CN111246398A - Low-energy-consumption communication method, device and system and storage medium - Google Patents

Low-energy-consumption communication method, device and system and storage medium Download PDF

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Publication number
CN111246398A
CN111246398A CN202010065659.0A CN202010065659A CN111246398A CN 111246398 A CN111246398 A CN 111246398A CN 202010065659 A CN202010065659 A CN 202010065659A CN 111246398 A CN111246398 A CN 111246398A
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node
accessed
connection request
broadcast message
routing node
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CN111246398B (en
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洪骏祥
刘玉平
陈凌伟
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W48/00Access restriction; Network selection; Access point selection
    • H04W48/16Discovering, processing access restriction or access information
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W76/00Connection management
    • H04W76/10Connection setup

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Multimedia (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The embodiment of the invention discloses a low-energy-consumption communication method, a low-energy-consumption communication device, a low-energy-consumption communication system and a storage medium. The method is applied to the accessed routing node in the wireless ad hoc network, and comprises the following steps: receiving a broadcast message broadcasted by a node to be accessed in a low energy consumption mode; determining the initiation time of the connection request according to the signal strength of the broadcast message; and sending the connection request to the node to be accessed when initiating the time. According to the technical scheme of the embodiment of the invention, the preset intensity threshold value is not required to be set, and the initiation time of the connection request of the routing node can be controlled according to the signal intensity of the received broadcast message, so that the routing node which initiates the connection request firstly and responds to the node to be accessed can be ensured to be the routing node with the strongest signal intensity, and the effect of connecting the node to be accessed to the routing node with the strongest signal intensity is achieved.

Description

Low-energy-consumption communication method, device and system and storage medium
Technical Field
The embodiment of the invention relates to the technical field of wireless data transmission, in particular to a low-energy-consumption communication method, device and system and a storage medium.
Background
In a wireless ad hoc network connected based on Bluetooth Low Energy (BLE), when a new node to be accessed needs to access the wireless ad hoc network, if an accessed routing node in the wireless ad hoc network is taken as a master (master) and a node to be accessed is taken as a slave (slave), an access method of an existing node to be accessed is as follows:
the routing node is in a scanning state, after receiving the broadcast message broadcast by the node to be accessed, the routing node checks whether the node to be accessed can be accessed into the wireless ad hoc network where the routing node is located, if so, a connection request is immediately initiated to the node to be accessed, so that the node to be accessed is connected with the routing node according to the connection request, and the node to be accessed is accessed into the wireless ad hoc network where the routing node is located. At this time, it may be a case that a plurality of routing nodes initiate connection requests to the same node to be accessed in sequence, and the node to be accessed usually responds to the first routing node initiating the connection request and establishes a connection with the first routing node. However, this scheme may cause the node to be accessed to be connected to a routing node with weak signal strength, which is prone to signal disconnection.
Disclosure of Invention
The embodiment of the invention provides a low-energy-consumption communication method, device and system and a storage medium, which are used for realizing the effect of connecting a node to be accessed to a routing node with the strongest signal strength.
In a first aspect, an embodiment of the present invention provides a low energy consumption communication method, which is applied to an accessed routing node in a wireless ad hoc network, and may include:
receiving a broadcast message broadcasted by a node to be accessed in a low energy consumption mode;
determining the initiation time of the connection request according to the signal strength of the broadcast message;
and sending the connection request to the node to be accessed when initiating the time.
Optionally, determining the initiation time of the connection request according to the signal strength of the broadcast message may include:
determining the initiation delay time of the connection request according to the signal strength of the broadcast message;
and determining the initiation time of the connection request according to the receiving time and the initiation delay time of the received broadcast message.
Optionally, determining the initiation delay time of the connection request according to the signal strength of the broadcast message may include:
and determining the initiation delay time of the connection request according to the signal strength of the broadcast message and a preset time coefficient.
Optionally, determining the initiation delay time of the connection request according to the signal strength of the broadcast message and a preset time coefficient, may include:
and calculating the product of the absolute value of the signal strength of the broadcast message and a first preset time coefficient or the product of the square of the signal strength of the broadcast message and a second preset time coefficient, and taking the product result as the initiation delay time.
Optionally, the initiation delay time and the signal strength of the broadcast message are inversely related.
Optionally, the number of connected nodes of the routing node is less than or equal to a preset number threshold, where the preset number threshold is less than or equal to a maximum value of the number of connectable nodes of the routing node.
