the basis for effectiveness".

[0050] If at least one shared available time slot group exists, the data time slot group with the smallest number is selected as the effective time slot for this allocation. If no shared available time slot group exists, it means that an available time slot was not successfully acquired in the current frame. The node will not overstep its authority to send data during the data phase, but will instead back off to the next system frame to re-initiate a time slot request. This design ensures a strict correspondence between the control allocation result and data transmission, avoiding unauthorized transmissions that introduce new time slot conflicts.

[0051] Each neighboring node reports a list of available time slot group numbers from its own perspective. The requesting node performs a set intersection operation on the available time slot group lists of all neighbors to obtain a conflict-free time slot group that is recognized by all relevant neighbors, i.e., a shared available time slot group. If the number of shared available time slot groups is greater than or equal to 1, the time slot group with the smallest number is selected as the effective time slot for this allocation. If the shared available time slot group is empty, the requesting node backs off for 1 system frame and then initiates the reservation again. If the reservation fails 3 times in a row, the arbitration priority of the task is automatically increased.

[0052] S5. Data transmission and multi-hop link continuation: During the data time slot phase of a single system frame, the requesting node sends local voice data or forwards audio data packets to be forwarded according to the effective time slot. The next-hop neighbor node that receives the forwarded data repeats steps S1 to S5 to establish a multi-hop voice transmission link hop by hop.

[0053] Specifically, during the data time slot phase of a single system frame, the requesting node sends local voice data or relays the audio data packets from the previous hop according to the confirmed effective time slot.

[0054] The next-hop neighbor node that receives the forwarded data will repeat the complete process of steps S1 to S5 above. Thus, the entire multi-hop voice link does not need to pre-calculate the global path, but is gradually formed by each hop node based on the local neighbor state, adapting to the dynamically changing Mesh topology.

[0055] The locking and releasing of time slot resources is driven by the time slot occupancy table broadcast periodically by the nodes. The local time slot occupancy table of a node adopts a one-dimensional array structure matching the maximum number of nodes in the network, storing the occupancy status of each data time slot group. The array index corresponds one-to-one with the data time slot group number, and each element of the array stores the status information of the corresponding time slot group, including at least: idle / occupied status identifier, occupying node ID, service type (local origin / relay forwarding), and corresponding audio source ID. The total length of the array is consistent with the maximum number of data time slot groups configured in the system, and can be flexibly configured according to the maximum number of nodes in the network. This one-dimensional array structure is a typical implementation of a linear storage structure, and those skilled in the art can equivalently replace it with similar linear storage forms such as bitset and bitmap, all of which have the characteristics of fast addressing and low update overhead, and are suitable for the embedded limited computing power environment of helmet Bluetooth nodes. When a node occupies a certain time slot group, it will continuously carry the corresponding occupancy entry in its broadcast time slot occupancy table, keeping the time slot group in a locked state. When a node detects that a service has ended, a neighbor link has failed, there has been no valid voice data for several consecutive periods, or its own occupied item cannot be confirmed by the neighbor, it removes the corresponding occupied item and broadcasts time slot release information. At the same time, each node will also update the corresponding neighbor's occupied status in its local time slot occupied table according to the time slot occupied table and release information broadcast by the neighbor nodes, thereby realizing distributed time slot resource lifecycle management.

[0056] like Figure 3 Topology diagram and Figure 4-6 As shown, in the example scenario, nodes 2, 4, and 5 simultaneously have audio transmission services, while nodes 3, 4, and 7 each maintain a local viewpoint time slot occupancy table.

[0057] Node 3's perspective: It observes not only the time slot groups occupied by source nodes 2, 4, and 5, but also its own forwarding of nodes 2, 4, and 5, as well as the time slots occupied by node 4 as it continues to forward. From Node 4's perspective: It mainly perceives its own business usage, as well as the usage items formed by Node 3 forwarding data from Nodes 2, 4, and 5, and Node 4 continuing to forward data from Nodes 2 and 5. From Node 7's perspective: Located at the end of the topology, only the local transmission of Node 4 and the continued forwarding of Node 4 to Nodes 2 and 5 need to be considered.

[0058] Each node maintains its occupancy table based solely on the visible information within its own one-hop neighbor range, and performs distributed arbitration and time slot coordination accordingly, without needing to be aware of the entire network topology.

[0059] For example, in a typical scenario with an 8-node dense mesh topology and 3 nodes speaking concurrently, this solution, compared with the traditional distributed hop-by-hop request solution, significantly reduces the number of invalid time slot requests, lowers the end-to-end average voice latency, reduces the voice link interruption rate, and decreases the probability of time slot conflicts.

