CN118741699A - A wireless control transmission method based on gateway time slot scheduling - Google Patents
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- H—ELECTRICITY
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- H04W52/02—Power saving arrangements
- H04W52/0209—Power saving arrangements in terminal devices
- H04W52/0225—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal
- H04W52/0248—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal dependent on the time of the day, e.g. according to expected transmission activity
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- H—ELECTRICITY
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- H04W72/0473—Wireless resource allocation based on the type of the allocated resource the resource being transmission power
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Abstract
Description
技术领域Technical Field
本发明涉及无线通信技术领域,特别是涉及一种基于网关时隙调度的无线控制传输方法。The present invention relates to the technical field of wireless communications, and in particular to a wireless control transmission method based on gateway time slot scheduling.
背景技术Background Art
在无线通讯设备的设计中,低功耗一直是重要的考量因素,尤其是在那些依赖电池供电的便携式或远程部署设备中。这些设备的续航能力直接影响到用户体验和设备的实用性。无线射频作为实现设备间通信的关键部件,其功耗往往占据了设备总功耗的显著比例。因此,降低无线射频模块的功耗对于延长待机时长具有至关重要的作用。Low power consumption has always been an important consideration in the design of wireless communication devices, especially in portable or remotely deployed devices that rely on battery power. The battery life of these devices directly affects the user experience and the practicality of the device. As a key component for achieving communication between devices, the power consumption of wireless radio frequency often accounts for a significant proportion of the total power consumption of the device. Therefore, reducing the power consumption of wireless radio frequency modules is crucial to extending the standby time.
现有的低功耗无线通讯技术,已经采取了一系列措施来减少能量消耗,如睡眠-唤醒机制,在一定程度上降低了无线通讯的能耗。在睡眠模式下,无线通讯设备会关闭大部分功能以节省能量,仅在预定的时间间隔内唤醒以检查是否有需要接收的数据。当有数据传输需求时,设备会唤醒并开启射频收发功能,以实现数据的双向传输。Existing low-power wireless communication technologies have taken a series of measures to reduce energy consumption, such as the sleep-wake mechanism, which has reduced the energy consumption of wireless communication to a certain extent. In sleep mode, wireless communication devices will turn off most functions to save energy, and only wake up at predetermined time intervals to check whether there is data to be received. When there is a need for data transmission, the device will wake up and turn on the RF transceiver function to achieve two-way data transmission.
然而,尽管采用了睡眠-唤醒机制,但设备在唤醒后通常会保持射频收发功能的开启状态,以便随时准备接收可能到来的信号。这种常开的射频收发功能在没有实际信号接收的情况下会导致无效的功耗,从而缩短了设备的待机时间。However, despite the sleep-wake mechanism, the device usually keeps the RF transceiver function turned on after waking up so as to be ready to receive possible incoming signals at any time. This always-on RF transceiver function will cause invalid power consumption when there is no actual signal reception, thereby shortening the standby time of the device.
发明内容Summary of the invention
有鉴于此,本发明提供了一种基于网关时隙调度的双向传输方法,以解决移动无线设备的射频接收监听空闲时的无效功耗问题,增加产品待机和实际使用时长。In view of this, the present invention provides a bidirectional transmission method based on gateway time slot scheduling to solve the problem of ineffective power consumption when the radio frequency receiving monitoring of the mobile wireless device is idle, thereby increasing the product standby time and actual use time.
为此,本发明采用以下技术方案:To this end, the present invention adopts the following technical solutions:
一方面,本发明公开了一种基于网关时隙调度的无线控制传输方法,应用于低功耗时隙分组上传的工业无线系统中的网关;所述网关根据工业无线系统中无线节点终端上电入网的顺序为各个无线节点终端分配对应时隙号,配置每k个时隙后加入一个预留时隙处理下行事件数据;所述方法包括:On the one hand, the present invention discloses a wireless control transmission method based on gateway time slot scheduling, which is applied to a gateway in an industrial wireless system for uploading low-power time slot packets; the gateway allocates corresponding time slot numbers to each wireless node terminal according to the order in which the wireless node terminals are powered on and connected to the network in the industrial wireless system, and adds a reserved time slot after configuring every k time slots to process downlink event data; the method comprises:
接收上位机或管理平台的下行数据/配置信息;Receive downlink data/configuration information from the host computer or management platform;
侦听上行信息;Listen to uplink information;
当在终端对应的时隙获取到所述终端发送的上行数据时,下发答复信息至指定的无线节点终端;所述答复信息中包括开启接收功能位;所述开启接收功能位用于控制终端接收功能的开启和关闭;When uplink data sent by the terminal is obtained in the time slot corresponding to the terminal, a reply message is sent to the designated wireless node terminal; the reply message includes a receive function enable bit; the receive function enable bit is used to control the enable and disable of the terminal receive function;
等待终端接收功能开启;Wait for the terminal receiving function to be turned on;
在随后的预留时隙下发下行数据/配置信息到指定的无线节点终端;Send downlink data/configuration information to the designated wireless node terminal in the subsequent reserved time slot;
判断下行确认是否送达,如果是,则流程结束;如果否,则返回侦听上行信息的步骤;所述下行确认为无线节点终端在接收下行数据/配置数据完毕之后发送至网关的回复应答。Determine whether the downlink confirmation is delivered. If yes, the process ends; if not, return to the step of listening to the uplink information; the downlink confirmation is the reply response sent by the wireless node terminal to the gateway after receiving the downlink data/configuration data.