Optionally, the routing node is in a scanning state.
In a second aspect, an embodiment of the present invention further provides a low energy consumption communication apparatus, configured to an accessed routing node in a wireless ad hoc network, where the low energy consumption communication apparatus includes:
the receiving module is used for receiving the broadcast message broadcasted by the node to be accessed in a low energy consumption mode;
a determining module, configured to determine an initiation time of the connection request according to the signal strength of the broadcast message;
and the sending module is used for sending the connection request to the node to be accessed when initiating time.
In a third aspect, an embodiment of the present invention further provides a low energy consumption communication system, which may include a node to be accessed and a routing node that has been accessed in a wireless ad hoc network:
the routing node is used for receiving a broadcast message broadcasted by the node to be accessed in a low energy consumption mode, determining the initiation time of the connection request according to the signal intensity of the broadcast message, and sending the connection request to the node to be accessed at the initiation time;
the node to be accessed is used for responding to the first routing node initiating the connection request and establishing connection with the first routing node initiating the connection request.
In a fourth aspect, the embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the low energy communication method provided in any embodiment of the present invention.
According to the technical scheme of the embodiment of the invention, after receiving the broadcast message broadcasted by the node to be accessed in a low-energy consumption mode, the accessed routing node in the wireless ad hoc network can determine the initiation time of the connection request according to the signal strength of the broadcast message, and initiates the connection request at the initiation time so as to send the connection request to the node to be accessed. According to the technical scheme, the preset strength threshold value is not required to be set, the initiation time of the connection request of the routing node can be controlled according to the signal strength of the received broadcast message, the routing node which initiates the connection request firstly and responds to the node to be accessed can be ensured to be the routing node with the strongest signal strength, and the effect of connecting the node to be accessed to the routing node with the strongest signal strength is achieved.
Drawings
FIG. 1 is a flow chart of a low power communication method in an embodiment of the present invention;
FIG. 2 is a flow chart of a low power communication method according to a first embodiment of the present invention;
FIG. 3 is a diagram of a preferred embodiment of a low power communication method in accordance with a first embodiment of the present invention;
fig. 4 is a block diagram of a low power consumption communication apparatus according to a second embodiment of the present invention;
fig. 5 is an architecture diagram of a low power communication system according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before the embodiment of the present invention is described, an application scenario of the embodiment of the present invention is exemplarily described: the wireless ad hoc network is a temporary multi-hop autonomous system consisting of a group of movable nodes with wireless receiving and transmitting devices, does not depend on preset infrastructure, has the characteristics of temporary networking, quick development, no control center, strong survivability and the like, and is a hotspot problem in network research. Moreover, the wireless ad hoc network may be a wireless ad hoc network based on Bluetooth Low Energy (BLE) connection, may be a wireless ad hoc network based on WiFi connection, and may also be a wireless ad hoc network based on other low energy communication methods, which is not specifically limited herein.
As shown in fig. 1, after receiving a broadcast message broadcasted by a node to be accessed in a low energy consumption manner, a connected routing node in a wireless ad hoc network first checks whether the signal strength of the broadcast message is greater than a preset strength threshold, if so, immediately initiates a connection request, and otherwise, does not initiate a connection request.
However, this solution still has some drawbacks, for example, when the signal strength of the broadcast message received by multiple routing nodes is greater than a preset strength threshold, the node to be accessed still responds to the first routing node initiating the connection request and establishes a connection with the first routing node, which still cannot ensure that the node to be accessed is connected to the routing node with the strongest signal; for another example, in some areas, it may happen that a routing node can receive a broadcast message that can maintain a connection, but if the signal strength of the broadcast message is lower than a preset strength threshold, the node to be accessed cannot access to the wireless ad hoc network; for another example, whether the preset strength threshold is suitable or not is difficult to define, and the preset strength threshold is related to Radio Frequency (RF) sensitivity, antenna performance and the like of a chip of the node to be accessed, and it is difficult for different nodes to be accessed to maintain consistency. Therefore, how to ensure that the node to be accessed is connected to the routing node with the strongest signal strength still needs to be solved urgently.
Example one
Fig. 2 is a flowchart of a low power communication method according to an embodiment of the present invention. The embodiment is applicable to the case of connecting the node to be accessed to the routing node with the strongest signal strength. The method can be executed by the low-energy-consumption communication device provided by the embodiment of the invention, the device can be realized by software and/or hardware, and the device can be integrated on a routing node accessed in the wireless ad hoc network.