[0060] This invention solves three mutually restrictive technical problems—high latency, numerous conflicts, and poor continuity—through a chain-like collaboration of "packet-level deduplication pre-interception → new coverage value screening → three-stage distributed reservation → priority arbitration guarantee," under the constraints of pure distributed systems and the absence of global information.

[0061] Continue with Figure 3 Topology diagram and Figure 4-6 For example, a 7-node ring and dense hybrid topology were built, and nodes 2, 4, and 5 were set to initiate voice services simultaneously. The performance indicators of this solution and the traditional unfiltered hop-by-hop application solution were compared. The proportion of invalid time slot applications was significantly lower in this solution than in the traditional solution, and the number of invalid applications was reduced. The average latency for end-to-end 4 hops was lower in this solution than in the traditional solution. The number of voice interruptions within 1 minute was higher in the traditional solution on average, while the continuity of this solution was improved. This solution achieves a significant performance improvement in the limited bandwidth and dynamic topology scenario of helmet Bluetooth intercom by combining pre-filtering and distributed collaboration.

[0062] The present invention also discloses a low-latency distributed scheduled time slot allocation node device for helmet Bluetooth multi-hop intercom, used to execute the above-mentioned low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom, including a packet-level deduplication module, an audio buffer and VAD determination module, a neighbor management module, a next-hop continuation application module, a control frame generation and parsing module, a time slot occupancy table maintenance module, and a task arbitration module. Each functional module corresponds one-to-one with the steps of the aforementioned time slot allocation method: the packet-level deduplication module corresponds to the packet-level deduplication processing in step S1 of the method; the audio buffer and VAD determination module corresponds to the local voice triggering in step S1 of the method; the neighbor management module corresponds to the bidirectional two-level neighbor maintenance mechanism of the method; the next-hop continuation application module corresponds to the dual determination of forwarding eligibility in step S2 of the method; the control frame generation and parsing module, the time slot occupancy table maintenance module, and the task arbitration module together correspond to the time slot reservation, unified arbitration, and effective merging process in steps S3-S4 of the method; and finally, the data transmission and multi-hop continuation in step S5 of the method are completed through the control frame generation and parsing module.

[0063] The control frame generation and parsing module is used to receive external audio data packets and control frames, and to send control frames and audio data outwards. The control frame generation and parsing module is the external interaction interface of the low-latency distributed scheduled time slot allocation node device for helmet Bluetooth multi-hop intercom. It receives external audio data packets and control frames through the Bluetooth wireless link and sends control frames and audio data outwards. It is responsible for the encapsulation, parsing and air interface transmission and reception of control signals. The input of the packet-level deduplication module is connected to the audio data output of the control frame generation and parsing module, and the output of the packet-level deduplication module is connected to the first input of the next-hop continuation application module. It is used to perform audio source identification and SN deduplication processing on the received previous-hop audio data packets (querying the local processed packet table to complete duplicate filtering and discarding), and output the unprocessed valid audio data to the next-hop continuation application module. The input terminal of the audio buffer and VAD determination module is used to receive locally acquired audio data. The output terminal of the audio buffer and VAD determination module is connected to the second input terminal of the next hop continuation application module. It is used to buffer the locally acquired audio data and determine the valid speech and trigger the local voice service time slot application through voice activity detection (specifically, voice activity detection algorithms, such as threshold decision algorithms based on short-time energy and zero-crossing rate, or spectrum feature detection algorithms based on spectral entropy / MFCC, or standardized commercial solutions such as G.729 Annex B and WebRTCVAD. This invention does not improve the VAD algorithm itself). The input terminal of the neighbor management module is connected to the control information output terminal of the control frame generation and parsing module, and the output terminal of the neighbor management module is connected to the next-hop continuation application module and the control frame generation and parsing module respectively. It is used to maintain a stable neighbor table through a two-way two-level confirmation mechanism, provide neighbor data to the next-hop continuation application module, and broadcast the local neighbor table through the control frame generation and parsing module. The output of the next-hop continuation application module is connected to the input of the task arbitration module. It is used to determine the forwarding eligibility based on the current hop count of the audio data and the new coverage neighbor set, and submit the eligible time slot application to the task arbitration module. Specifically, the next-hop continuation application module receives relay audio data from the packet-level deduplication module and local voice trigger signal from the audio buffer and VAD determination module. It first performs hop count threshold judgment, and then calculates the new coverage set in combination with the neighbor data provided by the neighbor management module to complete the forwarding eligibility judgment and submit the eligible time slot application to the task arbitration module. The task arbitration module is bidirectionally connected to the time slot occupancy table maintenance module and the control frame generation and parsing module, respectively. It is used to combine the time slot occupancy status of the time slot occupancy table maintenance module, perform unified arbitration on various time slot applications according to preset priority rules (link locking priority, relay continuation priority, local new tasks in the back row), and send and receive time slot reservation requests and allocation results through the control frame generation and parsing module. The time slot occupancy table maintenance module is bidirectionally connected to the control frame generation and parsing module. It uses a one-dimensional array structure to store the local time slot occupancy status and is used to synchronize the time slot occupancy information of neighboring nodes through the control frame generation and parsing module, and update and maintain the local time slot occupancy table.

