KR101167911B1 - Zigbee convergence device, zigbee actuator device, method for synchronizing wire/wireless convergence actuator on zigbee based - Google Patents

Abstract

The present invention provides a technique for accurate motion synchronization between actuators distributed on a wired and wireless network in a system environment in which a wired network system and a wireless network system can be used interchangeably or integratedly operated, such as a factory / home / building system. The present invention relates to a method for implementing the above, the present invention, the host controller requests synchronization feedback information to the wired slave connected via the wired network, the wired slave is synchronized feedback of a plurality of wireless slaves connected to it through the wireless network Obtains information and transmits its own synchronization feedback information and the synchronization feedback information obtained from each wireless slave to the host controller, and the host controller generates the clock synchronization information and the reference clock based on the received synchronization feedback information to distribute each wired line. And nothing Transmits to the slaves, thereby allowing each of the distributed wired and wireless slaves to synchronize their clocks based on the clock synchronization information and the reference clock, so that the wired / wireless integrated network system or wireless network system is built. In this way, accurate motion synchronization between actuator modules distributed on a wireless network can be realized.

Description

ZIGBEE CONVERGENCE DEVICE, ZIGBEE ACTUATOR DEVICE, METHOD FOR SYNCHRONIZING WIRE / WIRELESS CONVERGENCE ACTUATOR ON ZIGBEE BASED}

The present invention provides a technique for accurate motion synchronization between actuators distributed in wired and wireless networks in a system environment in which a wired network system and a wireless network system can be used or integrated together such as a factory / home / building system. In more detail, the present invention relates to ZigBee integration, which is suitable for implementing wired / wireless integrated actuator synchronization technology by extending the IEEE 1588 time-based synchronization technology applied to an Ethernet-based wired network system to a Zigbee-based wireless network system area. A device, a ZigBee actuator device and a ZigBee-based wired / wireless integrated actuator.

Recently, the introduction of various wireless network systems in the factory / home / building system has been accelerated, especially in the case of factory automation system is pushing to standardize the wireless network for the automation system. Accordingly, technology for accurate synchronization driving of distributed wired / wireless modules in an integrated wired / wireless network system environment with a wireless system and a wired system is evaluated as an important factor.

That is, an upper controller functioning as a master may be connected with a plurality of slaves through a wired network, and each slave may be constructed with an integrated wired / wireless network system in which a plurality of end devices (actuator modules) are connected through a wireless network. This wired / wireless network can control the operation of the end device.

However, wireless network protocols currently being applied to commercially available integrated wired and wireless network systems are emerging as a big problem because they do not support synchronization technology between devices due to the time indeterminate nature of wireless networks.

According to an aspect of the present invention, there is provided a network interface block for providing a wired data interface with an upper controller, a Zigbee interface block for providing a data interface with a plurality of wireless slaves connected thereto via a wireless network, and the network. When synchronization feedback information is requested from the higher level controller through an interface block, the synchronization feedback information of each wireless slave connected to itself is obtained through the Zigbee interface block, and the line delay of each wireless slave is controlled through RSSI of Zigbee communication. Calculating and transmitting the obtained synchronization feedback information and the calculated line delay information together with their synchronization feedback information to the upper controller through the network interface block, and transmitting to the upper controller through the network interface block. A control block for transmitting the received clock synchronization information and a reference clock to each of the wireless slaves through the Zigbee interface block, a synchronization execution block for synchronizing its clock based on the clock synchronization information and the reference clock, and the control block A ZigBee integrated device is provided that includes an actuator driver for driving an actuator according to control from the same.

According to another aspect, the present invention provides a ZigBee interface block for providing a ZigBee data interface between a host controller and a slave executing a data interface through a wired network, and retrieves its synchronization feedback information in response to a request from the slave. A control block for transmitting to the slave through the Zigbee interface block; a synchronization execution block for synchronizing its clock based on clock synchronization information and a reference clock generated from the upper controller and received via the slave; A Zigbee actuator device is provided that includes an actuator driver for driving an actuator in accordance with control from a control block.