进一步地,下发答复和控制接收功能指令的帧格式包括:帧头、终端目的地址、确认应答位、无线接收开启标志位、校验位和帧尾。Furthermore, the frame format for sending the reply and controlling the receiving function instruction includes: a frame header, a terminal destination address, a confirmation response bit, a wireless receiving start flag bit, a check bit and a frame tail.
进一步地,根据工业无线系统应用环境的实际上下行数据比例,配置每k个时隙后加入一个预留时隙处理下行事件数据。Furthermore, according to the actual downlink data ratio in the application environment of the industrial wireless system, a reserved time slot is added after each k time slots are configured to process downlink event data.
进一步地,若连续k个时隙终端中有多个下行需求,则在后续空闲的预留时隙进行依序下发。Furthermore, if there are multiple downlink demands in the terminal in k consecutive time slots, they are sent in sequence in the subsequent idle reserved time slots.
进一步地,当接收到上位机或管理平台的下行数据或配置信息后,还包括:确定需要下行的终端地址。Furthermore, after receiving the downlink data or configuration information from the upper computer or the management platform, the method further includes: determining the address of the terminal that needs to be downlinked.
又一方面,本发明还公开了一种基于网关时隙调度的无线控制传输方法,其特征在于,应用于低功耗时隙分组上传的工业无线系统中的无线节点终端;所述工业无线系统中的网关根据工业无线系统中无线节点终端上电入网的顺序为各个无线节点终端分配对应时隙号,配置每k个时隙后加入一个预留时隙处理下行事件数据;所述方法包括:On the other hand, the present invention also discloses a wireless control transmission method based on gateway time slot scheduling, which is characterized in that it is applied to a wireless node terminal in an industrial wireless system for uploading low-power time slot packets; the gateway in the industrial wireless system allocates corresponding time slot numbers to each wireless node terminal according to the order in which the wireless node terminals in the industrial wireless system are powered on and connected to the network, and adds a reserved time slot after configuring every k time slots to process downlink event data; the method comprises:
无线节点终端上电启动后关闭无线发送功能进入休眠状态;After the wireless node terminal is powered on, the wireless transmission function is turned off and it enters the dormant state;
当需要发送上行数据时唤醒无线节点终端,无线节点终端开启无线发送功能,发送数据信息上行;When uplink data needs to be sent, the wireless node terminal is awakened, the wireless node terminal turns on the wireless transmission function, and sends data information uplink;
数据发送完毕后,预设时间内开启无线数据接收功能,在所述预设时间内等待网关下发的答复信息;所述答复信息中包括开启接收功能位;所述开启接收功能位用于控制终端接收功能的开启和关闭;After the data is sent, the wireless data receiving function is turned on within a preset time, and a reply message sent by the gateway is waited for within the preset time; the reply message includes a receiving function turn-on bit; the receiving function turn-on bit is used to control the turn-on and turn-off of the terminal receiving function;
若收到网关的答复信息,则根据所述答复信息中的开启接收功能位判断是否需要开启无线接收功能,若需要开启则延长打开无线接收的时间,准备监听接收网关下行数据信息;所述下行数据信息由网关在随后的预留时隙下发;完成下行数据接收后,回复应答至网关并关闭自身无线接收功能;若不需要开启则关闭自身无线接收功能。If a reply message is received from the gateway, it is determined whether the wireless receiving function needs to be turned on based on the start-up receiving function bit in the reply message. If it needs to be turned on, the time for turning on the wireless reception is extended, and preparation is made to monitor and receive the gateway downlink data information; the downlink data information is sent by the gateway in the subsequent reserved time slot; after completing the downlink data reception, a reply is sent to the gateway and its own wireless receiving function is turned off; if it does not need to be turned on, its own wireless receiving function is turned off.