[0064] This invention also discloses an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the aforementioned low-latency distributed scheduled time slot allocation method for helmet-mounted Bluetooth multi-hop intercom. The electronic device can be a helmet Bluetooth headset, a smart helmet intercom terminal, a vehicle-mounted Bluetooth intercom device, or other terminal device with Bluetooth communication and audio processing capabilities. The memory may include high-speed random access memory (RAM) or non-volatile memory, such as flash memory or solid-state drives (SSDs). The processor may be an embedded microprocessor, a Bluetooth SoC chip, or similar device, used to execute program instructions to implement the aforementioned time slot allocation logic.

[0065] The present invention also discloses a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the aforementioned low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom. The storage medium can be any available medium that is readable by a computer, including but not limited to USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), flash memory chips, etc. The program instructions stored therein can be called and executed by the processor of the terminal device to implement the time slot allocation scheme of the present invention.

[0066] This embodiment does not impose any limitation on the shape, material, structure, etc. of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A low-latency distributed scheduled time slot allocation method for multi-hop Bluetooth intercom in helmets, applied to any intercom node in a helmet Bluetooth Mesh self-organizing network, characterized in that, Includes the following steps: S1. Service Triggering and Packet-Level Deduplication: When the node triggers a local voice service through voice activity detection, or receives an audio data packet to be forwarded sent by the previous hop neighbor node, it extracts the audio source identifier and packet sequence number SN corresponding to the audio data and queries the local processed packet table. If the combination of the audio source identifier and SN already exists in the processed packet table, the current audio data is discarded directly. If it does not exist, the combination is registered in the processed packet table, and the control field in the audio data is parsed. The control field includes at least the current hop number and the identifier of the previous hop node. S2. Dual determination of forwarding qualification: The node first makes a basic threshold judgment based on the current hop count obtained by parsing and the preset maximum hop count. If the current hop count is not less than the preset maximum hop count, the next hop slot application process is terminated. If the current hop count is less than the preset maximum hop count, a new set of covering neighbors is calculated based on its own neighbor table and the neighbor table of the previous hop node. If the new set of covering neighbors is empty, it is determined that there is no new propagation value and the time slot application is terminated; otherwise, it is determined that the node is qualified to apply for the next hop continuation. S3. Distributed time slot reservation and unified arbitration: During the time slot reservation phase of a single system frame, the nodes that are eligible to apply act as requesting nodes and broadcast time slot reservation requests to all their neighboring nodes through control frames, while also broadcasting their own neighbor table and time slot occupancy table. After receiving a time slot reservation request, each neighboring node, based on its own time slot occupancy status, conducts unified arbitration on the various time slot request tasks it carries according to preset priority rules, and feeds back the time slot allocation result to the requesting node. S4. Effective Phase Time Slot Merging Confirmation: During the effective phase of a single system frame, the requesting node takes the intersection of the time slot allocation results fed back by all neighboring nodes to obtain a shared available time slot group. If there is at least one shared available time slot group, then one of them will be selected as the effective time slot for this allocation; If no shared available time slot group exists, the request for a time slot will be re-initiated in the next system frame; S5. Data transmission and multi-hop link continuation: During the data time slot phase of a single system frame, the requesting node sends local voice data or forwards audio data packets to be forwarded according to the effective time slot. The next-hop neighbor node that receives the forwarded data repeats steps S1 to S5 to establish a multi-hop voice transmission link hop by hop.

2. The low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom according to claim 1, characterized in that: The single system frame is divided into the time slot reservation stage, the activation stage, and the data time slot stage in sequence according to the timing. The time slot reservation phase is a dedicated interaction period for control signaling, used to transmit time slot reservation requests, allocation responses, neighbor table and time slot occupancy table information; The effective phase is the result aggregation period, which is used to merge the local time slot allocation results of multiple nodes and generate a consistent effective time slot configuration; The data time slot is a dedicated transmission period for services, used for the transmission and relay forwarding of voice data.

3. The low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom according to claim 1, characterized in that: Step S2, which involves calculating the new set of covering neighbors based on its own neighbor table and the neighbor table of the previous hop node, specifically includes: The node obtains its own stable neighbor set, as well as the neighbor set broadcast by the previous hop node through the control frame; The newly added overlay neighbor set is calculated using set operations. The operation rule is: newly added overlay neighbor set = its own stable neighbor set - the neighbor set broadcast by the previous hop node - the identifier of the previous hop node; The newly added coverage neighbor set represents the new coverage neighbor nodes that the node can add after forwarding audio data, nodes that cannot be directly reached by the previous hop node.