According to another aspect of the present invention, a process of requesting synchronization feedback information to a wired slave connected through a wired network by an upper controller, and synchronization feedback information of a plurality of wireless slaves connected to the wired slave via the wireless network Acquiring a signal; transmitting the synchronization feedback information of the wired slave and the synchronization feedback information obtained from each wireless slave to the host controller; and clock synchronization information based on the synchronization feedback information received by the host controller. Generating a reference clock and transmitting the generated reference clock to the wired slave; and synchronizing a clock of the wired slave and each wireless slave based on the clock synchronization information and a reference clock. Article I will.

According to another aspect of the present invention, a process of requesting synchronization feedback information to a wired slave connected through a wired network by an upper controller, and requesting synchronization feedback information to a plurality of wireless slaves connected through a wireless network And transmitting, by each wireless slave, its own synchronization feedback information to the wired slave, calculating, by the wired slave, a line delay of each of the wireless slaves through RSSI of Zigbee communication; Transmitting its synchronization feedback information and synchronization feedback information of each wireless slave to the host controller together with the calculated line delay information, and generating clock synchronization information based on the received synchronization feedback information to the wired slave. Transmitting and the wired Rave transmits the clock synchronization information to each of the wireless slaves, the host controller distributes the reference clock to the wired slave and each wireless slave, and the wired slave and each wireless slave to the reference clock The present invention provides a method for synchronizing ZigBee-based wired / wireless integrated actuators including synchronizing their clocks.

According to the present invention, the host controller requests synchronization feedback information to a wired slave connected through a wired network, and obtains synchronization feedback information of a plurality of wireless slaves connected to the wired slave via the wired network. The synchronization feedback information obtained from each wireless slave is transmitted to the upper controller, and the upper controller generates clock synchronization information and a reference clock based on the received synchronization feedback information, and transmits them to each of the distributed wired and wireless slaves. Each distributed wired and wireless slave synchronizes its clock based on the clock synchronization information and the reference clock, so that actuators distributed on the wireless network in the environment in which the wired / wireless integrated network system or the wireless network system are constructed. module Accurate motion synchronization can be realized.

1 is a block diagram of an integrated wired and wireless network system according to an embodiment of the present invention;
2 is a conceptual illustration for explaining a process of calculating a clock offset for distributed clock synchronization based on different distributed clock information mounted on respective slaves in a higher wired / wireless integrated system;
3 and 4 are conceptual diagrams for explaining a process of calculating a line delay generated according to a connection distance of a network to implement distributed clock synchronization.
5 is an exemplary diagram for describing a concept of generating a port delay;
6 is an exemplary diagram for describing a concept of generating a line delay;
7 is a block diagram of a ZigBee integrated device according to an embodiment of the present invention;
8 is a block diagram of a Zigbee actuator device according to an embodiment of the present invention;
9 is a block diagram of a synchronization unit employed in the present invention;
10 is a flowchart illustrating a main process of synchronizing a Zigbee-based wired / wireless integrated actuator according to an embodiment of the present invention.

The present invention extends distributed clock-based time-based synchronization technology to a Zigbee-based wireless network system, thereby providing a wireless network system that has been a technical challenge in an environment where a wired / wireless integrated network system or a wireless network system is established. It is possible to provide accurate motion synchronization technology between actuator modules distributed in the network, and to provide a technique for integrating a Zigbee wireless system on a fast Ethernet-based real-time network system for implementing wired and wireless integrated systems. By combining RSSI-based positioning technology and distributed clock-based time-based synchronization technology, it can provide a technique for implementing synchronization technology in wired and wireless systems, and it is installed in a Zigbee integration module and a Zigbee actuator module to implement a synchronization technology of a wireless system. Should be is possible to provide a structure and operation principle of a synchronization unit.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may be changed according to intention or custom of a user, an operator, or the like. Therefore, the definition should be based on the technical idea described throughout this specification.

First, in order to implement a synchronization algorithm for synchronizing distributed clocks on a wired or wireless network, a series of processes for clock synchronization on a wired / wireless integrated network system are executed as follows.

Offset Compensation

As a first step to implement clock synchronization, each local clock running on modules distributed on the wired / wireless integrated network is received and the offset, which is the clock difference between slaves (including the wireless slaves), is calculated. Clock correction can be performed by transmitting to a slave (including a wireless slave). The equation for the clock offset is shown in Equation 1 below.

