WO2020238764A1 - 时序管理方法、设备及系统 - Google Patents

时序管理方法、设备及系统 Download PDF

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Publication number
WO2020238764A1
WO2020238764A1 PCT/CN2020/091625 CN2020091625W WO2020238764A1 WO 2020238764 A1 WO2020238764 A1 WO 2020238764A1 CN 2020091625 W CN2020091625 W CN 2020091625W WO 2020238764 A1 WO2020238764 A1 WO 2020238764A1
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WIPO (PCT)
Prior art keywords
terminal
information
intermediate node
operation information
control node
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PCT/CN2020/091625
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English (en)
French (fr)
Inventor
黄曲芳
罗海燕
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华为技术有限公司
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Publication of WO2020238764A1 publication Critical patent/WO2020238764A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W56/00—Synchronisation arrangements
    • H04W56/001—Synchronization between nodes

Definitions

  • the embodiments of the present application relate to the field of mobile communication technology, and specifically relate to a time sequence management method, device, and system.
  • the Internet of Things is the continuous integration of various acquisition and control sensors or controllers with perception and monitoring capabilities, as well as mobile communications, intelligent analysis and other technologies into all links of the industrial production process, thereby greatly improving manufacturing efficiency, improving product quality, and reducing product costs And resource consumption, and finally realize a new stage of upgrading traditional industries to intelligence.
  • FIG. 1 is a schematic diagram of an Internet of Things system provided by the prior art. As shown in Figure 1, the control node directs the work of the three operating arms: Let the operating arm 1 perform an action at time T1, let the operating arm 2 execute an action at time T2, and let the operating arm 3 execute an action at time T3. Perform an action.
  • the clock maintained by each of the three operating arms is required to be accurately synchronized with the clock maintained by the control node.
  • the clock between the operating arm and the operating arm The error is less than 1us.
  • the control node and the operating arm are in the same clock synchronization area, and the control node sends its own clock information to the operating arm.
  • the content of the clock information is, for example, "what time is the current time, several minutes and seconds".
  • the transmission of the wireless communication network reaches the operating arm. After receiving the clock information, the operating arm adjusts the clock maintained by itself according to the clock information and the transmission delay to synchronize its own clock with the clock of the control node.
  • the embodiments of the present application provide a time sequence management method, device, and system.
  • the embodiments of the present application can improve the accuracy of clock synchronization between terminals.
  • an embodiment of the present application provides a timing management method applied to a timing management system.
  • the timing management system includes a first clock synchronization area and at least one second clock synchronization area.
  • a control node is provided in the first clock synchronization area.
  • at least one intermediate node, each second clock synchronization area is provided with a corresponding intermediate node and at least one terminal; the intermediate node receives task information from the control node, and the task information includes at least one task start information and end information.
  • the start information includes the start time
  • the end information includes the end time
  • the intermediate node may be, for example, a relay device or a terminal; the intermediate node determines the location of the machine based on the task information and the local clock information
  • the respective operation information of the multiple terminals under management, the operation information of each terminal includes the time when the terminal performs at least one operation, and the local clock information includes the information maintained by the intermediate node to synchronize the clock with the control node and the terminal; the intermediate node Send operation information to the terminal.
  • the embodiment of the present application implements clock synchronization between the intermediate node and the control node in the first clock synchronization area through hierarchical clock synchronization.
  • the two do not require high clock synchronization accuracy, so they can be far apart.
  • the clock synchronization between the control node and the terminal is realized in the second clock synchronization area, and the distance between the two is relatively close, which can meet high clock synchronization accuracy.
  • the local clock information includes information about a first local clock and information about a second local clock, the first local clock corresponds to a first synchronization area, and the first local clock is used for all
  • the intermediate node is synchronized with the control node
  • the second local clock corresponds to a second synchronization area
  • the second local clock is used to synchronize the intermediate node with the terminal.
  • the intermediate node maintains the first local clock and the second local clock hierarchically.
  • the low-precision synchronization between the intermediate node and the control node does not affect the work requirements.
  • it also meets the high-precision synchronization requirements between the intermediate node and the terminal, ensuring Clock synchronization between terminals.
  • the intermediate node determining the operation information of the terminal according to the task information and local clock information includes:
  • the intermediate node determines the operation information of the terminal according to the task information and the corresponding relationship; wherein, the task information uses the first local clock as a time reference, and the time for the terminal to perform each operation is The second local clock is a time reference.
  • the values of the first local clock and the second local clock may be the same or different.
  • the corresponding relationship between the first local clock and the second local clock is that the time value of the first local clock directly corresponds to the time value of the second local clock;
  • the corresponding relationship between the first local clock and the second local clock is that the two correspond to the same real time point.
  • the intermediate node can convert the time indicated by the control node into the local time of the terminal, and can send operation information to the terminal according to the local time of the terminal.
  • the terminal does not need to perform time conversion, and can be based on the operation
  • the operation is performed directly at the time indicated by the information, which improves the processing efficiency of the terminal.
  • the method further includes:
  • the intermediate node receives clock synchronization information from the control node, the clock synchronization information includes the current time of the control node; the intermediate node according to the clock synchronization information and the time between the control node and the intermediate node Extension information, updating the first local clock maintained by the intermediate node.
  • the intermediate node can also update the first local clock and the second local clock regularly or when the update condition is met.
  • the embodiments of the present application provide a time sequence management method, which is applied to a time sequence management system.
  • the time sequence management system includes a control node, an intermediate node, and at least one terminal that communicates with the intermediate node.
  • the intermediate node is located in a first clock synchronization area
  • the intermediate node and the at least one terminal are located in a second clock synchronization area
  • the method includes:
  • the control node determines task information, where the task information includes at least one of start information and end information of at least one task;
  • the control node sends the task information to the intermediate node, where the task information is used to enable the intermediate node to send first operation information to the terminal, so as to instruct the terminal to perform at least one first operation time.
  • the clock synchronization between the intermediate node and the control node is realized in the first clock synchronization area.
  • the task information sent by the control node to each intermediate node is independent of each other, and the low synchronization accuracy does not affect the operation of the intermediate node.
  • the clock synchronization between the intermediate node and the terminal is realized in the second clock synchronization area, and the distance between the two is relatively close, which can meet high clock synchronization accuracy.
  • an embodiment of the present application provides a timing management method, which is applied to a timing management system.
  • the timing management system includes a control node, an intermediate node, and at least one terminal communicating with the intermediate node.
  • the control node and the The intermediate node is located in a first clock synchronization area, the intermediate node and the at least one terminal are located in a second clock synchronization area, and the method includes:
  • the control node determines second operation information, where the second operation information is used to instruct the terminal to perform at least one second operation;
  • the control node sends second operation information to the terminal.
  • the control node directly sends the second operation information to the terminal, and the terminal performs the corresponding operation according to the second operation information. That is, in some cases, the control node can quickly control the terminal without passing through the intermediate node, which ensures that the control node controls the terminal , Timeliness can be guaranteed in emergency situations.
  • the sending, by the control node, the second operation information to the terminal includes:
  • the control node sends the second operation information to the terminal through a first bearer; where the first bearer is a bearer for the intermediate node to send the first operation information to the terminal.
  • the control node and the intermediate node share the first bearer, and there is no need to configure an additional bearer for the control node, which reduces the configuration process and saves bearing resources.
  • the sending, by the control node, the second operation information to the terminal includes:
  • the control node sends the second operation information to the terminal through a second bearer, and the intermediate node sends the first operation information to the terminal through a first bearer.
  • the intermediate node sends the second operation information to the terminal through the first bearer, and the control node sends the first operation information to the terminal through the second bearer. That is, the two use independent bearers to send the operation information.
  • the control node does not send the second operation information when sending the second operation information. Signaling interaction with intermediate nodes is required to ensure the independence of the two operations.
  • the method before the control node sends the second operation information to the terminal, the method further includes:
  • the control node determines the second operation information according to the clock synchronization information, the second operation information includes the time at which the terminal performs the at least one second operation, and the time of the second operation is based on the local
  • the clock is the time reference.
  • the time for performing the second operation in the second operation information is based on the local time of the terminal, and the terminal does not need to perform time conversion, and can directly perform operations according to the time indicated by the operation information, which improves the processing efficiency of the terminal.
  • the second operation information does not include the protocol data unit of the packet data convergence protocol layer. Serial number.
  • the control node does not need to add a serial number to the protocol data unit, which reduces the processing flow of the control node and improves the processing efficiency of the control node.
  • control node receives sequence information sent by the intermediate node, and the sequence information includes the first sequence number of the last data sent by the intermediate node to the terminal;
  • the control node determines the second operation information according to the sequence information, the second operation information includes a second sequence number, and the second sequence number is subsequent to the first sequence number and continuous with the first sequence number Serial number.
  • the sequence number of the protocol data unit is shared by the control node and the intermediate node to ensure the order of data transmission.
  • an embodiment of the present application provides a time sequence management method applied to a time sequence management system.
  • the time sequence management system includes a control node, an intermediate node, and at least one terminal communicating with the intermediate node.
  • the control node and the The intermediate node is located in a first clock synchronization area, the intermediate node and the at least one terminal are located in a second clock synchronization area, and the method includes:
  • first operation information includes the time when the terminal performs at least one first operation, and the time of the first operation is based on the local time of the terminal;
  • the terminal performs the at least one first operation according to the first operation information.
  • the clock synchronization between the intermediate node and the control node is realized in the first clock synchronization area.
  • the task information sent by the control node to each intermediate node is independent of each other, and the low synchronization accuracy does not affect the operation of the intermediate node.
  • the clock synchronization between the intermediate node and the terminal is realized in the second clock synchronization area.
  • the distance between the two is relatively close, and the clock synchronization accuracy between the terminal and the control node is high, thereby ensuring high clock synchronization accuracy between the terminals, that is, the same second clock
  • the terminals in the synchronization area have the same time.
  • an embodiment of the present application provides a time sequence management method, which is applied to a time sequence management system.
  • the time sequence management system includes a control node, an intermediate node, and at least one terminal communicating with the intermediate node, the control node and the The intermediate node is located in a first clock synchronization area, the intermediate node and the at least one terminal are located in a second clock synchronization area, and the method includes:
  • the terminal receives second operation information from the control node, where the second operation information is used to instruct the terminal to perform at least one second operation;
  • the packet data convergence protocol PDCP entity of the terminal After receiving the second operation information, the packet data convergence protocol PDCP entity of the terminal preferentially delivers the second operation information to the application layer entity.
  • the terminal receives the second operation information directly from the control node, and the terminal performs corresponding operations according to the second operation information. That is, in some cases, the control node can quickly control the terminal without passing through the intermediate node, which ensures that the control node controls the terminal , Timeliness can be guaranteed in emergency situations.
  • the PDCP entity of the terminal after receiving the second operation information, preferentially submits the second operation information to the application layer entity, including:
  • the terminal After the terminal receives the second operation information, if it is determined that the second operation information does not include the sequence number of the PDCP layer protocol data unit, it directly submits the second operation information to the application layer entity.
  • the terminal After identifying the protocol data unit without a serial number, the terminal immediately submits the data to the application layer entity, ensuring that the application layer entity can quickly perform the second operation and ensuring the timeliness of the second operation.
  • the method further includes:
  • the terminal submits the second operation information to the application layer entity according to the time when at least one second operation is performed.
  • the time of the second operation is based on the local clock of the terminal.
  • the terminal submits the second operation information to the upper layer according to the execution time of the second operation, ensuring that the terminal can execute the second operation at the corresponding execution time, so that the terminal’s
  • the second operation has time accuracy.
  • the terminal receiving second operation information from the control node includes:
  • the terminal receives the second operation information from the control node through a first bearer, where the first bearer is a bearer for the terminal to receive the first operation information from an intermediate node.
  • the terminal receives the data sent by the control node and the intermediate node from the same bearer, and the terminal maintains only one queue, which does not require two queues for implementation, which also simplifies the terminal processing flow.
  • the terminal receives the second operation information from the control node through a second bearer, and the terminal receives the first operation information from the intermediate node through a first bearer.
  • the terminal receives the first operation message and the second operation message respectively through two bearers, which ensures the independence of data processing, enables the two to be performed in parallel, and improves the data processing efficiency.
  • the terminal receiving the first operation information from the intermediate node includes: the terminal receives the first operation information from the intermediate node through the first bearer, and the first operation information includes First sequence number
  • the terminal receiving second operation information from the control node includes:
  • the submission of the second operation information by the terminal to an application layer entity includes:
  • the terminal submits the second operation information to the application layer entity according to the sequence relationship between the first sequence number and the second sequence number.
  • the control node and the intermediate node share the serial number of the protocol data unit, and the terminal delivers the data to the application layer entity in order according to the serial number, ensuring the orderliness of data transmission.
  • the embodiments of the present application provide an intermediate node, which is applied to a timing management system.
  • the timing management system includes a control node, the intermediate node, and at least one terminal communicating with the intermediate node, the control node and The intermediate node is located in a first clock synchronization area, the intermediate node and the at least one terminal are located in a second clock synchronization area, and the intermediate node includes:
  • a receiving module configured to receive task information from the control node, where the task information includes at least one of start information and end information of at least one task;
  • the processing module is configured to determine operation information of the terminal according to the task information and local clock information, the operation information includes the time at which the terminal performs at least one operation, and the local clock information includes the information maintained by the intermediate node Information about the clock;
  • the sending module is used to send the operation information to the terminal.
  • the local clock information includes information about a first local clock and information about a second local clock
  • the first local clock is used to synchronize the intermediate node with the control node
  • the The second local clock is used to synchronize the intermediate node with the terminal.
  • the processing module is specifically configured to:
  • the task information determines the operation information of the terminal; wherein the task information uses the first local clock as a time reference, and the time at which the terminal performs the at least one operation is based on the The second local clock is the time reference.
  • the receiving module is further configured to: receive clock synchronization information from the control node, where the clock synchronization information includes the current time of the control node;
  • the processing module is further configured to: update the first local clock maintained by the intermediate node according to the clock synchronization information and the time delay information between the control node and the intermediate node.
  • an embodiment of the present application provides a control node, which is applied to a timing management system, and the timing management system includes the control node, an intermediate node, and at least one terminal communicating with the intermediate node, the control node and The intermediate node is located in a first clock synchronization area, the intermediate node and the at least one terminal are located in a second clock synchronization area, and the control node includes:
  • a sending module configured to send the task information to the intermediate node, where the task information is used to cause the intermediate node to send first operation information to the terminal to instruct the terminal to perform at least one first operation time .
  • an embodiment of the present application provides a control node, which is applied to a timing management system.
  • the timing management system includes the control node, an intermediate node, and at least one terminal communicating with the intermediate node, the control node and The intermediate node is located in a first clock synchronization area, the intermediate node and the at least one terminal are located in a second clock synchronization area, and the control node includes:
  • a processing module configured to determine second operation information, where the second operation information is used to instruct the terminal to perform at least one second operation
  • the sending module is used to send second operation information to the terminal.
  • the sending module is specifically configured to: send the second operation information to the terminal through a first bearer; wherein, the first bearer is the intermediate node sending the second operation information to the terminal The bearing of the first operation information; or
  • the second operation information is sent to the terminal through the second bearer, and the intermediate node sends the first operation information to the terminal through the first bearer.
  • control node further includes a receiving module, configured to receive clock synchronization information sent by the intermediate node before the control node sends the second operation information to the terminal.
  • the synchronization information includes the current time of the local clock maintained by the intermediate node, and the local clock is used to synchronize the intermediate node with the terminal;
  • the processing module is specifically configured to determine the second operation information according to the clock synchronization information, where the second operation information includes the time at which the terminal performs the at least one second operation, and the time at which the second operation is performed Use the local clock as the time reference.
  • the second operation information does not include the protocol data unit of the packet data convergence protocol layer. Serial number.
  • the receiving module is further configured to: receive sequence information sent by the intermediate node, the sequence information including the first sequence number of the last data sent by the intermediate node to the terminal;
  • the processing module is specifically configured to determine the second operation information according to the sequence information, the second operation information includes a second sequence number, and the second sequence number is after the first sequence number and is the same as the first sequence number.
  • a sequential serial number is specifically configured to determine the second operation information according to the sequence information, the second operation information includes a second sequence number, and the second sequence number is after the first sequence number and is the same as the first sequence number. A sequential serial number.
  • an embodiment of the present application provides a terminal, which is applied to a timing management system.
  • the timing management system includes a control node, an intermediate node, and at least one terminal communicating with the intermediate node.
  • the control node and the intermediate node The node is located in the first clock synchronization area, the intermediate node and the at least one terminal are located in the second clock synchronization area, and the terminal includes:
  • a receiving module configured to receive first operation information from the intermediate node, where the first operation information includes the time when the terminal performs at least one first operation;
  • the processing module is configured to execute the at least one first operation according to the first operation information.
  • an embodiment of the present application provides a terminal, which is applied to a timing management system.
  • the timing management system includes a control node, an intermediate node, and at least one terminal that communicates with the intermediate node.