进一步地,无线节点终端上电启动后,还包括:获取所述无线节点终端的终端号。Furthermore, after the wireless node terminal is powered on and started, it also includes: obtaining the terminal number of the wireless node terminal.
本发明的优点和积极效果:Advantages and positive effects of the present invention:
本发明中,在终端电池移动设备对使用时间要求较高的情况下,通过采用低功耗模式,降低设备使用功耗。通过网关无线接入点的答复信息控制终端无线收发功能的开启与关闭,进一步降低无线移动设备使用功耗,延长有效使用时间;同时采用预留时隙事件流调度方法满足设备的双向无线传输功能需求,满足产品的通信功能,提升设备下行通讯可靠性,避免数据丢失等问题,提高传输效率。In the present invention, when the terminal battery mobile device has a high requirement for the use time, the low power consumption mode is adopted to reduce the power consumption of the device. The reply information of the gateway wireless access point is used to control the opening and closing of the terminal wireless transceiver function, further reducing the power consumption of the wireless mobile device and extending the effective use time; at the same time, the reserved time slot event stream scheduling method is adopted to meet the two-way wireless transmission function requirements of the device, meet the communication function of the product, improve the reliability of the device downlink communication, avoid data loss and other problems, and improve the transmission efficiency.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图做以简单地介绍,显而易见地,下面描述中的附图是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动性的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
图1为本发明实施例中系统结构原理示意图;FIG1 is a schematic diagram of the system structure principle in an embodiment of the present invention;
图2为本发明实施例中单终端无线接收功能控制流程图;FIG2 is a flow chart of a single terminal wireless receiving function control in an embodiment of the present invention;
图3为本发明实施例中网关时隙调度原理图。FIG3 is a schematic diagram of a gateway time slot scheduling principle in an embodiment of the present invention.
具体实施方式DETAILED DESCRIPTION
为了使本技术领域的人员更好地理解本发明方案,下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分的实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都应当属于本发明保护的范围。In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.
需要说明的是,本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象,而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换,以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外,术语“包括”和“具有”以及他们的任何变形,意图在于覆盖不排他的包含,例如,包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元,而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
本发明提供了一种基于网关时隙调度的无线控制传输方法,在工业系统中移动终端对低功耗要求较高的情况下,网关通过控制无线接收的实时监听功能减少空闲功耗,同时采用时隙调度方法确保下行数据传输数据的可靠性。The present invention provides a wireless control transmission method based on gateway time slot scheduling. In the case where the mobile terminal in the industrial system has a high requirement for low power consumption, the gateway reduces idle power consumption by controlling the real-time monitoring function of wireless reception, and adopts a time slot scheduling method to ensure the reliability of downlink data transmission.
本发明基于低功耗时隙分组上传的工业无线系统的终端节点产品,工业无线系统如图1所示,该系统中包括若干个无线节点终端、无线接入点、网关、上位机和管理系统,其中,各个无线节点终端通过无线接入点与网关无线连接;上位机、管理系统分别与网关双向数据通讯连接。该系统中,无线节点终端上电启动,向网关自动发送入网请求,直到收到网关答复,同时获取当前网关的同步时间T,以及终端的入网终端序号n,即当前网关连接的终端总数,完成入网。无线节点终端包括:无线射频模块、数据采集模块和控制模块;其中,无线射频模块用于无线数据收发,数据采集模块用于接收数据;控制模块用于控制无线射频模块的开启和关闭。无线节点终端在入网成功后,休眠无线射频模块,即关闭无线数据收发功能,当接收到数据采集模块数据后,根据对齐时间T,等待终端序号n对应的时隙号m唤醒无线模块进行数据发送。本发明在终端分组时隙基础上加入预留时隙用于下行数据传输,如图2所示,具体控制下行数据传输方式包括以下步骤:The present invention is based on the terminal node product of the industrial wireless system for uploading in low-power time slot packets. The industrial wireless system is shown in Figure 1. The system includes several wireless node terminals, wireless access points, gateways, host computers and management systems, wherein each wireless node terminal is wirelessly connected to the gateway through a wireless access point; the host computer and the management system are respectively connected to the gateway for two-way data communication. In the system, the wireless node terminal is powered on and started, and automatically sends a network access request to the gateway until a reply from the gateway is received. At the same time, the synchronization time T of the current gateway and the network access terminal sequence number n of the terminal, that is, the total number of terminals connected to the current gateway, are obtained to complete the network access. The wireless node terminal includes: a wireless radio frequency module, a data acquisition module and a control module; wherein the wireless radio frequency module is used