[Equation 1]

Offset Time = Send Time-Received Time

In order to calculate the clock offset, the upper controller 110 receives local clock information from each slave (each ZigBee integrated module and each ZigBee actuator module) distributed on the wired / wireless network so that the host controller 110 receives the local clock information for each slave (including the wireless slave). Calculate the clock and offset.

FIG. 2 is a conceptual illustration illustrating a process of calculating a clock offset for distributed clock synchronization based on different distributed clock information mounted on distributed slaves (for example, four slaves) on a higher wired / wireless integrated system. As a result, the inventors of the present invention clearly showed that the clock offset of each slave can be calculated through this illustration.

Delay Compensation

Each clock of slaves (devices) distributed through clock offset correction has the same error as line delay (different delay in wired / wireless network distance) and should be corrected. Delay on each input and output port of the devices) is measured. Since the distributed slave in which the synchronization unit (or the synchronization execution block) is mounted has a port stamp for measuring message reception and feedback time on the input / output port, the port delay may be calculated as in Equation 2 below.

&Quot; (2) "

dt _i = T _i1 -T _i0

In Equation 2, dt _i denotes the time (port delay) for the message received from the i-th slave to return, and T _i1 indicates that the message transmitted from the upper controller 110 passes through the slave (end device). T _i0 represents a time returned to the i-th slave, and T _i0 represents a time of first receiving a message transmitted from the upper controller 110 to the i-th slave.

Finally, based on the port delay information of each slave port calculated, the line delay that occurs on the actual network is calculated and transmitted to each slave. This line delay is calculated according to Equation 3 below. It can be calculated by finding the difference of.

&Quot; (3) "

ld _i = (dt ₀ -dt _i ) / 2

In Equation 3, ld _i represents the time difference (line delay) between the 0 th slave and the i th slave, dt ₀ represents the port delay of the 0 th slave, and dt _i represents the port delay of the i th slave.

In other words, the line delay can be calculated through port stamping on a real-time wired network. However, since such a method is difficult to be applied in a wireless system, the present invention uses the Zigbee communication's Receiving Signal Strength Indicator (RSSI) technology as follows. After positioning, the line delay is used to calculate the line delay.

Drift Compensation

When the process of the host controller for clock synchronization is completed through the clock offset and line delay correction process as described above, the host controller periodically distributes the reference clocks through the network so that the controllers can distribute the reference clocks on each distributed slave. By operating the implemented DC engine, each clock receiving the reference clock starts the DC control engine to synchronize the clocks by accelerating / decelerating the local clock according to the time difference Δt calculated by Equation 4 below. Let's do it.

&Quot; (4) "

△ t = (t _localtime + t _offset + t _{propagationdelay} )-t _receivedtime

That is, each distributed slave that receives the reference clock from the upper controller is aligned with the same clock through the synchronization unit, and after completion of synchronization, the synchronization of the slaves to be distributed is performed by generating a sync signal and a synchronization interrupt signal. . To this end, an independent clock (Local Clock) is operated inside the synchronization unit mounted in each wireless slave, and information such as a reference system clock, an offset clock, and a delay clock transmitted from the slave (wired / wireless integrated module) is used to provide a clock synchronization circuit. This changes the local clock to a synchronized system clock.

3 and 4 are conceptual illustrations for explaining the process of calculating the line delay generated according to the connection distance of the network to implement distributed clock synchronization, the inventors of the present invention to calculate the line delay through this illustration I can see clearly.

For example, assuming that the 0th slave receives the message from the upper controller for 1 second and the message returns to the 0th slave through the end device for 10 seconds, as shown in FIG. 5 as an example. Similarly, the port delay (dt _i = T _i1 -T _i0 ) is 9 seconds, which increases with more devices connected on the network.

In addition, the line delay means a time difference according to the distance between the slaves. As an example, as shown in FIG. 6, a port delay of the 0th slave is 9 seconds and a port delay of the 1st slave is 7 seconds. Assuming that the line delay (ld _i = (dt ₀ -dt _i ) / 2) is 1 second, where the division of 2 is twice as long as the actual distance since the message is first received and then returned across the end. Divide by two.