  • the control node and the intermediate node The node is located in the first clock synchronization area, the intermediate node and the at least one terminal are located in the second clock synchronization area, and the terminal includes:
  • a receiving module configured to receive second operation information from the control node, where the second operation information is used to instruct the terminal to perform at least one second operation;
  • the processing module is configured to preferentially deliver the second operation information to the application layer entity after the PDCP entity of the packet data convergence protocol receives the second operation information.
  • the processing module is specifically configured to: after receiving the second operation information, if it is determined that the second operation information does not include the sequence number of the PDCP layer protocol data unit, directly Submit the second operation information to the application layer entity.
  • the receiving module is further configured to: receive second operation information from the control node, where the second operation information includes the time when the terminal performs the at least one second operation;
  • the processing module is further configured to: submit the second operation information to the application layer entity according to the time when the at least one second operation is performed.
  • the receiving module is specifically configured to:
  • the second operation information is received from the control node through a second bearer, and the terminal receives the first operation information from the intermediate node through a first bearer.
  • the receiving module is specifically configured to: receive first operation information from the intermediate node through a first bearer, where the first operation information includes a first sequence number;
  • the processing module is specifically configured to: submit the second operation information to an application layer entity according to the sequence relationship between the first sequence number and the second sequence number.
  • an embodiment of the present application provides a timing management system.
  • the timing management system includes a control node, an intermediate node, and at least one terminal communicating with the intermediate node.
  • the control node and the intermediate node are located in the A clock synchronization area, the intermediate node and the at least one terminal are located in a second clock synchronization area;
  • the intermediate node is used to execute the method described in the first aspect or various possible designs of the first aspect
  • control node is used to execute the method described in the above second aspect, or the above third aspect or various possible designs of the third aspect;
  • the terminal is configured to execute the method described in the fourth aspect above, or various possible designs of the fifth aspect or the fifth aspect above.
  • an embodiment of the present application provides an intermediate node, including a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that The processor runs the computer program to execute the timing management method described in the first aspect or various possible designs of the first aspect.
  • an embodiment of the present application provides a control node, including a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that The processor runs the computer program to execute the timing management method described in the above second aspect, third aspect, or various possible designs of the third aspect.
  • an embodiment of the present application provides a terminal, including a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that all The processor runs the computer program to execute the timing management method described in various possible designs of the fourth aspect or the fifth aspect or the fifth aspect.
  • an embodiment of the present application provides a storage medium, the storage medium includes a computer program, and the computer program is used to implement the timing management method described in the first aspect or various possible designs of the first aspect.
  • an embodiment of the present application provides a storage medium, the storage medium includes a computer program, and the computer program is used to implement the various possible designs described in the second or third aspect or the third aspect. Timing management method.
  • an embodiment of the present application provides a storage medium, the storage medium includes a computer program, and the computer program is used to implement the various possible designs of the fourth or fifth or fifth aspects above. Timing management method.
  • the timing management method, device and system provided by the embodiments of the present application include a control node, an intermediate node, and a terminal.
  • the timing management system is divided into two clock synchronization areas by adding intermediate nodes.
  • the node and the intermediate node are located in the first clock synchronization area, and the intermediate node and at least one terminal are located in the second clock synchronization area.
  • This achieves hierarchical control and limits the clock synchronization area that requires precise synchronization to a relatively small geographic area.
  • the terminal is close and the transmission delay with the terminal is very short, so it can ensure that the clock synchronization between the terminals meets the accuracy requirements.
  • the intermediate node receives task information from the control node, the task information includes at least one of the start information and the end information of the task; the intermediate node determines the operation information of the terminal according to the task information and the local clock information, and the operation information includes each operation performed by the terminal Since the intermediate nodes that are closer to the terminal and have a short transmission delay with the terminal are used to determine the terminal’s operating information, the operating information can accurately indicate the terminal’s operating time with the terminal’s clock, ensuring that The clock synchronization meets higher precision requirements.
  • Figure 1 is a schematic diagram of an Internet of Things system provided by the prior art
  • FIG. 2 is a schematic diagram of a sequence management system provided by an embodiment of the application.
  • FIG. 3 is a signaling flowchart of a time sequence management method provided by an embodiment of the application.
  • FIG. 4 is a schematic diagram of the time axis of time sequence management provided by an embodiment of the application.
  • FIG. 5 is a flowchart of a time sequence management method provided by an embodiment of the application.
  • FIG. 6A is a schematic diagram of a time axis of time sequence management provided by an embodiment of this application.
  • 6B is a schematic diagram of an operation information processing solution provided by an embodiment of this application.
  • FIG. 7A is a schematic diagram of a sequence management system provided by an embodiment of this application.
  • FIG. 7B is a schematic diagram of a time axis of time sequence management provided by an embodiment of this application.
  • FIG. 7C is a schematic diagram of an operation information processing solution provided by an embodiment of this application.
  • FIG. 8 is a schematic structural diagram of an intermediate node provided by an embodiment of the application.
  • FIG. 9 is a schematic diagram of the hardware structure of an intermediate node provided by an embodiment of the application.
  • FIG. 10 is a schematic structural diagram of a control node provided by an embodiment of this application.
  • FIG. 11 is a schematic diagram of the hardware structure of a control node provided by an embodiment of the application.
  • FIG. 12 is a schematic structural diagram of a terminal provided by an embodiment of the application.
  • FIG. 13 is a schematic diagram of the hardware structure of a terminal provided by an embodiment of the application.
  • the timing management system can be any system that requires clock synchronization, and the system can ensure clock synchronization of at least some devices in the system, so that one device can control the operation of another device.
  • the timing management system may be, for example, a clock synchronization system such as an Internet of Things system and a communication system.
  • a clock synchronization system such as an Internet of Things system and a communication system.
  • the Internet of Things is taken as an example for detailed description.
  • the Internet of Things is to realize the flexible configuration of manufacturing raw materials, the on-demand execution of the manufacturing process, the reasonable optimization of the manufacturing process and the rapid adaptation of the manufacturing environment through the network interconnection of industrial resources, data intercommunication and system interoperability to achieve efficient use of resources.
  • the realization of the Internet of Things can include intelligent perception control, comprehensive interconnection, and in-depth data applications.
  • intelligent perception control mainly realizes the end intelligent perception of the physical network.
  • it can be composed of diversified collection and control modules, including various types of sensors, radio frequency identification, and wireless sensor networks. These sensing devices can measure or perceive specific objects.
  • the status and changes of the, and the conversion into transmittable, processable, and storable electronic signals or other forms of information are the primary link to realize automatic detection and automatic control of industrial processes in the Internet of Things.
  • Industrial Ethernet refers to the application of Ethernet related components and technologies in the automation control and process control of the industrial environment.
  • Wireless communication network is a technology that uses wireless technology for sensor networking and data transmission. The application of wireless network technology can greatly reduce the wiring cost of industrial sensors, which is conducive to the expansion of sensor functions.
  • the core of industrial wireless technology includes clock synchronization and deterministic scheduling.
  • control nodes such as servers
  • technical means such as data mining and data warehouses to perform data modeling, analysis and optimization based on cloud computing platforms, thereby optimizing terminal operations.
  • Fig. 2 is a schematic diagram of a sequence management system provided by an embodiment of the application.
  • the timing management system provided by the embodiment of the present application includes: a control node, a wireless communication network, an intermediate node, and a terminal.
  • the control node can be a server, a service platform, a processing platform, and other devices or platforms that can perform in-depth data applications and can send industrial control-related data or information to the terminal.
  • the wireless communication network can be realized by a wireless communication system, which includes but is not limited to: narrowband-internet of things (NB-IoT), global system for mobile communications (GSM) , Enhanced data rate GSM evolution system (enhanced data rate for GSM evolution, EDGE), wideband code division multiple access (WCDMA), code division multiple access 2000 (CDMA2000) , Time division-synchronization code division multiple access system (time division-synchronization code division multiple access, TD-SCDMA), long term evolution system (long term evolution, LTE) and next generation 5G mobile communication system.
  • NB-IoT narrowband-internet of things
  • GSM global system for mobile communications
  • EDGE enhanced data rate GSM evolution system
  • WCDMA wideband code division multiple access
  • CDMA2000 code division multiple access 2000
  • TD-SCDMA Time division-synchronization code division multiple access system
  • LTE long term evolution
  • the intermediate node may be a relay device or a terminal.
  • the physical distance between the intermediate node and the control node is relatively long, the intermediate node can communicate with the control node through a wireless communication network, and the transmission delay between the intermediate node and the control node is relatively long.
  • the physical distance between the intermediate node and the terminal is relatively short, the intermediate node can perform data communication with the terminal through wireless communication or wired communication, and the transmission delay between the intermediate node and the terminal is short.
  • the above-mentioned wireless communication network may also be used, which will not be repeated here in this embodiment.
  • the terminal can be an end sensor, a robot on a production line, a robotic arm, etc.
  • the robotic arm is the most widely used automated mechanical device in the field of robotic technology, and has been widely used in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although their shapes are different, they all have a common feature, that is, they can accept instructions and accurately locate a point in the three-dimensional (or two-dimensional) space for operations. This embodiment does not particularly limit the type of the mechanical arm and the operations performed.
  • the timing management system of the embodiment of the present application includes two clock synchronization areas, a first clock synchronization area and a second clock synchronization area.
  • a control node such as a server
  • at least one intermediate node are arranged in the first clock synchronization area, and each intermediate node and at least one terminal communicating with it constitute a second clock synchronization area. That is, an intermediate node and at least one terminal are provided in the second clock synchronization area, and the intermediate node communicates with the at least one terminal.
  • the clock synchronization between the control node and the intermediate node in the first clock synchronization area, and the clock synchronization between the intermediate node and the terminal in the second clock synchronization area are both application layer
  • the clock is synchronized.
  • the application layer is generally located at the top of the protocol stack, which can directly provide services for application programs and directly perform corresponding operations.
  • the protocol stack may also include the IP layer under the application layer, the packet data convergence protocol (PDCP) layer, the radio link control (RLC) layer, and the media access control (media access control).
  • PDCP packet data convergence protocol
  • RLC radio link control
  • media access control media access control
  • MAC media access control
  • physical (physical layer, PHY) layer, etc. in this embodiment, the specific type and implementation of the protocol stack are not particularly limited.
  • a first clock synchronization area is shown.
  • the number of the first clock synchronization area may also be two or more.
  • the control node and the intermediate node realize clock synchronization.
  • the synchronization accuracy requirement in the first clock synchronization area is relatively low, for example, the synchronization accuracy is ms level.
  • each second clock synchronization area there is an intermediate node and at least one terminal.
  • the intermediate node and the at least one terminal realize clock synchronization.
  • the synchronization accuracy requirements in the second clock synchronization area are relatively high, for example, the synchronization accuracy is us level.
  • the intermediate node is located in the first clock synchronization area and the second clock synchronization area at the same time.
  • the local clock information corresponding to the intermediate node includes information about two clocks.
  • the local clock information may include information about the first local clock and information about the second local clock.
  • the first local clock is used to synchronize the intermediate node with the control node
  • the time value of the first local clock is the same as the time value of the local clock of the control node
  • the second local clock is used to synchronize the intermediate node with the terminal.
  • the time value of the local clock is the same as the time value of the local clock of the terminal. It should be understood that when the intermediate node is connected to multiple terminals, the time values of the local clocks of the multiple terminals are the same.
  • the time values corresponding to the first local clock and the second local clock can be the same or different; even if the time values of the two are different, the real time represented by the two is the same.
  • the time value of the synchronization between the intermediate node and the control node is T1
  • the time value of the synchronization between the intermediate node and the terminal is T2
  • the values of T1 and T2 can be the same or Different.
  • the intermediate node may also update the first local clock and the second local clock periodically or when the update condition is met. For example, the intermediate node may update the first local clock every M1 time and the second local clock every M2 time.
  • the M1 and M2 may be the same or different.
  • the update condition may be that when the position change of the intermediate node meets a preset condition, at least one of the first local clock and the second local clock is updated.
  • the intermediate node may receive clock synchronization information from the control node, and the clock synchronization information includes the current time of the control node,
  • the intermediate node updates the first local clock maintained by the intermediate node according to the delay information and clock synchronization information.
  • the time delay information can be obtained by means of measurement, etc., which is not particularly limited in this embodiment.
  • the intermediate node can accumulate the transmission delay on the basis of the current time of the control node to adjust the first local clock maintained by itself, so that the intermediate node and the control node complete clock synchronization.
  • the intermediate node may also update the second local clock, and the intermediate node updates the second local clock according to the current time of the terminal.
  • a target terminal can be determined among multiple terminals.
  • the target terminal has a master synchronous clock.
  • the target terminal sends its current time to the intermediate node and other terminals to realize the target terminal and The clock synchronization of the intermediate node, and the clock synchronization between the target terminal and other terminals, so as to achieve clock synchronization between the intermediate node and each terminal in the second clock synchronization area.
  • Fig. 3 is a signaling flowchart of a time sequence management method provided by an embodiment of the application. As shown in Figure 3, the method includes:
  • the control node determines task information, where the task information includes at least one of start information and end information of at least one task.
  • the control node can determine the task of the terminal and at least one of the start information and the end information of the task according to user instructions, process flow and process parameters.
  • the task can be a task for the terminal to perform a certain operation.
  • the task can be welding, painting, assembly, and so on.
  • Each terminal can perform one or more tasks.
  • the task information includes at least one of start information and end information of the task.
  • the task information may include at least one of the start information and the end information of each task, and the identification of each task.
  • the production line is a parallel operation production line, different terminals can also perform the same task at the same time.
  • the start information may include the start time.
  • the end information may include an end time.
  • the task can start at the required start time, or end at the required end time, or start at the required start time and end at the required end time.
  • the start information may also include the jitter range of the start time.
  • the jitter range of the start time can include a time value N. If the start time is T, the task can start in the time range of [T-N, T+N].
  • the jitter range of the start time can also include two values, such as N1 and N2. If the start time is T, the task can start in the start time range of [T-N1, T+N2].
  • the end information may also include the jitter range of the end time. Wherein, the jitter range of the end time is similar to the jitter range of the start time, which is not repeated here in this embodiment.
  • the task can start within the required start time range, or end within the required end time range, or start within the required start time range and end within the required end time range OK.
  • the control node sends the task information to the intermediate node.
  • the intermediate node receives task information from the control node.
  • control node After the control node determines the task information, the control node sends the task information to the intermediate node, and the intermediate node receives the task information from the control node.
  • S302 and S303 may be the same step. In this embodiment, they are described separately from the perspective of the transmission of the control node and the perspective of the reception of the intermediate node.
  • the second synchronous clock area A and the second synchronous clock area B are two independent areas, and their timing relationship is not demanding, so the synchronization accuracy required in the first synchronous clock area is relatively low . Therefore, even if the control node is far away from the intermediate node and the transmission delay is relatively large, so that the clock synchronization accuracy of the intermediate node A and the intermediate node B is low, it will not affect the actual terminal operation.
  • the intermediate node determines first operation information of the terminal according to the task information and local clock information, where the first operation information includes the time at which the terminal performs at least one first operation, and the local clock information includes the intermediate Information about the clock maintained by the node.
  • the intermediate node After receiving the task information, the intermediate node determines the operation to be performed by at least one terminal managed by the intermediate node and the operation time of each terminal according to the task information and the local clock information, thereby determining the first operation information of the terminal.
  • the first operation information includes the time when the terminal performs at least one first operation.
  • Each terminal can perform one or more first operations, and the number of first operations performed by the terminal is not particularly limited in this embodiment.
  • the time when the terminal performs the first operation may be the time when the first operation is started, or the time when the first operation is ended, or it may be the time when the first operation is started and the time when the first operation is ended. The time of the first operation.
  • the local clock information includes information about the first local clock and information about the second local clock.
  • the first local clock is used to synchronize the intermediate node with the control node
  • the second local clock is used to synchronize the intermediate node with the terminal. That is, the intermediate node maintains the first local clock and the second local clock at the same time.
  • the intermediate node since the task information is based on the first local clock maintained locally, it is necessary to convert the task information into the first operation information based on the second local clock, and then notify the terminal , The terminal performs the operation at a time point based on the second local clock.
  • the intermediate node determines the corresponding relationship between the first local clock and the second local clock according to the local clock information; determines the terminal according to the task information and the corresponding relationship between the first local clock and the second local clock The first operation information.
  • the task information is based on the first local clock, and the time for the terminal to perform each first operation is based on the second local clock.
  • FIG. 4 is taken as an example for detailed description.
  • FIG. 4 is a schematic diagram of a time axis of time sequence management provided by an embodiment of the application.
  • the clock in the first clock synchronization area is represented by solid lines
  • the clock in the second clock synchronization area A is represented by the first dashed line segment.
  • the line segments included in the first dashed line segment have different lengths
  • the clock in area B is represented by a second dashed line segment, and the line segments included in the second dashed line segment have the same length.
  • each intermediate node has two local clocks, which are represented by two time lines, and the time line of intermediate node A is The solid line and the first dashed segment are represented, and the time line of the middle node B is represented by the solid line and the second dashed segment.