Referring to fig. 2, the method of the embodiment of the present invention specifically includes the following steps:
s110, receiving a broadcast message broadcasted by the node to be accessed in a low energy consumption mode.
The node to be accessed can be any electronic device to be accessed into the wireless ad hoc network based on Low Energy consumption connection, and a preferred embodiment of the Low Energy consumption can be Bluetooth Low Energy (BLE); the routing node may be any electronic device that has accessed to the wireless ad hoc network based on BLE connection, and may be in a scanning state so as to receive a broadcast message for accessing the wireless ad hoc network, which is to be broadcasted by the access node in a BLE manner.
Alternatively, the number of connected nodes of the routing node that can receive the broadcast message may be less than or equal to a preset number threshold, which may be less than or equal to a maximum value of the number of connectable nodes of the routing node, and such routing node side may continue to join the new node to be accessed. Accordingly, those routing nodes having a number of connected nodes greater than the predetermined number threshold may not be in the scanning state, and thus they may not receive the broadcast message for accessing the wireless ad hoc network. At this time, when the routing node can receive the broadcast message broadcast by the node to be accessed, it is indicated that the routing node and the node to be accessed can normally communicate, so that it can be directly determined that the node to be accessed can be connected to the routing node, and other judgment processes are not required to be added, so that the network access operation of the node to be accessed is more convenient.
And S120, determining the initiation time of the connection request according to the signal strength of the broadcast message.
If a plurality of routing nodes can receive the broadcast message broadcast by the same node to be accessed, considering that the message contents of the broadcast messages received by the routing nodes are basically the same, but the signal strengths of the broadcast messages are likely to have differences, the initiation time of the connection request can be determined according to the signal strength of the broadcast message received by the routing nodes, so that the differences of the signal strengths of the broadcast messages cause the differences of the initiation times of the connection request, and in the case that the node to be accessed can respond to the first routing node initiating the connection request, the node to be accessed can be connected to the routing node with the strongest signal strength.
For example, the specific implementation process of the above steps may be that, for a plurality of routing nodes that receive a broadcast message broadcast by the same node to be accessed, the signal strength of the broadcast message received by the routing nodes is detected, then the routing nodes are sorted according to the detection result, and the initiation time of the connection request of each routing node is determined according to the sorting result, where the sorting result and the signal strength may be in positive correlation or negative correlation, and the sorting result and the initiation time may also be in positive correlation or negative correlation. For example, if the routing node that receives the broadcast message with the strongest signal strength is ranked at the top, and the initiation time of the connection request ranked at the top is the earliest, the routing node that initiates the connection request first is the routing node that receives the broadcast message with the strongest signal strength, and the node to be accessed responds to the routing node that initiates the connection request first and establishes a connection with the routing node, so that the node to be accessed can be connected to the routing node with the strongest signal strength.
As another example, the specific implementation process of the foregoing steps may also be to determine the initiation delay time of the connection request according to the signal strength of the broadcast message received by the routing node, and determine the initiation time of the connection request according to the reception time and the initiation delay time of the received broadcast message. That is, after receiving the broadcast message, the routing node does not immediately initiate a connection request, but first calculates an initiation delay time according to the signal strength of the broadcast message, starts timing from the receiving time of the received broadcast message, and initiates a connection request after the initiation delay time is reached. That is, each routing node may delay a corresponding time according to the signal strength of the received broadcast message and then issue a connection request. For example, the signal strength of the broadcast message and the initiation delay time may be in a positive correlation or a negative correlation, and if the signal strength of the broadcast message and the initiation delay time are in a negative correlation, the routing node that initiates the connection request first is the routing node that receives the broadcast message with the strongest signal strength, and the node to be accessed may respond to the routing node that initiates the connection request first and establish a connection with the routing node, so that the node to be accessed may be connected to the routing node with the strongest signal strength.
S130, when the time is initiated, the connection request is sent to the node to be accessed.
When the initiation time is reached, the routing node may initiate a connection request so as to send the connection request to the node to be accessed, where the initiation time may be just the receiving time of the received broadcast message or later than the receiving time of the received broadcast message. Furthermore, if the connection request initiated by the routing node is the first connection request, the connection between the routing node and the node to be accessed can be realized; of course, if the connection request initiated by the routing node is not the first connection request, the connection between the routing node and the node to be accessed cannot be realized.