Next, a method of synchronizing a ZigBee integrated device, a ZigBee actuator device, and a ZigBee-based wired / wireless integrated actuator according to an embodiment of the present invention will be described in detail.

1 is a block diagram of an integrated wired and wireless network system according to an exemplary embodiment of the present invention, wherein a slave group includes an upper controller 110 and a plurality of ZigBee integrated modules 120/1-120/4. 120, a wireless slave group 130 of multiple (eg, three) ZigBee actuator modules 130/1-130/3, and the like, and include an upper controller 110 serving as a master. Each ZigBee integrated modules 120/1-120/4 serving as slaves can be connected to a wired network (high speed real-time network), and each ZigBee integrated module (e.g. 120/4) and each functioning as a wireless slave ZigBee actuator modules 130/1-130/3 may be connected via a wireless network (eg, ZigBee communication). Here, the Zigbee integrated module may be defined as a Zigbee integrated device or a wired slave or end device, and the Zigbee actuator module may be defined as a Zigbee actuator device or a wireless slave or end device.

Referring to FIG. 1, the upper controller 110 (or master) requests synchronization feedback information (eg, local clock information, line delay information, and jitter related information) to each slave through a wired network, and responds to the request. Based on the synchronization feedback information of each slave (each Zigbee integrated module) and each wireless slave (each Zigbee actuator module) received from each slave to generate clock synchronization information and transmit the data to each slave (including the wireless slave) Is determined and transmitted to each slave (including wireless slave). Here, the clock synchronization information (or correction information) may include information such as a clock offset, a line delay offset, a jitter average value, and the like, and as a reference clock, the host controller 110 uses its own system clock or multiple slaves ( The local clock of any one of the slaves (including the wireless slave) may be used, and the reference clock is periodically distributed to each slave to operate a DC engine for synchronization execution.

Next, each slave (eg, 120/4) in the slave group 120 receives the synchronization feedback information of each of the wireless slaves 130/1-130/3 connected to it when the synchronization feedback information is requested from the upper controller. The controller calculates the line delay of each wireless slave (130/1-130/3) through the RSSI of Zigbee communication, and obtains the synchronization feedback information and the calculated line delay information together with their synchronization feedback information. And transmits the clock synchronization information received from the upper controller 110 to each of the wireless slaves 130/1-130/3, and when the reference clock is received from the upper controller 110, its clock. Synchronizing the same, etc., details thereof will be described in detail with reference to FIG.

7 is a block diagram of a ZigBee integrated device according to an embodiment of the present invention, the network interface block 702, control block 704, ZigBee interface block 706, synchronization execution block 708, actuator driver 710 ) And actuator 712 and the like.

Referring to FIG. 7, the network interface block 702 provides a wired data interface between an upper controller 110 and a slave, and includes a synchronization feedback request message, clock synchronization information, a reference clock, and an actuator transmitted from the upper controller 110. Receives data such as a driving command signal (application information) and the like and transmits it to the control block 704, and transmits synchronization feedback information (including synchronization feedback information of each wireless slave) transmitted from the control block 704 to the upper controller 110. It performs functions such as sending.

The control block 704 then includes a microprocessor or the like that performs overall operational control at the slave (eg, 120/4), and provides synchronization feedback from the upper controller 110 via the network interface block 702. When a request message is received, request synchronization feedback information from each wireless slave 130/1-130/3 connected to it via the wireless network through the Zigbee interface block 706 to obtain relevant information, Calculates the line delay of each wireless slave (130/1-130/3) through RSSI, and synchronizes the obtained feedback feedback and calculated line delay information of each wireless slave (130/1-130/3). Along with the feedback information, a function of transmitting to the upper controller 110 through the network interface block 702 is performed. Here, the synchronization feedback information may include, for example, local clock information, line delay information, jitter related information, and the like, and the clock synchronization information (or correction information) may include information such as a clock offset, a line delay offset, a jitter average value, and the like. It may include.

In addition, the control block 704 stores the clock synchronization information received from the upper controller 110 through the network interface block 702 and transmits it to each wireless slave through the Zigbee interface block 706, the network interface block ( When a reference clock is received from the upper controller 110 via 702, the reference clock received via the Zigbee interface block 706 is distributed to each wireless slave 130/1-130/3, and the received reference clock is received. It provides a function of synchronizing its clock based on the operation of the DC engine to perform synchronization. Here, the reference clock may be, for example, a system clock of the upper controller 110 itself or a local clock of any one of a plurality of slaves (including a wireless slave).