  • Terminal A1, terminal A2, and terminal A3 are located on the same production line, and their operations need to comply with a certain timing relationship; terminal B1, terminal B2, and terminal B3 are located on the same production line, and their operations need to comply with a certain timing relationship.
  • the terminals A1-A3 and the terminals B1-B3 belong to two different second clock synchronization areas respectively, so the terminals A1-A3 and the terminals B1-B3 do not need clock synchronization.
  • the intermediate node After the intermediate node receives the task information, the intermediate node converts T1 and T2 indicated by solid lines notified by the control node into time information represented by the clock used by the terminal on its local production line.
  • Intermediate node A transforms T1 into T1'.
  • T1' corresponds to a time point on the first dashed segment. From the perspective of intermediate node A, T1 and T1' represent the same real time.
  • Intermediate node B transforms T2 into T2'.
  • T2' corresponds to a time point on the second dashed segment. From the perspective of intermediate node B, T2 and T2' represent the same real time.
  • the intermediate node A takes the intermediate node A as an example for description.
  • the intermediate node B the implementation principle is similar, and details are not described in this embodiment.
  • the values of the first local clock and the second local clock may be the same or different.
  • the corresponding relationship between the first local clock and the second local clock is that the time value of the first local clock directly corresponds to the time value of the second local clock.
  • the task information includes The end time of the task, the end time is 19:00, the first local clock and the second local clock are both 18:00, then the intermediate node A controls the terminal A1 to complete the operation before 19:00 on the second local clock 11.
  • the control terminal A2 completes operation 12, and the control terminal A3 completes operation 13.
  • the corresponding relationship between the first local clock and the second local clock is that the two correspond to the same real time point.
  • the second local clock maintained by the intermediate node synchronizes the time between the intermediate node and the terminal, and the time of the terminal is used as the synchronization time
  • the values of the first local clock and the second local clock may be different.
  • this embodiment will not repeat them this time.
  • the first local clock is 13:00 and the second local clock is 15:00.
  • the intermediate node sends first operation information to the terminal, where the first operation information includes the time when the terminal performs at least one first operation.
  • the terminal receives the first operation information from the intermediate node.
  • S307 The terminal performs the at least one first operation according to the first operation information.
  • the intermediate node After the intermediate node determines the first operation information, the intermediate node sends the first operation information to the terminal, and the terminal performs at least one first operation according to the first operation information.
  • the first operation information includes the time when the terminal performs the first operation; when the terminal can perform two or more first operations, the first operation information includes each first operation And the time of each first operation.
  • the terminal only needs to perform the corresponding first operation according to the first operation information.
  • the production line is a parallel operation production line, different terminals can also perform the same first operation at the same time.
  • the timing management method provided by the embodiment of the present application is applied to a timing management system.
  • the timing management system includes a control node, an intermediate node, and a terminal.
  • an intermediate node is added to divide the timing management system into two clock synchronization areas.
  • the control node and the intermediate node are located in the first clock synchronization area, and the intermediate node and the terminal are located in the second clock synchronization area, realizing hierarchical control, and restricting the clock synchronization area that requires precise synchronization to a relatively small geographic range. Due to the intermediate distance
  • the terminal is close, and the transmission delay with the terminal is very short, so it can ensure that the clock synchronization between the terminals meets the accuracy requirements.
  • the intermediate node receives task information from the control node, the task information includes at least one of start information and end information of at least one task; the intermediate node determines the first operation information of the terminal according to the task information and local clock information, and the first The operation information includes the time for the terminal to perform at least one first operation. Since an intermediate node that is closer to the terminal and has a shorter transmission delay with the terminal is used to determine the first operation information of the terminal, the first operation information can be based on the clock of the terminal. To accurately indicate the time for the terminal to perform at least one first operation, it is ensured that the clock synchronization between the terminals reaches a higher accuracy requirement.
  • Fig. 5 is a flowchart of a time sequence management method provided by an embodiment of the application.
  • the control node may also directly send the second operation information to the terminal, and the terminal receives the second operation information directly.
  • the data from the control node is submitted to the application layer entity, and the operation performed by the second operation information is executed.
  • the method specifically includes:
  • the control node determines second operation information, where the second operation information is used to instruct the terminal to perform at least one second operation.
  • S502 The control node sends second operation information to the terminal.
  • S503 The terminal receives second operation information from the control node.
  • S502 and S503 may be the same step. In this embodiment, they are described separately from the perspective of sending the control node and the receiving perspective of the terminal.
  • the PDCP entity of the terminal submits second operation information to the application layer entity of the terminal, and the application layer entity controls the terminal to perform at least one second operation.
  • the PDCP entity of the terminal may submit the second operation information to the application layer entity of the terminal directly or through other protocol layer entities.
  • the control node may require the terminal to perform some operations preferentially, and the control node may directly send the second operation information to the terminal. For example, when the assembly line where the terminal is located fails, or the parts of the terminal become loose, the control node can send second operation information to the terminal to control the operation performed by the terminal. This embodiment does not specifically limit the implementation process for the control node to determine the second operation information.
  • the user plane protocol stack of the terminal may be, for example, a physical PHY layer, a MAC layer, an RLC layer, a PDCP layer, an IP layer, and an application layer from bottom to top.
  • the PDCP entity of the PDCP layer is responsible for compressing and decompressing the IP header, transmitting data, and maintaining the sequence number (SN) of each protocol data unit (protocol data unit, PDU), and submits the protocol data unit according to the sequence number
  • PDU protocol data unit
  • the protocol data unit is delivered to the application layer entity through the IP layer, and when there is no IP layer, the protocol data unit is directly delivered to the application layer entity.
  • the PDCP entity After the terminal receives the second operation information from the control node, the PDCP entity submits the second operation information to the application layer entity, and the application layer entity performs the second operation.
  • the second operation information is instruction information used to instruct the terminal to perform the second operation.
  • the second operation information includes the identifiers of the two or more second operations.
  • the second operation information may not include the time when the terminal performs the second operation, and the second operation information does not include the implementation of the time when the terminal performs the second operation. For details, see the implementation shown in FIGS. 6A and 6B below. example.
  • the second operation information may also include the time when the terminal performs the second operation.
  • the second operation information includes the time when the terminal can perform the second operation; when the terminal can perform two or more second operations, the second operation information includes each second operation And the time of each second operation.
  • the terminal only needs to perform the corresponding second operation according to the second operation information.
  • the production line is a parallel operation production line, different terminals can also perform the same second operation at the same time.
  • the second operation information including the time for the terminal to perform the second operation refer to the following embodiments shown in FIG. 7A, FIG. 7B, and FIG. 7C.
  • the control node directly sends second operation information to the terminal, and the terminal performs at least one corresponding second operation according to the second operation information. That is, in some cases, the control node may not pass through the intermediate Nodes and fast control of the terminal ensure the control of the terminal by the control node and ensure the timeliness in emergency situations.
  • FIG. 6A is a schematic diagram of a time axis of time sequence management provided by an embodiment of this application
  • FIG. 6B is a schematic diagram of an operation information processing solution provided by an embodiment of this application.
  • the second operation information sent by the control node to the terminal does not carry information about the execution time.
  • the PDCP entity of the terminal After receiving the second operation information, the PDCP entity of the terminal preferentially submits the second operation information to the application layer entity, and the application layer entity performs the at least one second operation.
  • a first bearer is established in advance for data transmission between the intermediate node and the terminal, and a second bearer is established for data transmission between the control node and the terminal.
  • the terminal maintains one queue for each bearer, so the terminal maintains two queues.
  • the data in queue one comes from the intermediate node and corresponds to the first bearer
  • the data in queue two comes from the control node and corresponds to the second bearer.
  • the bearer involved in the embodiment of the present application may be, for example, a radio bearer, and may also be referred to as a data bearer or a data radio bearer.
  • the process of establishing the first bearer may be, for example, that the intermediate node sends the first configuration parameter to the terminal.
  • the first configuration parameter carries parameters such as logical channel identifier, physical channel identifier, and transmission power, and then the terminal The first bearer is established according to the first configuration parameter.
  • the process of establishing the second bearer may be that the control node sends a second configuration parameter to the terminal, where the second configuration parameter is similar to the first configuration parameter, and the terminal establishes the second bearer according to the second configuration parameter.
  • the PDCP layer of the terminal will configure a PDCP entity to process the data of the bearer.
  • the intermediate node and the terminal respectively configure their respective first PDCP entities for the first bearer; the control node and the terminal respectively configure their respective second PDCP entities for the second bearer.
  • the first PDCP entity of the terminal can process the data in the first queue to obtain the serial number of the data, and sort the received data according to the serial numbers according to the serial numbers of the multiple data received within a period of time, and then order the The application layer entity submits the data.
  • the data sent by the control node to the terminal may have a serial number or no serial number.
  • the second PDCP entity of the terminal will give priority to the data to the application layer entity.
  • the second PDCP entity receives a piece of data, it submits the data to the application layer entity, instead of receiving multiple pieces of data, sorting the data according to the sequence number, and submitting it to the application layer entity in order.
  • the data in the queue may also be called a data packet, which is data transferred between protocol entities, and may be called a protocol data unit, that is, each protocol data unit corresponds to a serial number.
  • the intermediate node sends the first operation information to the terminal through the first bearer
  • the control node sends the second operation information to the terminal through the second bearer. That is, the two use independent bearers to send the operation information, and the control node is sending
  • the second operation information does not require signaling interaction with the intermediate node, which ensures the independence of the two operations.
  • the terminal maintains two queues, processes the data of the intermediate node through the first queue, and processes the data of the control node through the second queue. , To ensure the independence of data processing, so that the two can be performed in parallel, and improve the efficiency of data processing.
  • the control node obtains the first configuration parameter of the first bearer between the intermediate node and the terminal, and the PDCP entity of the control node sends the second operation information to the terminal through the first bearer according to the first configuration parameter.
  • the second operation information does not include the serial number of the data.
  • the PDCP entity of the control node encapsulates the second operation information, it does not add the sequence number of the PDCP protocol data unit in the header.
  • the terminal maintains a queue.
  • the data from the intermediate node is processed by the PDCP entity of the intermediate node, and the protocol data unit carries a serial number. Therefore, the data received by the PDCP entity of the terminal from the intermediate node is delivered to the application layer entity in order according to the serial number.
  • the PDCP entity of the control node does not carry the serial number when the protocol data unit is processed. Therefore, the terminal PDCP entity receives the protocol data unit that does not carry the serial number, and it will give priority to the application layer entity.
  • the PDCP entity receives a piece of data from the control node and submits the data to the application layer entity.
  • the data sent by the control node can also carry other indication information, as long as the indication information can identify that the data comes from the control node, not from an intermediate node, and the terminal receives the data from the control node.
  • the PDCP entity preferentially submits to the application layer entity.
  • the indication information may be the identification of the control node or the pre-appointed information between the control node and the terminal.
  • the PDCP entity of the control node does not need to add a serial number to the data, which simplifies the processing flow of the control node.
  • the terminal only maintains a queue, and the PDCP entity of the terminal preferentially submits the data from the control node to the application layer entity , Does not need two queues to realize, also simplifies the terminal processing flow.
  • FIG. 7A is a schematic diagram of a time sequence management system provided by an embodiment of this application
  • FIG. 7B is a schematic diagram of a time axis of time sequence management provided by an embodiment of this application
  • FIG. 7C is a schematic diagram of an operation information processing solution provided by an embodiment of this application.
  • control node regularly interacts with the intermediate node, so that the control node can synchronize with the terminal, so that in an emergency, the control node sends the second operation information to the terminal, so that the terminal can perform the second operation at the execution time of the second operation. operating.
  • the time when the terminal performs the second operation may be the time when the second operation is started, or the time when the second operation is ended, or it may be the time when the second operation is started and the time when the second operation is ended. The time of the second operation.
  • the control node obtains the clock of the terminal by interacting with the intermediate node. Specifically, the control node receives the clock synchronization information sent by the intermediate node, the clock synchronization information includes the current time of the second local clock maintained by the intermediate node, and the second local clock is used to synchronize the intermediate node with the terminal. As shown in FIG. 7B, the control node determines the second operation information according to the clock synchronization information.
  • the second operation information includes the time when the terminal performs at least one second operation, and the time of the at least one second operation is based on the second local clock. , That is, the time of the local clock synchronized between the intermediate node and the terminal is the reference, that is, the local clock of the terminal shall prevail.
  • the control node maintains three clocks at the same time, the control node's own clock, the clock synchronized between the intermediate node A and the terminals A1-A3, and the clock synchronized between the intermediate node B and the terminals B1-B3.
  • the time for the terminal to perform at least one second operation is based on the time of the terminal itself.
  • the control node receives the clock synchronization information sent by the intermediate node, and the time carried in the clock synchronization information is 12:00, which is the current time of the terminal. At this time, the current time of the control node is 15:00.
  • the control node may also be multiple ways for the control node to send the second operation information to the terminal.
  • the method of solution one can be used, that is, a first bearer is established for data transmission between the intermediate node and the terminal in advance, and a second bearer is established for data transmission between the control node and the terminal.
  • the first solution is similar to the first solution shown in FIG. 6B.
  • For the bearer establishment process please refer to the above-mentioned embodiment, and this embodiment will not repeat it here.
  • the PDCP layer of the terminal will configure a PDCP entity to process the data of the bearer.
  • the intermediate node and the terminal respectively configure their respective first PDCP entities for the first bearer;
  • the control node and the terminal respectively configure their respective second PDCP entities for the second bearer.
  • the first PDCP entity of the terminal can process the data in the first queue to obtain the serial number of the data, and sort the received data according to the serial numbers according to the serial numbers of multiple data received within a period of time, and then send them to the application layer entity in order. Submit the data.
  • the data sent by the control node to the terminal since the second operation information carries the execution time of the second operation, the second PDCP entity of the terminal only needs to submit the data to the application layer entity before the start time.
  • the time of the second operation does not include the start time but the end time
  • the preset time is recursively forwarded according to the end time to obtain the start time.
  • This embodiment does not specifically limit the implementation of obtaining the start time, and the data in the second queue may have a serial number or no serial number. Regardless of whether there is a serial number, this embodiment only needs to submit the data to the application layer entity before the start time. The data is fine.
  • the upper layer such as the application layer
  • the application layer corresponds to the same access point, that is, the two bearers are connected through the same access point.
  • the application layer entity that enters the terminal that is, the number of application layer entities is one.
  • the PDCP layer corresponds to two bearers for the terminal.
  • the intermediate node and the control node use independent bearers to send operation information, and the control node does not need to perform signaling interaction with the intermediate node when sending the second operation information, which ensures the independence of the two operations.
  • the terminal passes Queue 1 processes the data of the intermediate nodes, and processes the data of the control nodes through Queue 2, which ensures the independence of data processing, so that the two can be performed in parallel, which improves the efficiency of data processing.
  • the terminal can also be based on the second operation information.
  • the terminal performs at least one second operation time to perform the operation, which improves the time accuracy of the terminal performing the operation.
  • the solution shown in solution 2 in FIG. 7C may also be adopted.
  • the second solution there is no need to establish a separate bearer for the data transmission between the control node and the terminal in advance, and the data transmission between the control node and the terminal can reuse the bearer of the data transmission between the intermediate node and the terminal. That is, the control node sends the second operation information to the terminal through the first bearer, where the first bearer is a bearer for the intermediate node to send the first operation information to the terminal.
  • the control node, the intermediate node and the terminal respectively configure their own PDCP entities for the first bearer.
  • the second operation information does not include the serial number of the data.
  • the terminal maintains a queue, and the way the terminal processes the data from the intermediate node and the data from the control node is similar to the second solution shown in FIG. 6B, and will not be repeated in this embodiment.
  • the data is obtained from the control node, and the PDCP entity of the terminal submits the second operation information to the application layer entity according to the time when the second operation is performed.
  • the time when the terminal performs the second operation is the start time when the terminal performs the second operation. If the time of the second operation does not include the start time, but the end time, the start time is obtained according to the end time. For details, please refer to the foregoing embodiment, and this embodiment will not repeat it this time.
  • the PDCP entity of the terminal may submit the data to the application layer entity before the start time.
  • the PDCP entity of the terminal may submit the data to the application layer entity according to a preset advance time and start time. For example, if the start time is 15:00 and the preset advance time is 1 minute, the PDCP entity of the terminal submits the data to the application layer entity at 14:59.
  • the PDCP layer entity of the control node does not need to add a sequence number to the data, which simplifies the processing flow of the control node.
  • the terminal only maintains one queue.
  • the PDCP entity of the terminal will come from the control node according to the execution time of the second operation.
  • the data submitted to the application layer entity simplifies the terminal processing flow and also ensures the timeliness of the second operation.
  • the solution shown in solution 3 in FIG. 7C may also be adopted.
  • the control node and the intermediate node reuse the first bearer.
  • the process of establishing the first bearer may be that the intermediate node or the control node sends a first configuration parameter to the terminal, and the first configuration parameter carries parameters such as a logical channel identifier, a physical channel identifier, and transmit power.
  • the terminal establishes the first bearer according to the first configuration parameter.