According to the technical scheme of the embodiment of the invention, after receiving the broadcast message broadcasted by the node to be accessed in a low-energy consumption mode, the accessed routing node in the wireless ad hoc network can determine the initiation time of the connection request according to the signal strength of the broadcast message, and initiates the connection request at the initiation time so as to send the connection request to the node to be accessed. According to the technical scheme, the preset strength threshold value is not required to be set, the initiation time of the connection request of the routing node can be controlled according to the signal strength of the received broadcast message, the routing node which initiates the connection request firstly and responds to the node to be accessed can be ensured to be the routing node with the strongest signal strength, and the effect of connecting the node to be accessed to the routing node with the strongest signal strength is achieved.
On this basis, optionally, if the initiation time is determined according to the reception time of the Received broadcast message and the initiation delay time, the initiation delay time may be determined according to a Received Signal Strength Indication (RSSI) of the broadcast message and a preset time coefficient. Illustratively, it may be a result of a product of an absolute value of the signal strength of the broadcast message and a first preset time coefficient, a result of a product of a square of the signal strength of the broadcast message and a second preset time coefficient, and so on. Of course, the first preset time and the second preset time may be the same or different, and the determination scheme of the initiation delay time is also only an exemplary illustration and is not particularly limited.
In order to better understand the specific implementation process of the above steps, the low energy consumption communication method, especially the bluetooth low energy consumption communication method, of the present embodiment is exemplarily described below with reference to specific examples. For example, as shown in fig. 3, assuming that the routing nodes A, B and C in the wireless ad hoc network are routing nodes that can join a new node to be accessed and are in a scanning state, after the node to be accessed X broadcasts a broadcast message in a bluetooth low energy manner, both A, B and C can receive the broadcast message and can detect the signal strength of the received broadcast message. Accordingly, A, B and C delay the connection request for a corresponding time according to the magnitude of the signal strength of the received broadcast message, and the routing node having a higher signal strength has a shorter origination delay time and the routing node having a lower signal strength has a longer origination delay time. Therefore, the routing node with the strongest signal initiates the connection request firstly, and the node to be accessed in the wireless ad hoc network has the characteristic of responding to the routing node which initiates the connection request firstly, so that the node to be accessed can establish connection with the routing node with the strongest signal.
Example two
Fig. 4 is a block diagram of a low-power-consumption communication apparatus according to a second embodiment of the present invention, which is configured to perform the low-power-consumption communication method according to any of the above-mentioned embodiments. The device belongs to the same inventive concept as the low energy communication method of the above embodiments, and details not described in detail in the embodiments of the low energy communication device may refer to the embodiments of the low energy communication method described above. Referring to fig. 4, the apparatus is configured at an accessed routing node in a wireless ad hoc network, and specifically may include: a receiving module 210, a determining module 220, and a sending module 230. Wherein the content of the first and second substances,
a receiving module 210, configured to receive a broadcast message broadcasted by a node to be accessed in a low energy consumption manner;
a determining module 220, configured to determine an initiation time of the connection request according to the signal strength of the broadcast message;
a sending module 230, configured to send the connection request to the node to be accessed when initiating the time.
Optionally, the determining module 220 may specifically include:
the initiating delay time determining submodule is used for determining the initiating delay time of the connection request according to the signal intensity of the broadcast message;
and the initiation time determining submodule is used for determining the initiation time of the connection request according to the receiving time and the initiation delay time of the received broadcast message.
Optionally, the initiating the delay time determining sub-module specifically may include:
and the initiation time determining unit is used for determining the initiation delay time of the connection request according to the signal strength of the broadcast message and a preset time coefficient.
Optionally, the initiation time determining unit may be specifically configured to:
and calculating the product of the absolute value of the signal strength of the broadcast message and a first preset time coefficient or the product of the square of the signal strength of the broadcast message and a second preset time coefficient, and taking the product result as the initiation delay time.
Optionally, the initiation delay time and the signal strength of the broadcast message are inversely related.
Optionally, the number of connected nodes of the routing node is less than or equal to a preset number threshold, where the preset number threshold is less than or equal to a maximum value of the number of connectable nodes of the routing node.
Optionally, the routing node is in a scanning state.