The Zigbee interface block 706 includes, for example, a Zigbee transceiver, and the like, and wirelessly transmits a synchronization feedback request message, clock synchronization information, a reference clock, an actuator driving command signal, and the like transmitted from the control block 704. Converted to a network (Zigbee) communication format (mapping) and wirelessly transmitted to each wireless slave (130/1-130/3), and data transmitted from each wireless slave (130/1-130/3) (synchronization feedback information, etc.). ) Is received and forwarded to the control block 704.

In addition, the synchronization execution block 708 means, for example, a synchronization unit, and when the reference clock is received from the host controller 110, the synchronization execution block 708 adjusts its clock based on the clock synchronization information and the reference clock previously received and stored. Synchronize, ie, run the DC engine to perform the synchronization.

Finally, the actuator driver 710 drives the actuator 712 in response to the actuator drive command signal transmitted from the control block 704.

Referring again to FIG. 1, when each wireless slave (eg, 130/1) in the wireless slave group 130 requests synchronization feedback information from the slave 120/4, the wireless slave group 130 withdraws the synchronization feedback information. / 4), and when the reference clock is received after receiving the clock synchronization information from the slave (120/4) performs a function of synchronizing its clock based on the reference clock and the clock synchronization information, Details thereof will be described in detail with reference to FIG. 8.

8 is a block diagram of a ZigBee actuator device according to an exemplary embodiment of the present invention, and includes a ZigBee interface block 802, a control block 804, a synchronization execution block 806, an actuator driver 808, an actuator 810, and the like. It may include.

Referring to FIG. 8, the Zigbee interface block 802 executes a Zigbee data interface with the slave 120/4 including, for example, a Zigbee transceiver and the like, and is synchronized from the slave 120/4. Receives a feedback request message, clock synchronization information, reference clock, actuator driving command signal, and the like, and transmits it to the control block 804, and transmits data (for example, synchronization feedback information, etc.) transmitted from the control block 804 to a wireless network (Zigbee). ) To convert to a communication format (mapping) to wirelessly transmit to the slave (120/4).

Next, the control block 804 includes a microprocessor or the like that performs overall operational control at the wireless slave (eg, 130/1), and is synchronized from the slave 120/4 via the Zigbee interface block 802. When a feedback request message is received, the relevant information is retrieved and delivered to the slave 120/4 via the Zigbee interface block 802, and the clock synchronization received from the slave 120/4 via the Zigbee interface block 802. When the reference clock is received from the slave 120/4 through the Zigbee interface block 802 after storing the information, it synchronizes its clock based on the received reference clock (operation of the DC engine for synchronization execution). And so on.

In addition, the synchronization execution block 806 means, for example, a synchronization unit, and when the reference clock is received from the slave 120/4, its clock based on the clock synchronization information and the reference clock previously received and stored. It performs the function of synchronizing, that is, running the DC engine to perform the synchronization.

Finally, the actuator driver 808 drives the actuator 810 in response to the actuator drive command signal transmitted from the control block 804.

9 is a block diagram of a synchronization unit mounted in a ZigBee integrated device (or module) and a ZigBee actuator device (or module) of the present invention.

Referring to FIG. 9, the synchronization unit ① speeds up the local clock, stores the offset time transmitted from the upper controller via the slave at ②, and stores the delay time transmitted from the upper controller via the slave at ③. And, in ④, the local clock at the point of time when the reference clock is transmitted is measured (measured), and in ⑤, the reference clock transmitted from the upper controller via the slave is stored, and in ⑥, the stamped clock and the offset clock are summed. The system time value is generated and stored. In ⑦, the difference between the time correction value minus the delay time and the transmitted reference clock is calculated and the local clock is controlled according to the following conditions.

Condition 1: Accelerate the local clock if the difference is greater than zero

Condition 2: Decelerate local clock when difference is less than 0

Condition 3: If the difference is 0, local clock is constant

In ⑧, the local clock is speeded / accelerated / decelerated according to the condition of ⑦. In ⑨, the system time is synchronized with the acceleration / deceleration of the local clock. In ,, a sync pulse is generated when synchronization is completed.