  • control node sends the first configuration parameter to the terminal to establish the first bearer
  • the control node also sends the first configuration parameter to the intermediate node; if the intermediate node sends the first configuration parameter to the terminal to establish the first bearer , The intermediate node also sends the first configuration parameter to the control node.
  • control node and the intermediate node communicate with the terminal according to the same first configuration parameter, they multiplex the first bearer.
  • the control node, the intermediate node, and the terminal respectively configure their own PDCP entities for the first bearer.
  • the PDCP entity of the control node receives the sequence number information sent by the PDCP entity of the intermediate node.
  • the sequence number information includes the first data of the last data sent by the intermediate node to the terminal.
  • Sequence number; the control node determines the second operation information according to the sequence number information, the second operation information includes a second sequence number, and the second sequence number is a sequence number after the first sequence number and continuous with the first sequence number.
  • the terminal configures a PDCP entity to receive data from the control node and data from the intermediate node.
  • the intermediate node and the control node exchange the serial number information of the data unit.
  • the intermediate node and the control node can learn the current use of the serial number of the data unit.
  • the control node needs to directly issue an instruction to the terminal, it can also assign a serial number to the data.
  • the PDCP of the terminal After the terminal receives the second operation information, the PDCP of the terminal The entity submits data to the application layer entity in order according to the serial number of the data unit. For example, if the sequence number of the data sent by the intermediate node to the control node is 6, the sequence number corresponding to the second operation information sent by the control node to the terminal may be 7.
  • the terminal does not need to distinguish whether the data comes from a control node or an intermediate node.
  • the PDCP entity of the terminal only needs to submit the data to the application layer entity in order according to the serial number of the received data. , which simplifies the operation of the terminal and reduces the processing requirements for the terminal.
  • the application layer entity executes the corresponding operation according to the execution time of the second operation after receiving the data submitted by the PDCP layer entity.
  • the control node sends second operation information to the terminal.
  • the second operation information includes the time when the terminal performs the second operation.
  • the time of the second operation is based on the local clock of the terminal.
  • the second operation information is given priority to the application layer entity, or the second operation information is submitted to the upper layer according to the time of the second operation, which ensures that the terminal can perform the second operation at the corresponding execution time, so that the second operation of the terminal
  • the operation is time-accurate.
  • Figure 8 is a schematic structural diagram of an intermediate node provided by an embodiment of the application. As shown in Figure 8, the intermediate node 80 includes
  • the receiving module 801 is configured to receive task information from the control node, where the task information includes at least one of start information and end information of at least one task;
  • the processing module 802 is configured to determine operation information of the terminal according to the task information and local clock information, the operation information includes the time at which the terminal performs at least one operation, and the local clock information includes the intermediate node Information about the maintained clock; and
  • the sending module 803 is configured to send the operation information to the terminal.
  • the local clock information includes information about a first local clock and information about a second local clock
  • the first local clock is used to synchronize the intermediate node with the control node
  • the The second local clock is used to synchronize the intermediate node with the terminal.
  • processing module 802 is specifically configured to:
  • the task information determines the operation information of the terminal; wherein the task information uses the first local clock as a time reference, and the time at which the terminal performs the at least one operation is based on the The second local clock is the time reference.
  • the receiving module 801 is further configured to: receive clock synchronization information from the control node, where the clock synchronization information includes the current time of the control node;
  • the processing module 802 is further configured to update the first local clock maintained by the intermediate node according to the clock synchronization information and the time delay information between the control node and the intermediate node.
  • FIG. 9 is a schematic diagram of the hardware structure of an intermediate node provided by an embodiment of the application.
  • the intermediate node 90 includes: a processor 901 and a memory 902; wherein
  • the memory 902 is used to store computer programs
  • the processor 901 is configured to execute a computer program stored in the memory to implement the time sequence management method executed by the intermediate node in the foregoing embodiment. For details, refer to the related description in the foregoing method embodiment.
  • the memory 902 may be independent or integrated with the processor 901.
  • the intermediate node 90 may further include:
  • the bus 903 is used to connect the memory 902 and the processor 901.
  • the intermediate node 90 shown in FIG. 9 may further include a receiver 904 and a transmitter 905.
  • the receiver 904 is used to receive data or signals from the control node
  • the transmitter 905 is used to send data or signals to the control node or terminal. signal.
  • the processing module described in FIG. 8 may be integrated in the processor 901, the receiving module may be integrated in the receiver 904, and the sending module may be integrated in the transmitter 905.
  • the intermediate node provided in the embodiment of the present application can be used to execute the method executed by the intermediate node in the foregoing method embodiment, and its implementation principles and technical effects are similar, and details are not described herein again in this embodiment.
  • FIG. 10 is a schematic structural diagram of a control node provided by an embodiment of this application. As shown in FIG. 10, the control node 100 includes:
  • the processing module 1001 is configured to determine task information, where the task information includes at least one of start information and end information of at least one task;
  • the sending module 1002 is configured to send the task information to the intermediate node, and the task information is used to cause the intermediate node to send first operation information to the terminal to instruct the terminal to perform at least one first operation. time.
  • the processing module 1001 is further configured to determine second operation information, where the second operation information is used to instruct the terminal to perform at least one second operation;
  • the sending module 1002 is also used to send second operation information to the terminal.
  • the sending module 1002 is specifically configured to: send the second operation information to the terminal through a first bearer; wherein, the first bearer is the intermediate node to the terminal The bearer for sending the first operation information; or
  • the second operation information is sent to the terminal through the second bearer, and the intermediate node sends the first operation information to the terminal through the first bearer.
  • control node further includes a receiving module 1003, configured to receive clock synchronization information sent by the intermediate node before the control node sends the second operation information to the terminal, and
  • the clock synchronization information includes the current time of the local clock maintained by the intermediate node, and the local clock is used to synchronize the intermediate node with the terminal;
  • the processing module 1001 is specifically configured to determine the second operation information according to the clock synchronization information, where the second operation information includes the time at which the terminal performs the at least one second operation, and the time of the second operation The time is based on the local clock.
  • the second operation information does not include the protocol data unit of the packet data convergence protocol layer. Serial number.
  • the receiving module 1003 is further configured to: receive sequence information sent by the intermediate node, the sequence information including the first sequence number of the last data sent by the intermediate node to the terminal;
  • the processing module 1001 is specifically configured to determine the second operation information according to the sequence information, the second operation information includes a second sequence number, and the second sequence number is after the first sequence number and is the same as the The first serial number is a serial number.
  • FIG. 11 is a schematic diagram of the hardware structure of a control node provided by an embodiment of the application.
  • the control node 110 includes: a processor 1101 and a memory 1102; where
  • the memory 1102 is used to store computer programs
  • the processor 1101 is configured to execute a computer program stored in the memory to implement the timing management method executed by the control node in the foregoing embodiment. For details, refer to the related description in the foregoing method embodiment.
  • the memory 1102 may be independent or integrated with the processor 1101.
  • control node 110 may further include:
  • the bus 1103 is used to connect the memory 1102 and the processor 1101.
  • the control node 110 shown in FIG. 11 may further include a receiver 1104 and a transmitter 1105.
  • the receiver 1104 is used to receive data or signals from an intermediate node, and the transmitter 1105 is used to send data or signals to the terminal.
  • the processing module described in FIG. 10 may be integrated in the processor 1101, the receiving module may be integrated in the receiver 1104, and the sending module may be integrated in the transmitter 1105.
  • control node provided in the embodiment of the present application can be used to execute the method executed by the control node in the foregoing method embodiment, and its implementation principles and technical effects are similar, and details are not described herein again in this embodiment.
  • FIG. 12 is a schematic structural diagram of a terminal provided by an embodiment of the application. As shown in FIG. 12, the terminal 120 includes:
  • the receiving module 1201 is configured to receive first operation information from the intermediate node, where the first operation information includes the time when the terminal performs at least one first operation;
  • the processing module 1202 is configured to execute the at least one first operation according to the first operation information.
  • the receiving module 1201 is further configured to receive second operation information from the control node, where the second operation information is used to instruct the terminal to perform at least one second operation;
  • the processing module 1202 is further configured to preferentially deliver the second operation information to the application layer entity after the PDCP entity of the packet data convergence protocol receives the second operation information.
  • the processing module 1202 is specifically configured to: after receiving the second operation information, if it is determined that the second operation information does not include the sequence number of the PDCP layer protocol data unit, then Directly submit the second operation information to the application layer entity.
  • the receiving module 1201 is further configured to: receive second operation information from the control node, where the second operation information includes the time when the terminal performs the at least one second operation;
  • the processing module 1202 is further configured to: submit the second operation information to the application layer entity according to the time when the at least one second operation is performed.
  • the receiving module 1201 is specifically configured to:
  • the second operation information is received from the control node through a second bearer, and the terminal receives the first operation information from the intermediate node through a first bearer.
  • the receiving module 1201 is specifically configured to: receive first operation information from the intermediate node through a first bearer, where the first operation information includes a first sequence number;
  • the processing module 1202 is specifically configured to: according to the sequence relationship between the first sequence number and the second sequence number, submit the second operation information to an application layer entity.
  • FIG. 13 is a schematic diagram of the hardware structure of a terminal provided by an embodiment of the application. As shown in FIG. 13, the terminal 130 includes: a processor 1301 and a memory 1302; wherein
  • the memory 1302 is used to store computer programs
  • the processor 1301 is configured to execute a computer program stored in the memory to implement the timing management method executed by the terminal in the foregoing embodiment. For details, refer to the related description in the foregoing method embodiment.
  • the memory 1302 may be independent or integrated with the processor 1301.
  • control node 130 may further include:
  • the bus 1303 is used to connect the memory 1302 and the processor 1301.
  • the terminal 130 shown in FIG. 13 may further include a receiver 1304, which is configured to receive data or signals from an intermediate node or a control node.
  • the processing module described in FIG. 13 may be integrated into the processor 1301 for implementation, and the receiving module may be integrated into the receiver 1304 for implementation.
  • the terminal provided in the embodiment of the present application may be used to execute the method executed by the terminal in the foregoing method embodiment, and its implementation principles and technical effects are similar, and details are not described herein again in this embodiment.
  • the embodiment of the present application provides a storage medium, the storage medium includes a computer program, and the computer program is used to implement the time sequence management method performed by the above intermediate node.
  • the embodiment of the present application also provides a chip, including a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the chip is installed
  • the communication device executes the timing management method implemented by the above intermediate node.
  • the embodiments of the present application also provide a computer program product, the computer program product includes computer program code, when the computer program code is run on a computer, the computer executes the timing management method implemented by the intermediate node in the above embodiment .
  • the embodiment of the present application provides a storage medium, the storage medium includes a computer program, and the computer program is used to implement the timing management method executed by the above control node.
  • the embodiment of the present application also provides a chip, including a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the chip is installed
  • the communication device executes the timing management method implemented by the above control node.
  • the embodiment of the present application also provides a computer program product, the computer program product includes computer program code, when the computer program code is run on a computer, the computer executes the timing management method implemented by the control node in the above embodiment .
  • An embodiment of the present application provides a storage medium, the storage medium includes a computer program, and the computer program is used to implement the time sequence management method executed by the above terminal.
  • the embodiment of the present application also provides a chip, including a memory and a processor, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the chip is installed
  • the communication device executes the timing management method implemented by the above terminal.
  • the embodiments of the present application also provide a computer program product, the computer program product includes computer program code, when the computer program code runs on a computer, the computer executes the timing management method implemented by the terminal in the above embodiment.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the modules is only a logical function division, and there may be other divisions in actual implementation, for example, multiple modules can be combined or integrated. To another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or modules, and may be in electrical, mechanical or other forms.
  • modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional modules in the various embodiments of the present application may be integrated into one processing unit, or each module may exist alone physically, or two or more modules may be integrated into one unit.
  • the units formed by the above-mentioned modules can be realized in the form of hardware, or in the form of hardware plus software functional units.
  • the above-mentioned integrated modules implemented in the form of software function modules may be stored in a computer readable storage medium.
  • the above-mentioned software function module is stored in a storage medium and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to execute the various embodiments of the present application Part of the method.
  • processor may be a central processing unit (English: central processing unit, abbreviated as: CPU), or other general-purpose processors, digital signal processors (English: digital signal processor, abbreviated as: DSP), and application-specific integrated circuits. (English: application specific integrated circuit, abbreviated as ASIC) etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like. The steps of the method disclosed in combination with the invention can be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.
  • the memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage, and may also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk, or an optical disk.
  • NVM non-volatile storage
  • the bus may be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus.
  • ISA industry standard architecture
  • PCI peripheral component
  • EISA extended industry standard architecture
  • the bus can be divided into address bus, data bus, control bus, etc.
  • the buses in the drawings of this application are not limited to only one bus or one type of bus.
  • the above-mentioned storage medium can be realized by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Except for programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disks or optical disks.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable except for programmable read only memory
  • PROM programmable read only memory
  • ROM read only memory
  • magnetic memory flash memory
  • flash memory magnetic disks or optical disks.
  • optical disks any available medium that can be accessed by a general-purpose or special-purpose computer.
  • An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and can write information to the storage medium.
  • the storage medium may also be an integral part of the processor.
  • the processor and the storage medium may be located in application specific integrated circuits (ASIC for short).
  • ASIC application specific integrated circuits
  • the processor and the storage medium may also exist as discrete components in the electronic device or the main control device.