for wireless data transmission and reception, and the data acquisition module is used for receiving data; the control module is used to control the opening and closing of the wireless radio frequency module. After the wireless node terminal successfully enters the network, the wireless radio frequency module is dormant, that is, the wireless data transmission and reception function is turned off. After receiving data from the data acquisition module, according to the alignment time T, the time slot number m corresponding to the terminal sequence number n is waited for to wake up the wireless module for data transmission. The present invention adds a reserved time slot for downlink data transmission based on the terminal grouping time slot. As shown in FIG2 , the specific control mode of downlink data transmission includes the following steps:
网关通过无线信号控制具体的单个无线节点终端控制无线接收启停;The gateway controls the specific individual wireless node terminal to start and stop wireless reception through wireless signals;
网关侧:Gateway side:
S11、接收到下行数据/配置信息;S11, receiving downlink data/configuration information;
当网关接收到上位机或管理平台的下行数据或配置信息后,确定需要下行的终端地址;When the gateway receives the downlink data or configuration information from the host computer or management platform, it determines the terminal address that needs to be downlinked;
S12、侦听上行信息,答复信息增加开启接收功能位;S12, listen to the uplink information, and add the enable receiving function bit to the reply information;
S13、在终端对应的时隙获取终端发送的上行数据;S13, obtaining uplink data sent by the terminal in the time slot corresponding to the terminal;
S14、下发答复和控制接收功能指令;答复信息中包括开启接收功能位;开启接收功能位用于控制终端接收功能的开启和关闭;此时无线节点终端侧将获取到答复和指令(S24);S14, sending a reply and a control receiving function instruction; the reply information includes a receiving function enable bit; the receiving function enable bit is used to control the opening and closing of the terminal receiving function; at this time, the wireless node terminal side will obtain the reply and instruction (S24);
当接收到对应终端的上行数据DATA后,发送应答数据ACK,具体帧格式如表1所示,包括帧头、终端目的地址、确认应答位、无线接收开启标志位、校验位和帧尾。After receiving the uplink data DATA from the corresponding terminal, the response data ACK is sent. The specific frame format is shown in Table 1, including the frame header, the terminal destination address, the confirmation bit, the wireless reception start flag bit, the check bit and the frame tail.
表1Table 1
S15、等待终端接收功能开启;S15, waiting for the terminal receiving function to be turned on;
S16、在随后的预留时隙下发下行数据/配置信息到指定终端;此时,无线节点终端侧将接收到下行数据,直至下行数据接收完毕(S25);S16, sending downlink data/configuration information to the designated terminal in the subsequent reserved time slot; at this time, the wireless node terminal side will receive the downlink data until the downlink data is received (S25);
S17、判断下行确认是否送达,如果是,则流程结束;如果否,则返回S12继续侦听上行信息;其中,下行确认也就是无线节点终端侧在接收下行完毕之后发送至网关的回复应答。S17, determine whether the downlink confirmation is delivered, if yes, the process ends; if not, return to S12 to continue listening to the uplink information; wherein, the downlink confirmation is the reply response sent by the wireless node terminal side to the gateway after receiving the downlink.
无线节点终端侧:Wireless node terminal side:
S21、设备上电启动,获取终端号后开始休眠;S21, the device is powered on and starts to sleep after obtaining the terminal number;
S22、设备外部唤醒后,终端发送数据信息上行,此时网关侧将获取到该终端的上行数据(S13);S22, after the device is externally awakened, the terminal sends data information uplink, and the gateway side will obtain the uplink data of the terminal (S13);
S23、短暂开启接收功能,准备接收接入节点答复;S23, briefly enable the receiving function to prepare to receive a reply from the access node;
S24、终端获取答复和指令;S24, the terminal obtains a reply and an instruction;
低功耗终端通常处于休眠状态,当需要发送上行数据时开启无线发送功能,数据发送完毕后,短时间内(一般是毫秒级,20-30ms)开启无线数据接收功能,开启时间为Trx的接收窗口,在此段时间窗口内等待网关答复ACK。Low-power terminals are usually in sleep mode. When uplink data needs to be sent, the wireless transmission function is turned on. After the data is sent, the wireless data reception function is turned on within a short time (usually milliseconds, 20-30ms). The start time is the Trx receiving window, and the gateway reply ACK is waited for within this time window.
S25、判断是否开启接收,如果是,则接收下行数据,并判断接收下行是否完毕,如果完毕,则回复应答,并关闭接收功能;如果否,则保持关闭接收功能。S25. Determine whether to enable reception. If yes, receive downlink data and determine whether the downlink reception is completed. If yes, reply with a response and disable the reception function. If no, keep the reception function disabled.