Meanwhile, although FIG. 1 illustrates that a plurality of wireless slaves 130/1 to 130/3 are connected to only the slave 120/4 through a wireless network, this is merely an exemplary presentation for convenience of description. This is not necessarily limited thereto, and one or more wireless slaves may be connected to other slaves 120/1 to 120/3 through a wireless network.

Next, a series of processes for synchronizing a Zigbee-based wired / wireless integrated actuator using the Zigbee integrated device and the Zigbee actuator device of the present invention as described above will be described in detail with reference to FIG.

10 is a flowchart illustrating a main process of synchronizing a Zigbee-based wired / wireless integrated actuator according to an embodiment of the present invention.

Referring to FIG. 10, the upper controller 110 requests synchronization feedback information by transmitting a synchronization feedback request message to each slave 120/1-120/4 through a wired network (step 1002).

In response, the slave 120/4 requests synchronization feedback information from each wireless slave 130/1-130/3 connected to it via the wireless network to obtain related information (step 1004). The line delay of each wireless slave 130/1-130/3 is calculated via RSSI (step 1006).

Thereafter, the slave 120/4 transmits the synchronization feedback information and the calculated line delay information of each obtained wireless slave 130/1 to 130/3 together with its synchronization feedback information to the upper controller 110 through the wired network. (Step 1008). At this time, the other slaves 120/1-120/3 will also transmit their synchronization feedback information to the upper controller 110.

Next, the host controller 110 synchronizes the clock based on the synchronization feedback information of each slave (each Zigbee integrated device) and each wireless slave (each Zigbee actuator device) received from each slave 120/1-120/4. The information (clock offset, line delay offset, jitter average value, etc.) is generated and transmitted to each slave through the wired network (step 1010).

In response, the slave 120/4 converts the received clock synchronization information into a wireless network communication format and transmits it to each wireless slave 130/1-130/3 connected thereto (step 1012).

Again, the host controller 110 uses its own system clock or determines the local clock of any one of a plurality of slaves (including wireless slaves) as a reference clock and distributes them to each slave. The received reference clock is distributed to each wireless slave 130/1-130/3 via the wireless network (step 1014).

Thereafter, the synchronization unit starts the DC engine using the reference clock and the clock synchronization information distributed to each slave and the wireless slave, so that the synchronization for all the distributed slaves is executed simultaneously (step 1016).

According to the present invention having the configuration and operation principle as described above, each slave (including the wireless slave) is synchronized at the same time based on the clock synchronization information and the reference clock provided from the upper controller, and the Zigbee-based wired / wireless integrated actuator is a synchronization technique. The robot can be applied to various fields such as robot joint control, wheelchair control, remote control, smart home appliance control, fault condition monitoring control, etc. in the intelligent robot field.

In the above description has been described by presenting a preferred embodiment of the present invention, but the present invention is not necessarily limited to this, and those skilled in the art to which the present invention pertains within a range without departing from the technical spirit of the present invention It will be readily appreciated that branch substitutions, modifications and variations are possible.

110: upper controller
120: slave group
120/1-120/4: Slave
130: wireless slave group
130/1-130/3: Wireless Slave
702: network interface block
704, 804: control block
706, 802: Zigbee Interface Block
708, 806: Synchronization Execution Block
710, 808: Actuator Driver
712, 810: Actuator

Claims (17)