Abstract

本申请实施例提供一种时序管理方法、设备及系统，该系统包括控制节点、中间节点以及与中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，该方法包括：所述中间节点从所述控制节点接收任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；所述中间节点根据所述任务信息和本地时钟信息，确定所述终端的操作信息，所述操作信息包括所述终端执行至少一个操作的时间，所述本地时钟信息包括所述中间节点所维护的时钟的信息；以及所述中间节点向所述终端发送所述操作信息。本申请实施例可以提高终端之间的时钟同步精度。

Description

时序管理方法、设备及系统
本申请要求于2019年5月27日提交中国专利局、申请号为201910446930.2、申请名称为“时序管理方法、设备及系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及移动通信技术领域，具体涉及一种时序管理方法、设备及系统。
背景技术
物联网是将具有感知、监控能力的各类采集、控制传感器或控制器，以及移动通信、智能分析等技术不断融入到工业生产过程各个环节，从而大幅提高制造效率，改善产品质量，降低产品成本和资源消耗，最终实现将传统工业提升到智能化的新阶段。
在物联网中，通常采用移动通信来传输工业控制所需的数据。在具体实现过程中，由于各个操作设备之间的操作顺序通常需要遵循一定的时间关系，所以要求工业控制的控制节点所使用的时钟与操作设备所使用的时钟进行同步。图1为现有技术提供的物联网系统示意图。如图1所示，控制节点指挥三个操作臂工作：分别让操作臂1在时间点T1执行某个动作，让操作臂2在时间点T2执行某个动作，让操作臂3在时间点T3执行某个动作。由于T1/T2/T3这三个时间点相隔很近，最小间隔为1us，所以要求三个操作臂各自所维护的时钟与控制节点所维护的时钟保持精确同步，操作臂与操作臂之间时钟误差小于1us。目前，控制节点与操作臂处在同一个时钟同步区域内，控制节点将自己的时钟信息发给操作臂，该时钟信息的内容例如是“现在时间是几点几分几秒”，该信息经过无线通信网络的传输，到达操作臂，操作臂在收到该时钟信息后，根据时钟信息和传输时延，调整自己维护的时钟，使自身时钟与控制节点的时钟同步。
然而，由于无线通信网络传输该时钟信息的时延远远大于“时钟信息”的精度，另外，测量出来的传输时延精度也不足，因此，操作臂与操作臂之间的时钟同步无法达到工作需求。
发明内容
本申请实施例提供一种时序管理方法、设备及系统，本申请实施例可以提高终端之间的时钟同步精度。
第一方面，本申请实施例提供一种时序管理方法，应用于时序管理系统，该时序管理系统包括第一时钟同步区域和至少一个第二时钟同步区域，第一时钟同步区域内设有控制节点和至少一个中间节点，每个第二时钟同步区域内设有各自对应的一个中间节点和至少一个终端；中间节点从控制节点接收任务信息，任务信息包括至少一个 任务的开始信息、结束信息中的至少一个；在可能的实现方式中，该开始信息包括开始时间，该结束信息包括结束时间；该中间节点例如可以为中继设备或终端；中间节点根据任务信息和本地时钟信息，确定本机所管理的多个终端各自的操作信息，每个终端的操作信息包括终端执行至少一个操作的时间，本地时钟信息包括中间节点所维护的用于与控制节点和终端所同步的时钟的信息；中间节点向终端发送操作信息。
本申请实施例通过分级时钟同步，在第一时钟同步区域中实现中间节点与控制节点的时钟同步，二者不需要较高的时钟同步精度，所以可以距离较远。在第二时钟同步区域中实现控制节点与终端的时钟同步，二者距离较近，可以满足较高的时钟同步精度。
在一种可能的实现方式中，所述本地时钟信息包括第一本地时钟的信息和第二本地时钟的信息，所述第一本地时钟对应第一同步区域，所述第一本地时钟用于所述中间节点与所述控制节点同步，所述第二本地时钟对应第二同步区域，所述第二本地时钟用于所述中间节点与所述终端同步。
中间节点通过分级维护第一本地时钟和第二本地时钟，中间节点与控制节点较低精度的同步并不影响工作需求，同时还满足了中间节点与终端之间较高精度的同步需求，保证了终端之间的时钟同步。
在一种可能的实现方式中，所述中间节点根据所述任务信息和本地时钟信息，确定所述终端的操作信息，包括：
所述中间节点根据所述本地时钟信息，确定所述第一本地时钟和所述第二本地时钟的对应关系；
所述中间节点根据所述任务信息和所述对应关系，确定所述终端的操作信息；其中，所述任务信息以所述第一本地时钟为时间基准，所述终端执行每个操作的时间以所述第二本地时钟为时间基准。
当第一本地时钟与第二本地时钟对应同一真实时刻时，第一本地时钟与第二本地时钟的值可能相同，也可能不同。当第一本地时钟与第二本地时钟的值相同时，第一本地时钟和第二本地时钟的对应关系即为第一本地时钟的时间值直接对应第二本地时钟的时间值；当第一本地时钟与第二本地时钟的值不同时，第一本地时钟和第二本地时钟的对应关系为二者对应同一真实时间点。
通过根据该任务信息和对应关系，中间节点可以将控制节点所指示的时间转换为终端的本地时间，可以依据终端的本地时间来向终端发送操作信息，终端不需要进行时间转换，可以根据该操作信息所指示的时间直接进行操作，提高了终端的处理效率。
在一种可能的实现方式中，所述方法还包括：
所述中间节点从所述控制节点接收时钟同步信息，所述时钟同步信息包括控制节点的当前时间；所述中间节点根据所述时钟同步信息和所述控制节点与所述中间节点之间的时延信息，更新所述中间节点所维护的第一本地时钟。中间节点还可以定时或在满足更新条件时更新第一本地时钟和第二本地时钟。
通过中间节点与控制节点的时钟同步过程，保证了中间节点的第一本地时钟的时间准确性。
第二方面，本申请实施例提供一种时序管理方法，应用于时序管理系统，所述时 序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述方法包括：
所述控制节点确定任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；
所述控制节点向所述中间节点发送所述任务信息，所述任务信息用于使得所述中间节点向所述终端发送第一操作信息，以指示所述终端执行至少一个第一操作的时间。
通过分级时钟同步，在第一时钟同步区域中实现中间节点与控制节点的时钟同步，控制节点向每个中间节点发送的任务信息相互独立，同步精度低也并不影响中间节点的操作。在第二时钟同步区域中实现中间节点与终端的时钟同步，二者距离较近，可以满足较高的时钟同步精度。
第三方面，本申请实施例提供一种时序管理方法，应用于时序管理系统，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述方法包括：
所述控制节点确定第二操作信息，该第二操作信息用于指示所述终端执行至少一个第二操作；
所述控制节点向所述终端发送第二操作信息。
通过控制节点直接向终端发送第二操作信息，终端根据该第二操作信息执行相应的操作，即在一些情况下，控制节点可以不通过中间节点而快速控制终端，保证了控制节点对终端的控制，在紧急情况下可以保证时效性。
在一种可能的实现方式中，所述控制节点向所述终端发送第二操作信息包括：
所述控制节点通过第一承载向所述终端发送所述第二操作信息；其中，所述第一承载为所述中间节点向所述终端发送所述第一操作信息的承载。控制节点与中间节点共用第一承载，不需要为控制节点配置额外的承载，减少了配置过程，节省了承载资源。
在一种可能的实现方式中，所述控制节点向所述终端发送第二操作信息包括：
所述控制节点通过第二承载向所述终端发送所述第二操作信息，所述中间节点通过第一承载向所述终端发送所述第一操作信息。
中间节点通过第一承载向终端发送第二操作信息，控制节点通过第二承载向终端发送第一操作信息，即二者采用相互独立的承载发送操作信息，控制节点在发送第二操作信息时不需要与中间节点进行信令交互，保证了二者操作的独立性。
在一种可能的实现方式中，所述控制节点向所述终端发送第二操作信息之前，所述方法还包括：
所述控制节点接收所述中间节点发送的时钟同步信息，所述时钟同步信息包括所述中间节点所维护的本地时钟的当前时间，所述本地时钟用于所述中间节点与所述终端同步；
所述控制节点根据所述时钟同步信息确定所述第二操作信息，所述第二操作信息包括所述终端执行所述至少一个第二操作的时间，所述第二操作的时间以所述本地时 钟为时间基准。
该第二操作信息中执行第二操作的时间是以终端的本地时间为基准，终端不需要进行时间转换，可以根据该操作信息所指示的时间直接进行操作，提高了终端的处理效率。
在一种可能的实现方式中，若所述控制节点通过第一承载向所述终端发送所述第二操作信息，则所述第二操作信息中不包括分组数据汇聚协议层的协议数据单元的序号。
控制节点不需要对协议数据单元添加序号，减少了控制节点的处理流程，提高了控制节点的处理效率。
在一种可能的实现方式中，控制节点接收所述中间节点发送的序列信息，序列信息包括所述中间节点发送给所述终端的最后一个数据的第一序号；
所述控制节点根据所述序列信息确定所述第二操作信息，所述第二操作信息包括第二序号，所述第二序号为所述第一序号之后的且与所述第一序号连续的序号。
通过控制节点和中间节点共用协议数据单元的序号，保证了数据传输的有序性。
第四方面，本申请实施例提供一种时序管理方法，应用于时序管理系统，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述方法包括：
所述终端从所述中间节点接收第一操作信息，所述第一操作信息包括所述终端执行至少一个第一操作的时间，该第一操作的时间是以终端的本地时间为基准的；
所述终端根据所述第一操作信息，执行所述至少一个第一操作。
通过分级时钟同步，在第一时钟同步区域中实现中间节点与控制节点的时钟同步，控制节点向每个中间节点发送的任务信息相互独立，同步精度低也并不影响中间节点的操作。在第二时钟同步区域中实现中间节点与终端的时钟同步，二者距离较近，终端与控制节点的时钟同步精度较高，从而保证终端之间的时钟同步精度较高，即同一第二时钟同步区域内的终端具有相同的时间。
第五方面，本申请实施例提供一种时序管理方法，应用于时序管理系统，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述方法包括：
所述终端从所述控制节点接收第二操作信息，所述第二操作信息用于指示所述终端执行至少一个第二操作；
所述终端的分组数据汇聚协议PDCP实体在接收到所述第二操作信息后，优先向应用层实体递交所述第二操作信息。
通过终端直接从控制节点接收第二操作信息，终端根据该第二操作信息执行相应的操作，即在一些情况下，控制节点可以不通过中间节点而快速控制终端，保证了控制节点对终端的控制，在紧急情况下可以保证时效性。
在一种可能的实现方式中，所述终端的PDCP实体在接收到所述第二操作信息后，优先向应用层实体递交所述第二操作信息，包括：
所述终端在接收到所述第二操作信息后，若确定所述第二操作信息中不包括PDCP层的协议数据单元的序号，则直接向所述应用层实体递交所述第二操作信息。
终端在识别到没有序号的协议数据单元后，立即将该数据递交给应用层实体，保证了应用层实体能够快速执行第二操作，保证了第二操作的时效性。
在一种可能的实现方式中，所述方法还包括：
所述终端从所述控制节点接收第二操作信息，所述第二操作信息包括所述终端执行至少一个第二操作的时间；
所述终端根据执行至少一个第二操作的时间，向所述应用层实体递交所述第二操作信息。
该第二操作的时间以终端的本地时钟为基准的，终端根据第二操作的执行时间将该第二操作信息递交给上层，保证了终端可以在对应的执行时刻执行第二操作，使得终端的第二操作具有时间精准性。
在一种可能的实现方式中，所述终端从所述控制节点接收第二操作信息，包括：
所述终端通过第一承载从所述控制节点接收所述第二操作信息，其中，所述第一承载为所述终端从中间节点接收所述第一操作信息的承载。
终端从同一个承载接收控制节点和中间节点发送的数据，终端只维护一个队列，不需要两个队列来实现，也简化了终端的处理流程。
所述终端通过第二承载从所述控制节点接收所述第二操作信息，所述终端通过第一承载从所述中间节点接收所述第一操作信息。
终端通过两个承载来分别接收第一操作消息和第二操作消息，保证了数据处理的独立性，使得二者可以并行进行，提高了数据处理效率。
在一种可能的实现方式中，所述终端从所述中间节点接收第一操作信息，包括：所述终端通过第一承载从所述中间节点接收第一操作信息，所述第一操作信息包括第一序号；
所述终端从所述控制节点接收第二操作信息，包括：
所述终端通过所述第一承载从所述中间节点接收所述第二操作信息，所述第二操作信息包括第二序号；
所述终端将所述第二操作信息递交给应用层实体，包括：
所述终端根据所述第一序号和所述第二序号的顺序关系，将所述第二操作信息递交给应用层实体。
控制节点和中间节点共用协议数据单元的序号，终端根据序号来按顺序将数据递交给应用层实体，保证了数据传输的有序性。
第六方面，本申请实施例提供一种中间节点，应用于时序管理系统，所述时序管理系统包括控制节点、所述中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述中间节点包括：
接收模块，用于从所述控制节点接收任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；
处理模块，用于根据所述任务信息和本地时钟信息，确定所述终端的操作信息， 所述操作信息包括所述终端执行至少一个操作的时间，所述本地时钟信息包括所述中间节点所维护的时钟的信息；以及
发送模块，用于向所述终端发送所述操作信息。
在一种可能的实现方式中，所述本地时钟信息包括第一本地时钟的信息和第二本地时钟的信息，所述第一本地时钟用于所述中间节点与所述控制节点同步，所述第二本地时钟用于所述中间节点与所述终端同步。
在一种可能的实现方式中，所述处理模块具体用于：
根据所述本地时钟信息，确定所述第一本地时钟和所述第二本地时钟的对应关系；
根据所述任务信息和所述对应关系，确定所述终端的操作信息；其中，所述任务信息以所述第一本地时钟为时间基准，所述终端执行所述至少一个操作的时间以所述第二本地时钟为时间基准。
在一种可能的实现方式中，所述接收模块还用于：从所述控制节点接收时钟同步信息，所述时钟同步信息包括所述控制节点的当前时间；
所述处理模块还用于：根据所述时钟同步信息和所述控制节点与所述中间节点之间的时延信息，更新所述中间节点所维护的所述第一本地时钟。
第七方面，本申请实施例提供一种控制节点，应用于时序管理系统，所述时序管理系统包括所述控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述控制节点包括：
处理模块，用于确定任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；
发送模块，用于向所述中间节点发送所述任务信息，所述任务信息用于使得所述中间节点向所述终端发送第一操作信息，以指示所述终端执行至少一个第一操作的时间。
第八方面，本申请实施例提供一种控制节点，应用于时序管理系统，所述时序管理系统包括所述控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述控制节点包括：
处理模块，用于确定第二操作信息，所述第二操作信息用于指示所述终端执行至少一个第二操作；
发送模块，用于向所述终端发送第二操作信息。
在一种可能的实现方式中，所述发送模块具体用于：通过第一承载向所述终端发送所述第二操作信息；其中，所述第一承载为所述中间节点向所述终端发送所述第一操作信息的承载；或者
通过第二承载向所述终端发送所述第二操作信息，所述中间节点通过第一承载向所述终端发送所述第一操作信息。
在一种可能的实现方式中，所述控制节点还包括接收模块，用于在所述控制节点向所述终端发送第二操作信息之前，接收所述中间节点发送的时钟同步信息，所述时钟同步信息包括所述中间节点所维护的本地时钟的当前时间，所述本地时钟用于所述 中间节点与所述终端同步；
所述处理模块具体用于，根据所述时钟同步信息确定所述第二操作信息，所述第二操作信息包括所述终端执行所述至少一个第二操作的时间，所述第二操作的时间以所述本地时钟为时间基准。
在一种可能的实现方式中，若所述控制节点通过第一承载向所述终端发送所述第二操作信息，则所述第二操作信息中不包括分组数据汇聚协议层的协议数据单元的序号。
在一种可能的实现方式中，所述接收模块还用于：接收所述中间节点发送的序列信息，序列信息包括所述中间节点发送给所述终端的最后一个数据的第一序号；
所述处理模块具体用于：根据所述序列信息确定所述第二操作信息，所述第二操作信息包括第二序号，所述第二序号为所述第一序号之后的且与所述第一序号连续的序号。
第九方面，本申请实施例提供一种终端，应用于时序管理系统，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述终端包括：
接收模块，用于从所述中间节点接收第一操作信息，所述第一操作信息包括所述终端执行至少一个第一操作的时间；
处理模块，用于根据所述第一操作信息，执行所述至少一个第一操作。
第十方面，本申请实施例提供一种终端，应用于时序管理系统，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述终端包括：
接收模块，用于从所述控制节点接收第二操作信息，所述第二操作信息用于指示所述终端执行至少一个第二操作；
处理模块，用于在分组数据汇聚协议PDCP实体在接收到所述第二操作信息后，优先向应用层实体递交所述第二操作信息。
在一种可能的实现方式中，所述处理模块具体用于：在接收到所述第二操作信息后，若确定所述第二操作信息中不包括PDCP层的协议数据单元的序号，则直接向所述应用层实体递交所述第二操作信息。
在一种可能的实现方式中，所述接收模块还用于：从所述控制节点接收第二操作信息，所述第二操作信息包括所述终端执行所述至少一个第二操作的时间；
所述处理模块还用于：根据执行所述至少一个第二操作的时间，向所述应用层实体递交所述第二操作信息。
在一种可能的实现方式中，所述接收模块具体用于：
通过第一承载从所述控制节点接收所述第二操作信息，其中，所述第一承载为所述终端从中间节点接收所述第一操作信息的承载；
通过第二承载从所述控制节点接收所述第二操作信息，所述终端通过第一承载从所述中间节点接收所述第一操作信息。
在一种可能的实现方式中，所述接收模块具体用于：通过第一承载从所述中间节点接收第一操作信息，所述第一操作信息包括第一序号；