4. The low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom according to claim 1, characterized in that: The preset priority rules mentioned in step S3, in descending order of priority, are as follows: First priority: Voice resume task for locked links, used to ensure that established voice transmission links are not interrupted by new services; Second priority: Relay continuation request task, used to ensure that the voice stream being transmitted can be continued through multi-hop forwarding; Third priority: Locally initiated voice service tasks will be allocated after the time slot requirements of the first two types of tasks are met; Applications within the same priority are allocated sequentially based on current transmission hop count, waiting time, or node identifier.

5. The low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom according to claim 1, characterized in that: The local time slot occupancy tables of the nodes all adopt a one-dimensional array structure that matches the maximum number of nodes in the network, storing the occupancy status of each data time slot group; The locking and releasing of time slot resources is driven by the time slot occupancy table periodically broadcast by the node occupying the time slot: when the node occupying the time slot continuously carries the corresponding occupancy entry in its broadcast time slot occupancy table, the time slot group remains locked. When a node occupying a time slot detects that the service has ended, a neighbor link has failed, or there is no valid voice data for a consecutive preset period, it removes the corresponding occupied item and broadcasts the time slot release information. The other neighboring nodes then update their local time slot occupancy tables accordingly.

6. The low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom according to claim 1, characterized in that: The stable neighbor set of the node is established and maintained through a two-way, two-level confirmation mechanism: First-level reception confirmation: The node confirms that its ability to receive signals from the peer node meets preset requirements based on the state of continuously receiving control frames from the peer node; Second-level confirmation: The node confirms that the receiving capability of the peer node to receive its own signal meets the preset requirements based on the receiving status fed back in the control frame of the peer node. The node will only add the peer node to its stable neighbor set once both bidirectional send and receive capabilities have been confirmed. If the confirmation conditions are not met for a consecutive preset period, the corresponding neighbor relationship will be deleted.

7. The low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom according to claim 1, characterized in that: The step S1, which involves triggering local voice services through voice activity detection, specifically involves the node caching locally collected audio data, determining whether the audio is valid voice through voice activity detection, and triggering the local voice service time slot application process when continuous valid voice activity is detected.

8. A low-latency distributed scheduled time slot allocation node device for helmet-mounted Bluetooth multi-hop intercom, used to execute the low-latency distributed scheduled time slot allocation method for helmet-mounted Bluetooth multi-hop intercom as described in any one of claims 1-7, characterized in that: It includes a packet-level deduplication module, an audio buffer and VAD determination module, a neighbor management module, a next-hop continuation request module, a control frame generation and parsing module, a time slot occupancy table maintenance module, and a task arbitration module; The control frame generation and parsing module is used to receive external audio data packets and control frames, and to send control frames and audio data outwards. The input of the packet-level deduplication module is connected to the audio data output of the control frame generation and parsing module, and the output of the packet-level deduplication module is connected to the first input of the next-hop continuation application module. It is used to perform audio source identification and SN deduplication processing on the received previous-hop audio data packet, and output the unprocessed valid audio data to the next-hop continuation application module. The input terminal of the audio buffer and VAD determination module is used to receive locally collected audio data. The output terminal of the audio buffer and VAD determination module is connected to the second input terminal of the next hop continuation application module, which is used to buffer locally collected audio data, determine valid voice through voice activity detection, and trigger local voice service time slot application. The input terminal of the neighbor management module is connected to the control information output terminal of the control frame generation and parsing module, and the output terminal of the neighbor management module is connected to the next-hop continuation application module and the control frame generation and parsing module respectively. It is used to maintain a stable neighbor table through a two-way two-level confirmation mechanism, provide neighbor data to the next-hop continuation application module, and broadcast the local neighbor table through the control frame generation and parsing module. The output of the next-hop continuation application module is connected to the input of the task arbitration module. It is used to determine the forwarding eligibility based on the current hop count of the audio data and the newly added coverage neighbor set, and submit the eligible time slot application to the task arbitration module. The task arbitration module is bidirectionally connected to the time slot occupancy table maintenance module and the control frame generation and parsing module, respectively. It is used to combine the time slot occupancy status of the time slot occupancy table maintenance module, perform unified arbitration on various time slot applications according to preset priority rules, and send and receive time slot reservation requests and allocation results through the control frame generation and parsing module. The time slot occupancy table maintenance module is bidirectionally connected to the control frame generation and parsing module, and is used to synchronize the time slot occupancy information of neighboring nodes through the control frame generation and parsing module, and update and maintain the local time slot occupancy table.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the low-latency distributed scheduled time slot allocation method for helmet Bluetooth multi-hop intercom as described in any one of claims 1 to 7.

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