A network interface block providing a wired data interface with an upper level controller;
A Zigbee interface block that provides a data interface with a plurality of wireless slaves connected to the slave via a wireless network,
When synchronization feedback information is requested from the upper controller through the network interface block, the synchronization feedback information of each wireless slave connected to the slave is obtained through the Zigbee interface block, and the RSSI of Zigbee communication is used to obtain synchronization feedback information. Calculate a line delay, and transmit the acquired synchronization feedback information and the calculated line delay information together with the synchronization feedback information of the slave to the upper controller through the network interface block, and receive from the upper controller through the network interface block. A control block for transmitting the clock synchronization information and the reference clock to the respective wireless slaves through the Zigbee interface block;
A synchronization execution block for synchronizing its clock based on the clock synchronization information and a reference clock;
An actuator driver for driving an actuator in accordance with control from the control block
Zigbee integrated device comprising a.
The method of claim 1,
The synchronization feedback information,
Including local clock information, line delay information and jitter information
Zigbee integrated device.
The method of claim 2,
The clock synchronization information,
Including clock offset, line delay offset, and jitter average
Zigbee integrated device.
The method of claim 1,
The reference clock is,
The system clock of the host controller or the local clock of any one of the slave and each wireless slave.
Zigbee integrated device.
A Zigbee interface block for providing a Zigbee data interface to a slave executing a data interface with an upper controller;
A control block for retrieving synchronization feedback information of a wireless slave in response to a request from the slave and transmitting the synchronized feedback information to the slave through the Zigbee interface block;
A synchronization execution block generated from the upper controller to synchronize the clock of the wireless slave based on the clock synchronization information and the reference clock received through the slave;
An actuator driver for driving an actuator in accordance with control from the control block
ZigBee actuator device comprising a.
The method of claim 5, wherein
The synchronization feedback information,
Including local clock information, line delay information and jitter information
Zigbee actuator device.
The method according to claim 6,
The clock synchronization information,
Including clock offset, line delay offset, and jitter average
Zigbee actuator device.
The method of claim 5, wherein
The reference clock is,
The system clock of the host controller or the local clock of any one of the slave and each wireless slave.
Zigbee actuator device.
Requesting synchronization feedback information from the host controller to the wired slave connected through the wired network;
Acquiring synchronization feedback information of a plurality of wireless slaves connected to the wired slave through the wireless network;
Transmitting, by the wired slave, its own synchronization feedback information and synchronization feedback information obtained from each wireless slave to the host controller;
Generating, by the upper controller, clock synchronization information and a reference clock based on the received synchronization feedback information, and transmitting the generated clock information to the wired slave;
The wired slave and each wireless slave synchronizing their clocks based on the clock synchronization information and a reference clock;
Synchronization method of ZigBee-based wired and wireless integrated actuators, including.
The method of claim 9,
The wired slave,
Calculate the line delay of each wireless slave through RSSI of Zigbee communication
How to synchronize Zigbee-based wired and wireless integrated actuators.
The method of claim 9,
The synchronization feedback information,
Including local clock information, line delay information and jitter information
How to synchronize Zigbee-based wired and wireless integrated actuators.
The method of claim 11,
The clock synchronization information,
Including clock offset, line delay offset, and jitter average
How to synchronize Zigbee-based wired and wireless integrated actuators.
The method of claim 9,
The reference clock is,
Any one of a system clock of the upper controller or a local clock of the wired slave and each wireless slave;
How to synchronize Zigbee-based wired and wireless integrated actuators.
Requesting synchronization feedback information from the host controller to the wired slave connected through the wired network;
Requesting, by the wired slave, synchronization feedback information to a plurality of wireless slaves connected through a wireless network;
Transmitting, by each wireless slave, its own synchronization feedback information to the wired slave;
Calculating, by the wired slave, the line delay of each wireless slave through RSSI of Zigbee communication;
Transmitting, by the wired slave, its synchronization feedback information and synchronization feedback information of each wireless slave to the host controller together with the calculated line delay information;
Generating, by the upper controller, clock synchronization information based on the received synchronization feedback information, and transmitting the generated clock synchronization information to the wired slave;
The wired slave wirelessly transmitting the clock synchronization information to each of the wireless slaves;
Distributing a reference clock to the wired slave and each wireless slave by the upper controller;
The wired slave and each wireless slave synchronizing their clocks based on the reference clock;
Synchronization method of ZigBee-based wired and wireless integrated actuators, including.
15. The method of claim 14,
The synchronization feedback information,
Including local clock information, line delay information and jitter information
How to synchronize Zigbee-based wired and wireless integrated actuators.
The method of claim 15,
The clock synchronization information,
Including clock offset, line delay offset, and jitter average
How to synchronize Zigbee-based wired and wireless integrated actuators.
15. The method of claim 14,
The reference clock is,
Any one of a system clock of the upper controller or a local clock of the wired slave and each wireless slave;
How to synchronize Zigbee-based wired and wireless integrated actuators.

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