通过所述第一承载从所述中间节点接收所述第二操作信息，所述第二操作信息包括第二序号；
所述处理模块具体用于：根据所述第一序号和所述第二序号的顺序关系，将所述第二操作信息递交给应用层实体。
第十一方面，本申请实施例提供一种时序管理系统，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域；
所述中间节点用于执行如上第一方面或第一方面各种可能的设计所述的方法；
所述控制节点用于执行如上第二方面，或者如上第三方面或第三方面各种可能的设计所述的方法；
所述终端用于执行如上第四方面，或者如上第五方面或第五方面各种可能的设计所述的方法。
第十二方面，本申请实施例提供一种中间节点，包括：存储器和处理器，所述存储器用于存储计算机程序，所述处理器用于从所述存储器中调用并运行所述计算机程序，使得所述处理器运行所述计算机程序执行如上第一方面或第一方面各种可能的设计所述的时序管理方法。
第十三方面，本申请实施例提供一种控制节点，包括：存储器和处理器，所述存储器用于存储计算机程序，所述处理器用于从所述存储器中调用并运行所述计算机程序，使得所述处理器运行所述计算机程序执行如上第二方面或第三方面或第三方面各种可能的设计所述的时序管理方法。
第十四方面，本申请实施例提供一种终端，包括：存储器和处理器，所述存储器用于存储计算机程序，所述处理器用于从所述存储器中调用并运行所述计算机程序，使得所述处理器运行所述计算机程序执行如上第四方面或第五方面或第五方面各种可能的设计所述的时序管理方法。
第十五方面，本申请实施例提供一种存储介质，所述存储介质包括计算机程序，所述计算机程序用于实现如上第一方面或第一方面各种可能的设计所述的时序管理方法。
第十六方面，本申请实施例提供一种存储介质，所述存储介质包括计算机程序，所述计算机程序用于实现如上第二方面或第三方面或第三方面各种可能的设计所述的时序管理方法。
第十七方面，本申请实施例提供一种存储介质，所述存储介质包括计算机程序，所述计算机程序用于实现如上第四方面或第五方面或第五方面各种可能的设计所述的时序管理方法。
本申请实施例提供的时序管理方法、设备及系统，该时序管理系统包括控制节点、中间节点以及终端，本实施例通过增加中间节点，将该时序管理系统划分为两个时钟同步区域，该控制节点和中间节点位于第一时钟同步区域，中间节点和至少一个终端 位于第二时钟同步区域，实现了分级控制，将需要精确同步的时钟同步区域限制在比较小的地理范围内，由于该中间距离终端较近，与终端传输时延很短，所以能够保证终端之间的时钟同步达到精度要求。该中间节点从控制节点接收任务信息，该任务信息包括任务的开始信息、结束信息中的至少一个；中间节点根据任务信息和本地时钟信息，确定终端的操作信息，操作信息包括终端执行每个操作的时间，由于采用距离终端较近、与终端的传输时延较短的中间节点来确定终端的操作信息，该操作信息能够以终端的时钟来精确的指示终端的操作时间，保证了终端之间的时钟同步达到较高的精度要求。
附图说明
图1为现有技术提供的物联网系统示意图；
图2为本申请实施例提供的时序管理系统的示意图；
图3为本申请一实施例提供的时序管理方法的信令流程图；
图4为本申请一实施例提供的时序管理的时间轴示意图；
图5为本申请一实施例提供的时序管理方法的流程图；
图6A为本申请一实施例提供的时序管理的时间轴示意图；
图6B为本申请一实施例提供的操作信息处理方案示意图；
图7A为本申请一实施例提供的时序管理系统的示意图；
图7B为本申请一实施例提供的时序管理的时间轴示意图；
图7C为本申请一实施例提供的操作信息处理方案示意图；
图8为本申请实施例提供的中间节点的结构示意图；
图9为本申请实施例提供的中间节点的硬件结构示意图；
图10为本申请实施例提供的控制节点的结构示意图；
图11为本申请实施例提供的控制节点的硬件结构示意图；
图12为本申请实施例提供的终端的结构示意图；
图13为本申请实施例提供的终端的硬件结构示意图。
具体实施方式
本申请实施例描述的网络架构以及业务场景是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定，本领域普通技术人员可知，随着网络架构的演变和新业务场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。
本申请实施例提供的时序管理系统，可以为任何需要时钟同步的系统，该系统可以保证系统内的至少部分设备的时钟同步，从而使得一个设备可以控制另一个设备的操作。该时序管理系统例如可以为物联网系统、通信系统等时钟同步系统。在本申请实施例中，为了便于说明，以物联网为例进行详细说明。
物联网是通过工业资源的网络互联、数据互通和系统互操作，实现制造原料的灵活配置、制造过程的按需执行、制造工艺的合理优化和制造环境的快速适应，达到资源的高效 利用。
物联网的实现可以包括智能感知控制、全面的互联互通、深度的数据应用等。其中，智能感知控制主要实现物理网的末端智能感知，例如可以由多样化采集和控制模块组成，包括各种类型传感器、无线射频识别以及无线传感网络等，这些感知设备可以测量或感知特定物体的状态和变化，并转化为可传输、可处理、可存储的电子信号或其他形式的信息，是实现物联网中工业过程自动检测和自动控制的首要环节。
全面的互联互通是指借助于工业以太网、无线通信网络、有线通信网络等，实现被控终端与控制节点的通信。其中，工业以太网是指在工业环境的自动化控制及过程控制中应用以太网的相关组件及技术。无线通信网络则是一种利用无线技术进行传感器组网以及数据传输技术，无线网络技术的应用可以使得工业传感器的布线成本大大降低，有利于传感器功能的扩展。工业无线技术的核心包括时钟同步、确定性调度等。
深度的数据应用是指控制节点(例如服务器)利用数据挖掘、数据仓库等技术手段，基于云计算平台，进行数据建模、分析和优化，从而对终端的操作进行优化。
图2为本申请实施例提供的时序管理系统的示意图。如图2所示，本申请实施例提供的时序管理系统包括：控制节点、无线通信网络、中间节点以及终端。其中，控制节点可以为服务器、服务平台、处理平台等能够进行深度数据应用，且可以向终端发送工业控制相关的数据或信息的设备或平台。
该无线通信网络可以通过无线通信系统实现，该无线通信系统包括但不限于：窄带物联网系统(narrow band-internet of things，NB-IoT)、全球移动通信系统(global system for mobile communications，GSM)、增强型数据速率GSM演进系统(enhanced data rate for GSM evolution，EDGE)、宽带码分多址系统(wideband code division multiple access，WCDMA)、码分多址2000系统(code division multiple access 2000，CDMA2000)、时分同步码分多址系统(time division-synchronization code division multiple access，TD-SCDMA)，长期演进系统(long term evolution，LTE)以及下一代5G移动通信系统。本领域技术人员可以理解，只要能够实现控制节点与中间节点通信的无线通信网络，都可以应用到本申请实施例中。
该中间节点可以为中继设备或者终端。该中间节点与控制节点的物理距离较远，该中间节点可以通过无线通信网络与控制节点进行数据通信，该中间节点与控制节点之间的传输时延较长。该中间节点与终端的物理距离较近，该中间节点可以通过无线通信或有线通信与终端进行数据通信，该中间节点与终端之间的传输时延较短。其中，中间节点与终端进行无线通信时，也可采用上述的无线通信网络，本实施例此处不再赘述。
该终端可以为末端传感器、生产线上的机器人、机械臂等。其中，机械臂是机械人技术领域中得到最广泛实际应用的自动化机械装置，在工业制造、医学治疗、娱乐服务、军事、半导体制造以及太空探索等领域得到了广泛应用。尽管它们的形态各有不同，但它们都有一个共同的特点，就是能够接受指令，精确地定位到三维(或二维)空间上的某一点进行作业。本实施例对机械臂的类型和所进行的操作不做特别限制。
请继续参照图2所示，本申请实施例的时序管理系统包括两种时钟同步区域，第一时钟同步区域和第二时钟同步区域。其中，第一时钟同步区域内设有控制节点(例如服务器)和至少一个中间节点，其中各个中间节点和与其进行通信的至少一个终端构成一个第二时钟同步区域。也即，第二时钟同步区域内设有一个中间节点和至少一个终端，该中间节点 与该至少一个终端进行通信。
在一种可能的实现方式中，该第一时钟同步区域内的控制节点与中间节点之间的时钟同步，以及该第二时钟同步区域内的中间节点与终端之间的时钟同步均为应用层的时钟同步。其中，应用层一般位于协议栈的顶层，能够直接为应用程序等提供服务，并直接执行相应操作的层。该协议栈还可以包括位于应用层之下的IP层、分组数据汇聚协议(packet data convergence protocol，PDCP)层、无线链路控制(radio link control，RLC)层、介质访问控制(media access control，MAC)层以及物理(physical layer，PHY)层等，本实施例对协议栈的具体类型和实现方式不做特别限制。
在本申请实施例中，示出了一个第一时钟同步区域，本领域技术人员可以理解，在具体实现过程中，第一时钟同步区域的数量还可以为两个或者更多，本实施例此处不做特别限制。其中，在第一时钟同步区域内，控制节点与中间节点实现时钟同步。在第一时钟同步区域内，由于该中间节点与控制节点的传输时延较长，所以在第一时钟同步区域内对同步精度要求比较低，例如该同步精度为ms级。
在本实施例中示出了两个第二时钟同步区域，即第二时钟同步区域A和第二时钟同步区域B，本领域技术人员可以理解，第二时钟同步区域的数量可以为一个或多个，本实施例此处不做特别限制。在每个第二时钟同步区域内，设置有一个中间节点和至少一个终端。该中间节点与该至少一个终端实现时钟同步。在该第二时钟同步区域内，由于中间节点与终端的传输时延较短，所以在第二时钟同步区域内对同步精度要求比较高，例如该同步精度为us级。
该中间节点同时位于第一时钟同步区域和第二时钟同步区域。该中间节点对应的本地时钟信息包括两个时钟的信息。该本地时钟信息可以包括第一本地时钟的信息和第二本地时钟的信息。其中，该第一本地时钟用于中间节点与控制节点同步，该第一本地时钟的时间值与控制节点的本地时钟的时间值相同，第二本地时钟用于中间节点与终端同步，该第二本地时钟的时间值与终端的本地时钟的时间值相同。应理解，中间节点与多个终端连接时，该多个终端的本地时钟的时间值是相同的。第一本地时钟和第二本地时钟对应的时间值可以相同，也可以不同；二者即使时间值不同，但是二者所代表的真实时间是相同的。例如，在第一时钟同步区域，中间节点与控制节点同步的时间值为T1，在第二时钟同步区域，该中间节点与终端同步的时间值为T2，该T1和T2的值可以相同也可以不同，当T1和T2不同时，只是二者的值不同，而二者代表的时间是相同的，二者对应同一真实的时间。
中间节点还可以周期性地或在满足更新条件时更新第一本地时钟和第二本地时钟。例如，中间节点可以每隔M1时间更新一次第一本地时钟，每隔M2时间更新一次第二本地时钟。该M1和M2可以相同也可以不同。该更新条件可以为中间节点的位置变化满足预设条件时，对第一本地时钟、第二本地时钟中的至少一个进行更新。例如，该中间节点的位置发生变化，中间节点与控制节点之间的距离变化量超过预设变化量时，中间节点可以从控制节点接收时钟同步信息，该时钟同步信息包括控制节点的当前时间，中间节点根据时延信息和时钟同步信息，来更新中间节点所维护的第一本地时钟。其中，该时延信息可以通过测量等方式获取，本实施例此处不做特别限制。中间节点可以在控制节点的当前时间的基础上累加传输时延，来调整自己维护的第一本地时钟，使中间节点与控制节点完成时钟同步。
同理，中间节点也可以更新第二本地时钟，中间节点根据终端的当前时间来更新第二本地时钟。在一种可能的实现方式中，可以在多个终端中确定一个目标终端，该目标终端具有主同步时钟，该目标终端将自身的当前时间发送给中间节点以及其它终端，来实现该目标终端与中间节点的时钟同步，以及该目标终端与其它终端之间的时钟同步，从而实现第二时钟同步区域内中间节点与每个终端的时钟同步。
下面以图2所示的架构，对本申请实施例提供的时序管理方法的实现过程进行详细说明。
图3为本申请一实施例提供的时序管理方法的信令流程图。如图3所示，该方法包括：
S301、控制节点确定任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个。
控制节点能够根据用户指令、工艺流程以及工艺参数等确定终端的任务以及该任务的开始信息、结束信息中的至少一个。该任务可以为终端执行某种操作的任务。例如，以物联网用于汽车制造行业的汽车流水线为例，该任务可以为焊接、喷漆、装配等。
每个终端可以对应执行一个或多个任务。当终端对应执行一个任务时，该任务信息包括任务的开始信息、结束信息中的至少一个。当终端对应执行两个或两个以上的任务时，该任务信息可以包括各个任务的开始信息、结束信息中的至少一个，以及各个任务的标识。当该生产线为并行作业生产线时，不同的终端还可以在同一时刻执行相同的任务。
其中，该开始信息可以包括开始时间。该结束信息可以包括结束时间。在可能的实现方式中，任务可以在要求的开始时间开始即可，或者在要求的结束时间结束即可，或者在要求的开始时间开始以及要求的结束时间结束即可。
该开始信息还可以包括开始时间的抖动范围。其中，该开始时间的抖动范围可以包括一个时间数值N，若开始时间为T，则任务可以在[T-N，T+N]的时间范围开始。该开始时间的抖动范围还可以包括两个数值，例如N1和N2，若开始时间为T，则任务可以在[T-N1，T+N2]的开始时间范围开始。该结束信息还可以包括结束时间的抖动范围。其中，结束时间的抖动范围与开始时间的抖动范围类似，本实施例此处不做赘述。在可能的实现方式中，任务可以在要求的开始时间范围内开始即可，或者在要求的结束时间范围内结束即可，或者在要求的开始时间范围内开始并且在要求的结束时间范围内结束即可。
S302、控制节点向中间节点发送所述任务信息。
S303、中间节点从所述控制节点接收任务信息。
当控制节点确定该任务信息之后，控制节点向中间节点发送该任务信息，中间节点从控制节点接收任务信息。本领域技术人员可以理解，S302与S303可以为同一步骤，在本实施例中是从控制节点的发送角度和中间节点的接收角度分别进行了描述。
请继续参照图2所示，第二同步时钟区域A以及第二同步时钟区域B为两个独立的区域，其时序关系要求不高，所以在第一同步时钟区域中所需的同步精度比较低。所以，即使控制节点与中间节点距离较远，传输时延较大，使得中间节点A与中间节点B的时钟同步精度较低，但也不会影响实际的终端的操作。
S304、中间节点根据所述任务信息和本地时钟信息，确定终端的第一操作信息，所述第一操作信息包括所述终端执行至少一个第一操作的时间，所述本地时钟信息包括所述中间节点所维护的时钟的信息。
中间节点在接收到该任务信息后，根据该任务信息和本地时钟信息确定该中间节点所管理的至少一个终端需要执行的操作，以及各终端的操作时间，从而确定终端的第一操作信息。该第一操作信息包括终端执行至少一个第一操作的时间。每个终端可以执行一个或多个第一操作，本实施例对终端执行第一操作的数量不做特别限制。在本实施例中，终端执行第一操作的时间可以为开始执行该第一操作的时间，也可以为结束该第一操作的时间，或者也可以为开始执行该第一操作的时间和结束该第一操作的时间。
在本实施例中，本地时钟信息包括第一本地时钟的信息和第二本地时钟的信息，第一本地时钟用于中间节点与控制节点同步，第二本地时钟用于中间节点与终端同步。即中间节点同时维护第一本地时钟和第二本地时钟。
对于中间节点而言，由于该任务信息是以本地维护的第一本地时钟为时间基准的，所以需要将该任务信息转换为以第二本地时钟为时间基准的第一操作信息，然后通知给终端，由终端在以第二本地时钟为基准的时间点执行操作。
在一种可能的实现方式中，中间节点根据本地时钟信息，确定第一本地时钟和第二本地时钟的对应关系；根据任务信息和该第一本地时钟和第二本地时钟的对应关系，确定终端的第一操作信息。任务信息以第一本地时钟为时间基准，终端执行每个第一操作的时间以第二本地时钟为时间基准。在本申请实施例中，以图4为例进行详细说明。
图4为本申请一实施例提供的时序管理的时间轴示意图。结合图4所示，第一时钟同步区域的时钟用实线条表示，第二时钟同步区域A的时钟用第一虚线段表示，该第一虚线段所包括的线段长短不一，第二时钟同步区域B的时钟用第二虚线段表示，该第二虚线段所包括的线段长度相同。由上述图2论述可知，由于中间节点A和中间节点B均同时位于两个时钟同步区域，所以每个中间节点都有两个本地时钟，用两根时间线条表示，中间节点A的时间线条用实线条和第一虚线段表示，中间节点B的时间线条用实线条和第二虚线段表示。
终端A1、终端A2、终端A3位于同一条生产线，其操作需要符合一定时序关系；终端B1、终端B2、终端B3位于同一条生产线，其操作需要符合一定时序关系。但终端A1-A3与终端B1-B3分别属于两个不同的第二时钟同步区域，所以终端A1-A3与终端B1-B3不需要时钟同步。
当中间节点接收到任务信息后，中间节点以该控制节点通知的用实线条表示的T1、T2转化为自己本地的生产线上的终端所使用的时钟表示的时间信息。中间节点A将T1转化为T1’，T1’对应第一虚线段上的一个时间点，从中间节点A的角度看，T1和T1’表示的是同一真实时刻。中间节点B将T2转化为T2’，T2’对应第二虚线段上的一个时间点，从中间节点B的角度看，T2和T2’表示的是同一真实时刻。
下面以中间节点A为例来举例进行说明，对于中间节点B而言，其实现原理类似，本实施例此处不再赘述。在本实施例中，针对同一真实时刻，第一本地时钟与第二本地时钟的值可能相同也可能不同。
当第一本地时钟与第二本地时钟的值相同时，第一本地时钟和第二本地时钟的对应关系即为第一本地时钟的时间值直接对应第二本地时钟的时间值，当任务信息包括任务的结束时间，该结束时间为19:00点，第一本地时钟和第二本地时钟均为18:00点，则中间节点A在第二本地时钟的19:00前，控制终端A1完成操作11，控制终端A2完成操作12，控制终端 A3完成操作13。
当第一本地时钟与第二本地时钟的值不同时，第一本地时钟和第二本地时钟的对应关系为二者对应同一真实时间点。例如，当中间节点所维护的第二本地时钟是中间节点与终端进行时间同步，采用终端的时间作为同步时间时，第一本地时钟和第二本地时钟的值可能会存在不同。对于二者的值不同的其它情况，本实施例此次不做赘述。