In the low-energy-consumption communication device provided in the second embodiment of the present invention, through the mutual cooperation between the receiving module and the determining module, after receiving the broadcast message broadcasted by the node to be accessed in a low-energy-consumption manner, the routing node that has been accessed in the wireless ad hoc network may determine the initiation time of the connection request according to the signal strength of the broadcast message; thus, the sending module may initiate a connection request at the initiation time to send the connection request to the node to be accessed. According to the device, the preset intensity threshold value is not required to be set, the initiation time of the connection request of the routing node can be controlled according to the signal intensity of the received broadcast message, the routing node which initiates the connection request firstly and responds to the node to be accessed can be guaranteed to be the routing node with the strongest signal intensity, and the effect of connecting the node to be accessed to the routing node with the strongest signal intensity is achieved.
The low-energy-consumption communication device provided by the embodiment of the invention can execute the low-energy-consumption communication method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It should be noted that, in the embodiment of the low-power-consumption communication apparatus, the included units and modules are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
EXAMPLE III
Fig. 5 is an architecture diagram of a low energy consumption communication system according to a third embodiment of the present invention, and as shown in fig. 5, the system may include a routing node 310 accessed in a wireless ad hoc network and a node 320 to be accessed.
The routing node 310 is configured to receive a broadcast message broadcast by a node to be accessed in a low energy consumption manner, determine initiation time of a connection request according to signal strength of the broadcast message, and send the connection request to the node to be accessed at the initiation time;
the node to be accessed 320 is configured to respond to the first routing node initiating the connection request, and establish a connection with the first routing node initiating the connection request.
The low-energy-consumption communication system provided by the third embodiment of the present invention is capable of executing the low-energy-consumption communication method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method, and specific contents may refer to the above embodiments, which are not described herein again.
Example four
A fourth embodiment of the present invention provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a low-power communication method, including:
receiving a broadcast message broadcasted by a node to be accessed in a low energy consumption mode;
determining the initiation time of the connection request according to the signal strength of the broadcast message;
and sending the connection request to the node to be accessed when initiating the time.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the low-power communication method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. With this understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A low energy consumption communication method is applied to an accessed routing node in a wireless ad hoc network, and comprises the following steps:
receiving a broadcast message broadcasted by a node to be accessed in a low energy consumption mode;
determining the initiation time of the connection request according to the signal strength of the broadcast message;
and sending the connection request to the node to be accessed at the initiating time.
2. The method of claim 1, wherein determining the initiation time of the connection request according to the signal strength of the broadcast message comprises:
determining the initiation delay time of the connection request according to the signal intensity of the broadcast message;
and determining the initiation time of the connection request according to the receiving time of the received broadcast message and the initiation delay time.
3. The method of claim 2, wherein determining the initiation delay time of the connection request according to the signal strength of the broadcast message comprises:
and determining the initiation delay time of the connection request according to the signal intensity of the broadcast message and a preset time coefficient.
4. The method of claim 3, wherein determining the initiation delay time of the connection request according to the signal strength of the broadcast message and a preset time coefficient comprises:
and calculating the product of the absolute value of the signal strength of the broadcast message and a first preset time coefficient, or the product of the square of the signal strength of the broadcast message and a second preset time coefficient, and taking the product result as the initiation delay time.
5. The method of claim 2, wherein the initiation delay time and the signal strength of the broadcast message are inversely related.
6. The method according to claim 1, characterized in that the number of connected nodes of the routing node is less than or equal to a preset number threshold, wherein the preset number threshold is less than or equal to a maximum value of the number of connectable nodes of the routing node.
7. The method of claim 6, wherein the routing node is in a scanning state.
8. A low-power-consumption communication apparatus configured in an accessed routing node in a wireless ad hoc network, comprising:
the receiving module is used for receiving the broadcast message broadcasted by the node to be accessed in a low energy consumption mode;
a determining module, configured to determine an initiation time of a connection request according to the signal strength of the broadcast message;
and the sending module is used for sending the connection request to the node to be accessed when the initiating time is up.
9. A low energy consumption communication system is characterized by comprising a node to be accessed and an accessed routing node in a wireless ad hoc network;
the routing node is used for receiving a broadcast message broadcast by the node to be accessed in a low energy consumption mode, determining the initiation time of a connection request according to the signal strength of the broadcast message, and sending the connection request to the node to be accessed at the initiation time;
and the node to be accessed is used for responding to the first routing node initiating the connection request and establishing connection with the first routing node initiating the connection request.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the low energy communication method according to any one of claims 1 to 7.
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CN113596859A (en) * 2021-06-11 2021-11-02 广东博智林机器人有限公司 Node networking method and device, electronic equipment and storage medium
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