若收到网关答复,则根据对应标志位判断是否需要开启无线接收功能,若需要开启则延长打开无线接收的时间△trx(一般是秒级,30-60s,可根据实际应用场景自由配置),准备监听接收网关下行数据信息MES。完成下行数据接收后,终端发送应答信息ACK并关闭自身无线接收功能,网关确认下行成功,完成本次下行过程。If a reply is received from the gateway, the corresponding flag is used to determine whether the wireless receiving function needs to be turned on. If it needs to be turned on, the wireless receiving time △trx is extended (usually in seconds, 30-60s, which can be freely configured according to the actual application scenario) to prepare to monitor and receive the gateway downlink data information MES. After completing the downlink data reception, the terminal sends a response message ACK and turns off its own wireless receiving function. The gateway confirms that the downlink is successful and completes the downlink process.
其中网关侧的下发数据时隙调度方法如图3所示,假设现有上行采集运行的低功耗终端n个,根据上电入网的分配对应时隙号1~m,同时可根据工业无线系统应用环境的实际上下行数据比例,配置每k个时隙后加入一个预留时隙处理下行事件数据。当网关接收到需要给终端下发数据后,即在对应时隙接收到终端数据后,应答ACK加入开启无线接收功能信息位。在随后的预留时隙下发下行数据给指定终端,若连续k个时隙终端中有多个下行需求,也就是未达到下行数据发送时隙时已经有多个下行数据发送需求,则在后续空闲的预留时隙进行依序下发。The time slot scheduling method for sending data on the gateway side is shown in Figure 3. Assuming that there are n low-power terminals running for uplink collection, the corresponding time slot numbers 1~m are allocated according to the power-on network. At the same time, according to the actual downlink data ratio of the industrial wireless system application environment, a reserved time slot can be added after every k time slots to process downlink event data. When the gateway receives the data that needs to be sent to the terminal, that is, after receiving the terminal data in the corresponding time slot, the response ACK adds the information bit to start the wireless receiving function. Send downlink data to the designated terminal in the subsequent reserved time slot. If there are multiple downlink requirements in the terminal in k consecutive time slots, that is, there are multiple downlink data sending requirements before the downlink data sending time slot is reached, then send them in sequence in the subsequent idle reserved time slots.
为了便于理解,下面以具体示例对上述网关侧的下发数据时隙调度方法进行说明。For ease of understanding, the method for scheduling time slots for sending data on the gateway side is described below with a specific example.
网关侧下发的应答帧格式如表2所示:The format of the response frame sent by the gateway is shown in Table 2:
表2Table 2
如图3所示,假设现有上行采集运行的低功耗终端9个,根据上电入网的时隙号1-9,根据工业无线系统应用环境配置每三个时隙后加入预留时隙用于下行,当网关接收到需要给1、4、6、7号终端下发数据后,即在对应时隙接收到终端上行数据后,在应答ACK中将开启无线接收功能信息位置1。若三个终端中有多个下行数据需求,则在下一空闲的预留时隙进行下发。如在5、7时隙对应接收到4、6终端的上行数据后均答复配置打开无线接收功能,4号终端的下行数据在预留时隙8下行、6号终端下行数据在下一时隙循环的空闲时隙4进行下发。As shown in Figure 3, assuming that there are 9 low-power terminals running for uplink collection, according to the time slot numbers 1-9 for power-on access to the network, and according to the industrial wireless system application environment configuration, a reserved time slot is added for downlink after every three time slots. When the gateway receives the data that needs to be sent to terminals 1, 4, 6, and 7, that is, after receiving the terminal uplink data in the corresponding time slot, the wireless receiving function information position 1 will be turned on in the response ACK. If there are multiple downlink data requirements among the three terminals, they will be sent in the next idle reserved time slot. For example, after receiving the uplink data of terminals 4 and 6 in time slots 5 and 7, both reply to configure the wireless receiving function to be turned on. The downlink data of terminal 4 is sent in reserved time slot 8, and the downlink data of terminal 6 is sent in the idle time slot 4 of the next time slot cycle.
通过网关对预留时隙的分配调度下行数据发送时间,网关应答控制开启和终端自主关闭控制无线接收功能开启时长的方法,极大减少了终端的无线接收监听功耗,同时能够保证数据双向传输的可靠性。The method of allocating reserved time slots by the gateway to schedule the downlink data sending time, the gateway responds to control the opening and the terminal autonomously closes the control of the wireless receiving function opening duration, which greatly reduces the terminal's wireless receiving monitoring power consumption and ensures the reliability of two-way data transmission.
最后应说明的是:以上各实施例仅用以说明本发明的技术方案,而非对其限制;尽管参照前述各实施例对本发明进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分或者全部技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
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