例如，在当前时间点，第一本地时钟为13:00，第二本地时钟为15:00，则针对当前时间点，第一本地时钟13:00与第二本地时钟15:00对应，也可以理解为第一本地时钟T M1与第二本地时钟T M2的对应关系为T M2＝T M1+2小时。
当控制节点以第一本地时钟为基准向中间节点发送任务信息，该任务信息指示任务的结束时间为14:00，则中间节点根据第一本地时钟和第二本地时钟的对应关系，T M2＝T M1+2，可以得到以第二本地时钟为基准的任务的结束时间为16:00，则中间节点A在第二本地时钟的16：00前，控制终端A1完成操作11，控制终端A2完成操作12，控制终端A3完成操作13。
S305、中间节点向终端发送第一操作信息，第一操作信息包括所述终端执行至少一个第一操作的时间。
S306、终端从中间节点接收第一操作信息。
S307、终端根据所述第一操作信息，执行所述至少一个第一操作。
当中间节点确定第一操作信息之后，中间节点向终端发送第一操作信息，终端根据该第一操作信息，执行至少一个第一操作。
当终端能够执行一个第一操作时，该第一操作信息包括终端执行该第一操作的时间；当终端能够执行两个或两个以上第一操作时，该第一操作信息包括各个第一操作的标识以及各个第一操作的时间。终端根据该第一操作信息，执行相应的第一操作即可。当该生产线为并行作业生产线时，不同的终端还可以在同一时刻执行相同的第一操作。
本申请实施例提供的时序管理方法，应用于时序管理系统，该时序管理系统包括控制节点、中间节点以及终端，本实施例通过增加中间节点，将该时序管理系统划分为两个时钟同步区域，该控制节点和中间节点位于第一时钟同步区域，中间节点和终端位于第二时钟同步区域，实现了分级控制，将需要精确同步的时钟同步区域限制在比较小的地理范围内，由于该中间距离终端较近，与终端传输时延很短，所以能够保证终端之间的时钟同步达到精度要求。该中间节点从控制节点接收任务信息，该任务信息包括至少一个任务的开始信息、结束信息中的至少一个；中间节点根据该任务信息和本地时钟信息，确定终端的第一操作信息，该第一操作信息包括终端执行至少一个第一操作的时间，由于采用距离终端较近、与终端的传输时延较短的中间节点来确定终端的第一操作信息，该第一操作信息能够以终端的时钟来精确的指示终端执行至少一个第一操作的时间，保证了终端之间的时钟同步达到较高的精度要求。
图5为本申请一实施例提供的时序管理方法的流程图。在图5所示实施例中，在上述由中间节点向终端发送第一操作信息的基础上，在本申请实施例中，控制节点还可以直接向终端发送第二操作信息，终端在接收到该第二操作信息后，向应用层实体递交来自控制节点的数据，并执行该第二操作信息所执行的操作。该方法具体包括：
S501、控制节点确定第二操作信息，该第二操作信息用于指示终端执行至少一个第二操作。
S502、控制节点向终端发送第二操作信息。
S503、终端从控制节点接收第二操作信息。
本领域技术人员可以理解，S502与S503可以为同一步骤，在本实施例中是从控制节点的发送角度和终端的接收角度分别进行了描述。
S504、终端的PDCP实体向终端的应用层实体递交第二操作信息，该应用层实体控制终端执行至少一个第二操作。
应理解，终端的PDCP实体可以直接或通过其他协议层实体将第二操作信息递交给终端的应用层实体。在一些情况下，控制节点可以要求终端优先执行一些操作，控制节点可以直接向终端发送第二操作信息。例如，当终端所在流水线出现故障，或者终端的零件出现松动时，控制节点都可以向终端发送第二操作信息，来控制终端所执行的操作。本实施例对控制节点确定第二操作信息的实现过程不做特别限制。
在一种可能的实现方式中，终端的用户面协议栈从下至上例如可以为物理PHY层、MAC层、RLC层、PDCP层、IP层以及应用层。其中，该PDCP层的PDCP实体负责将IP头压缩和解压、传输数据并维护每个协议数据单元(protocol data unit，PDU)的序号(sequence number，SN)，并根据序号将该协议数据单元递交给应用层实体，在存在IP层时，通过IP层将协议数据单元递交给应用层实体，在不存在IP层时，直接将该协议数据单元递交给应用层实体。
当终端从控制节点接收到第二操作信息后，PDCP实体将该第二操作信息递交给应用层实体，由该应用层实体执行该第二操作。
在一种可能的实现方式中，当终端能够执行一个第二操作时，该第二操作信息为指令信息，用于指示终端执行该第二操作。当该终端能够执行两个或两个以上第二操作时，该第二操作信息包括两个或两个以上的第二操作的标识。该第二操作信息可以不包括终端执行该第二操作的时间，该第二操作信息不包括终端执行第二操作的时间的实现方式，具体可参见下述的图6A和图6B所示的实施例。
在一种可能的实现方式中，该第二操作信息也可以包括终端执行第二操作的时间。当终端能够执行一个第二操作时，该第二操作信息包括终端执行该第二操作的时间；当终端能够执行两个或两个以上第二操作时，该第二操作信息包括各个第二操作的标识以及各个第二操作的时间。终端根据该第二操作信息，执行相应的第二操作即可。当该生产线为并行作业生产线时，不同的终端还可以在同一时刻执行相同的第二操作。该第二操作信息包括终端执行第二操作的时间的实现方式具体可参见下述的图7A、图7B以及图7C所示的实施例。
本申请实施例提供的时序管理方法，通过控制节点直接向终端发送第二操作信息，终端根据该第二操作信息执行相应的至少一个第二操作，即在一些情况下，控制节点可以不通过中间节点而快速控制终端，保证了控制节点对终端的控制，在紧急情况下可以保证时效性。
下面示例性的给出一些可能的实现方式，来说明控制节点向终端发送第二操作信息的过程。
图6A为本申请一实施例提供的时序管理的时间轴示意图，图6B为本申请一实施例提供的操作信息处理方案示意图。如图6A和图6B所示，在控制节点发送给终端的第二操作 信息中，并没有携带执行时间的信息。终端的PDCP实体在接收到该第二操作信息后，优先向应用层实体递交该第二操作信息，该应用层实体执行该至少一个第二操作。
在一种可能的实现方式中，如方案一所示，预先为中间节点与终端之间的数据传输建立第一承载，为控制节点与终端之间的数据传输建立第二承载。终端为每个承载维护一个队列，所以终端维护两个队列，队列一的数据来自中间节点，对应于第一承载，队列二的数据来自控制节点，对应于第二承载。其中，本申请实施例所涉及的承载例如可以是无线承载，也可以称为数据承载或数据无线承载。
在一种可能的实现方式中，第一承载的建立过程例如可以为中间节点向终端发送第一配置参数，该第一配置参数携带有逻辑信道标识、物理信道标识、发射功率等参数，然后终端根据该第一配置参数建立第一承载。第二承载的建立过程可以为控制节点向终端发送第二配置参数，该第二配置参数与第一配置参数类似，终端根据该第二配置参数建立第二承载。
应理解，对于一个承载，终端的PDCP层会配置一个PDCP实体来处理该承载的数据。相应地，中间节点和终端分别为第一承载配置各自的第一PDCP实体；控制节点和终端分别为第二承载配置各自的第二PDCP实体。具体地，终端的第一PDCP实体可以对该队列一中的数据进行处理，得到该数据的序号，根据在一段时间内接收的多个数据的序号将接收的数据按照序号进行排序后按序向应用层实体递交该数据。对于该队列二的数据，控制节点向终端发送的数据，该数据可以有序号，也可以没有序号，不管该数据是否有序号，终端的第二PDCP实体均优先向应用层实体递交该数据，即，第二PDCP实体收到一个数据就向应用层实体递交该数据，而不需要接收多个数据并将这些数据按照序号进行排序后按序向应用层实体递交。在本实施例中，队列中的数据也可以称为数据包，该数据为协议实体之间传递的数据，可以称为协议数据单元，即每个协议数据单元对应一个序号。
在本实施例中，中间节点通过第一承载向终端发送第一操作信息，控制节点通过第二承载向终端发送第二操作信息，即二者采用相互独立的承载发送操作信息，控制节点在发送第二操作信息时不需要与中间节点进行信令交互，保证了二者操作的独立性，终端通过维护两个队列，通过队列一来处理中间节点的数据，通过队列二来处理控制节点的数据，保证了数据处理的独立性，使得二者可以并行进行，提高了数据处理效率。
在另一种可能的实现方式中，如方案二所示，无需预先为控制节点与终端之间的数据传输建立单独的承载，该控制节点与终端之间的数据传输可以复用中间节点与终端之间的数据传输的承载。即控制节点通过第一承载向终端发送第二操作信息，其中，第一承载为中间节点向终端发送第一操作信息的承载。相应地，控制节点、中间节点以及终端分别为第一承载配置各自的PDCP实体。具体地，控制节点获取中间节点与终端之间的第一承载的第一配置参数，控制节点的PDCP实体根据该第一配置参数通过第一承载向终端发送第二操作信息。此时，第二操作信息中不包括数据的序号。例如，控制节点的PDCP实体在对第二操作信息封装时，不在报头添加该PDCP协议数据单元的序号。
由此，终端维护一个队列。从中间节点来的数据，经过中间节点的PDCP实体处理，协议数据单元带有序号，因此，终端的PDCP实体从中间节点接收到的数据，根据序号按序向应用层实体递交。而从控制节点来的数据，控制节点的PDCP实体在进行处理时协议数据单元不带序号，所以终端PDCP实体接收到没有携带序号的协议数据单元，就优先向 应用层实体递交，即，终端的PDCP实体收到一个来自控制节点的数据就向应用层实体递交该数据。
本领域技术人员可以理解，控制节点发送的数据中还可以携带其它的指示信息，只要该指示信息能够标识该数据来自控制节点，而不是来自中间节点就可以，终端收到来自控制节点的数据，PDCP实体就优先向应用层实体递交。例如，该指示信息可以为控制节点的标识或者控制节点与终端预先约定好的信息等。
在该种实现方式中，控制节点的PDCP实体不需要为数据添加序号，简化了控制节点的处理流程，同时终端只维护一个队列，终端的PDCP实体将来自控制节点的数据优先向应用层实体递交，不需要两个队列来实现，也简化了终端的处理流程。
图7A为本申请一实施例提供的时序管理系统的示意图，图7B为本申请一实施例提供的时序管理的时间轴示意图，图7C为本申请一实施例提供的操作信息处理方案示意图。
在本实施例中，控制节点与中间节点定期进行交互，使得控制节点能够与终端同步，从而在紧急情况下，控制节点向终端发送第二操作信息，使得终端能够在第二操作的执行时间进行操作。
在本实施例中，终端执行第二操作的时间可以为开始执行该第二操作的时间，也可以为结束该第二操作的时间，或者也可以为开始执行该第二操作的时间和结束该第二操作的时间。
在一种可能的实现方式中，如图7A所示，控制节点通过与中间节点进行交互，来获取终端的时钟。具体地，控制节点接收中间节点发送的时钟同步信息，时钟同步信息包括中间节点所维护的第二本地时钟的当前时间，该第二本地时钟用于中间节点与终端同步。如图7B所示，控制节点根据时钟同步信息确定第二操作信息，第二操作信息包括终端执行至少一个第二操作的时间，该至少一个第二操作的时间以该第二本地时钟为时间基准，即中间节点与终端同步的本地时钟的时间为基准，即以终端的本地时钟为准。
由此，在图7A所示中，控制节点同时维护三个时钟，控制节点自己的时钟，中间节点A与终端A1-A3同步的时钟、以及中间节点B与终端B1-B3同步的时钟。第二操作信息中终端执行至少一个第二操作的时间是以终端自身的时间为基准的。
以与中间节点A时钟同步的终端收到第二操作信息为例进行说明。控制节点接收中间节点发送的时钟同步信息，该时钟同步信息中所携带的时间为12:00，该12：00即为终端当前的时间。而此时，控制节点的当前时间为15:00，由此可知，控制节点的时间T N1与终端的时间T N2的对应关系为T N2＝T N1-3小时，所以当控制节点需要终端在自己的时间为15:03开始执行第二操作时，控制节点向终端发送的第二操作信息中的开始执行时间为12:03分，终端在接收到第二操作信息后，不需要进行时间转换，直接在12:03分开始执行至少一个第二操作即可。
控制节点向终端发送第二操作信息的方式也可以有多种。如图7C所示，可采用方案一的方法进行，即预先为中间节点与终端之间的数据传输建立第一承载，控制节点与终端之间的数据传输建立第二承载。该方案一与上述图6B中所示的方案一类似。对于承载的建立过程，可参见上述实施例所示，本实施例此处不做赘述。
对于一个承载，终端的PDCP层会配置一个PDCP实体来处理该承载的数据。相应地，中间节点和终端分别为第一承载配置各自的第一PDCP实体；控制节点和终端分别为第二 承载配置各自的第二PDCP实体。终端的第一PDCP实体可以对该队列一中的数据进行处理，得到该数据的序号，根据在一段时间内接收的多个数据的序号将接收的数据按照序号进行排序后按序向应用层实体递交该数据。对于该队列二的数据，控制节点向终端发送的数据，由于该第二操作信息中携带第二操作的执行时间，所述终端的第二PDCP实体只要在开始时间之前向应用层实体递交数据即可，若该第二操作的时间不包括开始时间，而是结束时间，则根据该结束时间向前递推预设时间以获取开始时间。本实施例对获取开始时间的实现方式不做特别限制，而该队列二中的数据可以有序号，也可以没有序号，不管是否有序号，本实施例只要在开始时间之前向应用层实体递交该数据即可。
本领域技术人员可以理解，对终端而言，当二者分别采用不同的第一承载和第二承载时，在上层例如应用层对应同一个接入点，即两个承载通过同一接入点接入该终端的应用层实体，即应用层实体的数量为一个，而在接入层，例如PDCP层则终端对应两个承载，有两个PDCP实体，对应两个协议栈，一个PDCP实体接收控制节点发送的数据，另一个PDCP实体接收中间节点发送的数据。
在本实施例中，中间节点与控制节点采用相互独立的承载发送操作信息，控制节点在发送第二操作信息时不需要与中间节点进行信令交互，保证了二者操作的独立性，终端通过队列一来处理中间节点的数据，通过队列二来处理控制节点的数据，保证了数据处理的独立性，使得二者可以并行进行，提高了数据处理效率，终端还可以根据第二操作信息所包括的终端执行至少一个第二操作的时间来执行操作，提高了终端执行操作的时间精确性。
在一些实现方式中，还可以采用图7C中方案二所示的方案。在该方案二中，无需预先为控制节点与终端之间的数据传输建立单独的承载，该控制节点与终端之间数据传输可以复用中间节点与终端之间的数据传输的承载。即控制节点通过第一承载向终端发送第二操作信息，其中，第一承载为中间节点向终端发送第一操作信息的承载。相应地，控制节点、中间节点以及终端分别为第一承载配置各自的PDCP实体。此时，第二操作信息中不包括数据的序号。
终端维护一个队列，终端对从中间节点来的数据以及从控制节点来的数据的处理方式，与图6B所示的方案二类似，本实施例此处不做赘述。
或者，当终端维护一个队列时，从控制节点来得数据，终端的PDCP实体根据执行第二操作的时间，向应用层实体递交第二操作信息。此处，终端执行第二操作的时间为终端执行第二操作的开始时间。若该第二操作的时间不包括开始时间，而是结束时间，则根据该结束时间获取开始时间，具体可参见上述实施例，本实施例此次不做赘述。
终端的PDCP实体可以在开始时间之前向应用层实体递交该数据，例如，终端的PDCP实体可以根据预设的提前时间和开始时间向应用层实体递交该数据。例如，开始时间为15:00，预设的提前时间为1分钟，则终端的PDCP实体在14:59分向应用层实体递交该数据。
在该种实现方式中，控制节点的PDCP层实体不需要为数据添加序号，简化了控制节点的处理流程，同时终端只维护一个队列，终端的PDCP实体根据第二操作的执行时间将来自控制节点的数据向应用层实体递交，简化了终端的处理流程，也保证了第二操作的时效性。
在一些实现方式中，还可以采用图7C中的方案三所示的方案。控制节点和中间节点 复用第一承载。
在一种可能的实现方式中，第一承载的建立过程可以为中间节点或控制节点向终端发送第一配置参数，该第一配置参数携带有逻辑信道标识、物理信道标识、发射功率等参数，终端根据该第一配置参数建立第一承载。
若由控制节点向终端发送第一配置参数，以建立第一承载，则控制节点还将该第一配置参数发送给中间节点；若由中间节点向终端发送第一配置参数，以建立第一承载，则中间节点还将该第一配置参数发送给控制节点。当控制节点和中间节点根据相同的第一配置参数与终端进行通信时，二者即复用了第一承载。
控制节点、中间节点和终端分别为第一承载配置各自的PDCP实体，控制节点的PDCP实体接收中间节点的PDCP实体发送的序号信息，该序号信息包括中间节点发送给终端的最后一个数据的第一序号；控制节点根据序号信息确定第二操作信息，该第二操作信息包括第二序号，第二序号为第一序号之后的且与第一序号连续的序号。对于第一承载，终端配置一个PDCP实体，既接收来自控制节点的数据，又接收来自中间节点的数据。
在具体实现过程中，中间节点和控制节点交互数据单元的序号信息。由此，中间节点和控制节点能够获知当前数据单元的序号的使用情况，控制节点需要向终端直接发指令时，也可以为数据分配一个序号，终端收到该第二操作信息后，终端的PDCP实体根据该数据单元的序号按顺序向应用层实体递交数据即可。例如，中间节点向控制节点发送的数据的序号为6，则控制节点向终端发送的第二操作信息对应的序号可以为7。
在该种实现方式中，对于终端而言，终端不需要区分该数据是来自于控制节点还是中间节点，终端的PDCP实体只需要根据接收到的数据的序号按顺序向应用层实体递交数据即可，简化了终端的操作，降低了对终端的处理要求。在一种可能的实现方式中，若该第二操作信息包括第二操作的执行时间，则应用层实体在接收到PDCP层实体递交的数据后，根据第二操作的执行时间执行相应的操作。
本申请实施例提供的时序管理方法，控制节点向终端发送第二操作信息，该第二操作信息包括终端执行第二操作的时间，该第二操作的时间以终端的本地时钟为基准的，终端优先将该第二操作信息递交给应用层实体，或者根据第二操作的时间将该第二操作信息递交给上层，保证了终端可以在对应的执行时刻来执行第二操作，使得终端的第二操作具有时间精准性。
图8为本申请实施例提供的中间节点的结构示意图。如图8所示，该中间节点80包括
接收模块801，用于从所述控制节点接收任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；
处理模块802，用于根据所述任务信息和本地时钟信息，确定所述终端的操作信息，所述操作信息包括所述终端执行至少一个操作的时间，所述本地时钟信息包括所述中间节点所维护的时钟的信息；以及
发送模块803，用于向所述终端发送所述操作信息。
在一种可能的实现方式中，所述本地时钟信息包括第一本地时钟的信息和第二本地时钟的信息，所述第一本地时钟用于所述中间节点与所述控制节点同步，所述第二本地时钟用于所述中间节点与所述终端同步。
在一种可能的实现方式中，所述处理模块802具体用于：
根据所述本地时钟信息，确定所述第一本地时钟和所述第二本地时钟的对应关系；
根据所述任务信息和所述对应关系，确定所述终端的操作信息；其中，所述任务信息以所述第一本地时钟为时间基准，所述终端执行所述至少一个操作的时间以所述第二本地时钟为时间基准。
在一种可能的实现方式中，所述接收模块801还用于：从所述控制节点接收时钟同步信息，所述时钟同步信息包括所述控制节点的当前时间；
所述处理模块802还用于：根据所述时钟同步信息和所述控制节点与所述中间节点之间的时延信息，更新所述中间节点所维护的所述第一本地时钟。
图9为本申请实施例提供的中间节点的硬件结构示意图。如图9所示，该中间节点90包括：处理器901以及存储器902；其中
存储器902，用于存储计算机程序；
处理器901，用于执行存储器存储的计算机程序，以实现上述实施例中的中间节点所执行的时序管理方法。具体可以参见前述方法实施例中的相关描述。
可选地，存储器902既可以是独立的，也可以跟处理器901集成在一起。
当所述存储器902是独立于处理器901之外的器件时，所述中间节点90还可以包括：
总线903，用于连接所述存储器902和处理器901。
图9所示的中间节点90还可以进一步包括接收器904和发送器905，所述接收器904用于从控制节点接收数据或信号，所述发送器905用于向控制节点或终端发送数据或信号。
在一种可能的实现方式中，图8所述的处理模块可以被集成在处理器901中实现，接收模块可以被集成在接收器904中实现，发送模块可以被集成在发送器905中实现。
本申请实施例提供的中间节点，可用于执行上述方法实施例中的中间节点所执行的方法，其实现原理和技术效果类似，本实施例此处不再赘述。
图10为本申请实施例提供的控制节点的结构示意图。如图10所示，该控制节点100包括：
处理模块1001，用于确定任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；
发送模块1002，用于向所述中间节点发送所述任务信息，所述任务信息用于使得所述中间节点向所述终端发送第一操作信息，以指示所述终端执行至少一个第一操作的时间。
在一种可能的实现方式中，所述处理模块1001，还用于确定第二操作信息，所述第二操作信息用于指示所述终端执行至少一个第二操作；
发送模块1002，还用于向所述终端发送第二操作信息。
在一种可能的实现方式中，所述发送模块1002具体用于：通过第一承载向所述终端发送所述第二操作信息；其中，所述第一承载为所述中间节点向所述终端发送所述第一操作信息的承载；或者
通过第二承载向所述终端发送所述第二操作信息，所述中间节点通过第一承载向所述终端发送所述第一操作信息。
在一种可能的实现方式中，所述控制节点还包括接收模块1003，用于在所述控制节点向所述终端发送第二操作信息之前，接收所述中间节点发送的时钟同步信息，所述时钟同 步信息包括所述中间节点所维护的本地时钟的当前时间，所述本地时钟用于所述中间节点与所述终端同步；
所述处理模块1001具体用于，根据所述时钟同步信息确定所述第二操作信息，所述第二操作信息包括所述终端执行所述至少一个第二操作的时间，所述第二操作的时间以所述本地时钟为时间基准。
在一种可能的实现方式中，若所述控制节点通过第一承载向所述终端发送所述第二操作信息，则所述第二操作信息中不包括分组数据汇聚协议层的协议数据单元的序号。
在一种可能的实现方式中，所述接收模块1003还用于：接收所述中间节点发送的序列信息，序列信息包括所述中间节点发送给所述终端的最后一个数据的第一序号；
所述处理模块1001具体用于：根据所述序列信息确定所述第二操作信息，所述第二操作信息包括第二序号，所述第二序号为所述第一序号之后的且与所述第一序号连续的序号。
图11为本申请实施例提供的控制节点的硬件结构示意图。如图11所示，该控制节点110包括：处理器1101以及存储器1102；其中
存储器1102，用于存储计算机程序；
处理器1101，用于执行存储器存储的计算机程序，以实现上述实施例中的控制节点所执行的时序管理方法。具体可以参见前述方法实施例中的相关描述。
可选地，存储器1102既可以是独立的，也可以跟处理器1101集成在一起。
当所述存储器1102是独立于处理器1101之外的器件时，所述控制节点110还可以包括：
总线1103，用于连接所述存储器1102和处理器1101。
图11所示的控制节点110还可以进一步包括接收器1104和发送器1105，所述接收器1104用于从中间节点接收数据或信号，所述发送器1105用于向终端发送数据或信号。
在一种可能的实现方式中，图10所述的处理模块可以被集成在处理器1101中实现，接收模块可以被集成在接收器1104中实现，发送模块可以被集成在发送器1105中实现。
本申请实施例提供的控制节点，可用于执行上述方法实施例中的控制节点所执行的方法，其实现原理和技术效果类似，本实施例此处不再赘述。
图12为本申请实施例提供的终端的结构示意图。如图12所示，该终端120包括：
接收模块1201，用于从所述中间节点接收第一操作信息，所述第一操作信息包括所述终端执行至少一个第一操作的时间；
处理模块1202，用于根据所述第一操作信息，执行所述至少一个第一操作。
在一种可能的实现方式中，接收模块1201，还用于从所述控制节点接收第二操作信息，所述第二操作信息用于指示所述终端执行至少一个第二操作；
处理模块1202，还用于在分组数据汇聚协议PDCP实体在接收到所述第二操作信息后，优先向应用层实体递交所述第二操作信息。
在一种可能的实现方式中，所述处理模块1202具体用于：在接收到所述第二操作信息后，若确定所述第二操作信息中不包括PDCP层的协议数据单元的序号，则直接向所述应用层实体递交所述第二操作信息。
在一种可能的实现方式中，所述接收模块1201还用于：从所述控制节点接收第二操 作信息，所述第二操作信息包括所述终端执行所述至少一个第二操作的时间；
所述处理模块1202还用于：根据执行所述至少一个第二操作的时间，向所述应用层实体递交所述第二操作信息。
在一种可能的实现方式中，所述接收模块1201具体用于：
通过第一承载从所述控制节点接收所述第二操作信息，其中，所述第一承载为所述终端从中间节点接收所述第一操作信息的承载；
通过第二承载从所述控制节点接收所述第二操作信息，所述终端通过第一承载从所述中间节点接收所述第一操作信息。
在一种可能的实现方式中，所述接收模块1201具体用于：通过第一承载从所述中间节点接收第一操作信息，所述第一操作信息包括第一序号；
通过所述第一承载从所述中间节点接收所述第二操作信息，所述第二操作信息包括第二序号；
所述处理模块1202具体用于：根据所述第一序号和所述第二序号的顺序关系，将所述第二操作信息递交给应用层实体。
图13为本申请实施例提供的终端的硬件结构示意图。如图13所示，该终端130包括：处理器1301以及存储器1302；其中
存储器1302，用于存储计算机程序；
处理器1301，用于执行存储器存储的计算机程序，以实现上述实施例中的终端所执行的时序管理方法。具体可以参见前述方法实施例中的相关描述。
可选地，存储器1302既可以是独立的，也可以跟处理器1301集成在一起。
当所述存储器1302是独立于处理器1301之外的器件时，所述控制节点130还可以包括：
总线1303，用于连接所述存储器1302和处理器1301。
图13所示的终端130还可以进一步包括接收器1304，所述接收器1304用于从中间节点或控制节点接收数据或信号。
在一种可能的实现方式中，图13所述的处理模块可以被集成在处理器1301中实现，接收模块可以被集成在接收器1304中实现。
本申请实施例提供的终端，可用于执行上述方法实施例中的终端所执行的方法，其实现原理和技术效果类似，本实施例此处不再赘述。
本申请实施例提供一种存储介质，所述存储介质包括计算机程序，所述计算机程序用于实现如上中间节点所执行的时序管理方法。
本申请实施例还提供一种芯片，包括存储器和处理器，所述存储器用于存储计算机程序，所述处理器用于从所述存储器中调用并运行所述计算机程序，使得安装有所述芯片的通信设备执行如上中间节点所实现的时序管理方法。
本申请实施例还提供一种计算机程序产品，所述计算机程序产品包括计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行如上实施例中的中间节点所实现的时序管理方法。
本申请实施例提供一种存储介质，所述存储介质包括计算机程序，所述计算机程序用于实现如上控制节点所执行的时序管理方法。
本申请实施例还提供一种芯片，包括存储器和处理器，所述存储器用于存储计算机程序，所述处理器用于从所述存储器中调用并运行所述计算机程序，使得安装有所述芯片的通信设备执行如上控制节点所实现的时序管理方法。
本申请实施例还提供一种计算机程序产品，所述计算机程序产品包括计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行如上实施例中的控制节点所实现的时序管理方法。
本申请实施例提供一种存储介质，所述存储介质包括计算机程序，所述计算机程序用于实现如上终端所执行的时序管理方法。
本申请实施例还提供一种芯片，包括存储器和处理器，所述存储器用于存储计算机程序，所述处理器用于从所述存储器中调用并运行所述计算机程序，使得安装有所述芯片的通信设备执行如上终端所实现的时序管理方法。
本申请实施例还提供一种计算机程序产品，所述计算机程序产品包括计算机程序代码，当所述计算机程序代码在计算机上运行时，使得计算机执行如上实施例中的终端所实现的时序管理方法。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。例如，以上所描述的设备实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或模块的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能模块可以集成在一个处理单元中，也可以是各个模块单独物理存在，也可以两个或两个以上模块集成在一个单元中。上述模块成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能模块的形式实现的集成的模块，可以存储在一个计算机可读取存储介质中。上述软件功能模块存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(英文：processor)执行本申请各个实施例所述方法的部分步骤。
应理解，上述处理器可以是中央处理单元(英文：central processing unit，简称：CPU)，还可以是其他通用处理器、数字信号处理器(英文：digital signal processor，简称：DSP)、专用集成电路(英文：application specific integrated circuit，简称：ASIC)等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合发明所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
存储器可能包含高速RAM存储器，也可能还包括非易失性存储NVM，例如至少一个磁盘存储器，还可以为U盘、移动硬盘、只读存储器、磁盘或光盘等。
总线可以是工业标准体系结构(industry standard architecture，ISA)总线、外部设备互连(peripheral component，PCI)总线或扩展工业标准体系结构(extended industry standard  architecture，EISA)总线等。总线可以分为地址总线、数据总线、控制总线等。为便于表示，本申请附图中的总线并不限定仅有一根总线或一种类型的总线。
上述存储介质可以是由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。存储介质可以是通用或专用计算机能够存取的任何可用介质。
一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于专用集成电路(application specific integrated circuits，简称：ASIC)中。当然，处理器和存储介质也可以作为分立组件存在于电子设备或主控设备中。

Claims (30)

  1. 一种时序管理方法，应用于时序管理系统，其特征在于，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述方法包括：
    所述中间节点从所述控制节点接收任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；
    所述中间节点根据所述任务信息和本地时钟信息，确定所述终端的操作信息，所述操作信息包括所述终端执行至少一个操作的时间，所述本地时钟信息包括所述中间节点所维护的时钟的信息；以及
    所述中间节点向所述终端发送所述操作信息。
  2. 根据权利要求1所述的方法，其特征在于，所述本地时钟信息包括第一本地时钟的信息和第二本地时钟的信息，所述第一本地时钟用于所述中间节点与所述控制节点同步，所述第二本地时钟用于所述中间节点与所述终端同步。
  3. 根据权利要求2所述的方法，其特征在于，所述中间节点根据所述任务信息和本地时钟信息，确定所述终端的操作信息，包括：
    所述中间节点根据所述本地时钟信息，确定所述第一本地时钟和所述第二本地时钟的对应关系；
    所述中间节点根据所述任务信息和所述对应关系，确定所述终端的操作信息；其中，所述任务信息以所述第一本地时钟为时间基准，所述终端执行所述至少一个操作的时间以所述第二本地时钟为时间基准。
  4. 根据权利要求2或3所述的方法，其特征在于，所述方法还包括：
    所述中间节点从所述控制节点接收时钟同步信息，所述时钟同步信息包括所述控制节点的当前时间；
    所述中间节点根据所述时钟同步信息和所述控制节点与所述中间节点之间的时延信息，更新所述中间节点所维护的所述第一本地时钟。
  5. 一种时序管理方法，应用于时序管理系统，其特征在于，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述方法包括：
    所述控制节点确定任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；
    所述控制节点向所述中间节点发送所述任务信息，所述任务信息用于使得所述中间节点向所述终端发送第一操作信息，以指示所述终端执行至少一个第一操作的时间。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    所述控制节点向所述终端发送第二操作信息，所述第二操作信息用于指示所述终端执行至少一个第二操作。
  7. 根据权利要求6所述的方法，其特征在于，所述控制节点向所述终端发送第二 操作信息，包括：
    所述控制节点通过第一承载向所述终端发送所述第二操作信息；其中，所述第一承载为所述中间节点向所述终端发送所述第一操作信息的承载；或者
    所述控制节点通过第二承载向所述终端发送所述第二操作信息，所述中间节点通过第一承载向所述终端发送所述第一操作信息。
  8. 根据权利要求6或7所述的方法，其特征在于，所述控制节点向所述终端发送第二操作信息之前，所述方法还包括：
    所述控制节点接收所述中间节点发送的时钟同步信息，所述时钟同步信息包括所述中间节点所维护的本地时钟的当前时间，所述本地时钟用于所述中间节点与所述终端同步；
    所述控制节点根据所述时钟同步信息确定所述第二操作信息，所述第二操作信息包括所述终端执行所述至少一个第二操作的时间，所述第二操作的时间以所述本地时钟为时间基准。
  9. 根据权利要求7所述的方法，其特征在于，若所述控制节点通过第一承载向所述终端发送所述第二操作信息，则所述第二操作信息中不包括分组数据汇聚协议PDCP层的协议数据单元的序号。
  10. 一种时序管理方法，应用于时序管理系统，其特征在于，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述方法包括：
    所述终端从所述中间节点接收第一操作信息，所述第一操作信息包括所述终端执行至少一个第一操作的时间；
    所述终端根据所述第一操作信息，执行所述至少一个第一操作。
  11. 根据权利要求10所述的方法，其特征在于，所述方法还包括：
    所述终端从所述控制节点接收第二操作信息，所述第二操作信息用于指示所述终端执行至少一个第二操作；
    所述终端的分组数据汇聚协议PDCP实体在接收到所述第二操作信息后，优先向应用层实体递交所述第二操作信息。
  12. 根据权利要求11所述的方法，其特征在于，所述终端的PDCP实体在接收到所述第二操作信息后，优先向应用层实体递交所述第二操作信息，包括：
    所述终端在接收到所述第二操作信息后，若确定所述第二操作信息中不包括PDCP层的协议数据单元的序号，则直接向所述应用层实体递交所述第二操作信息。
  13. 根据权利要求10所述的方法，其特征在于，所述方法还包括：
    所述终端从所述控制节点接收第二操作信息，所述第二操作信息包括所述终端执行所述至少一个第二操作的时间；
    所述终端根据执行所述至少一个第二操作的时间，向所述应用层实体递交所述第二操作信息。
  14. 根据权利要求11-13任一项所述的方法，其特征在于，所述终端从所述控制节点接收第二操作信息，包括：
    所述终端通过第一承载从所述控制节点接收所述第二操作信息，其中，所述第一承载为所述终端从中间节点接收所述第一操作信息的承载；
    所述终端通过第二承载从所述控制节点接收所述第二操作信息，所述终端通过第一承载从所述中间节点接收所述第一操作信息。
  15. 一种中间节点，应用于时序管理系统，其特征在于，所述时序管理系统包括控制节点、所述中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述中间节点包括：
    接收模块，用于从所述控制节点接收任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；
    处理模块，用于根据所述任务信息和本地时钟信息，确定所述终端的操作信息，所述操作信息包括所述终端执行至少一个操作的时间，所述本地时钟信息包括所述中间节点所维护的时钟的信息；以及
    发送模块，用于向所述终端发送所述操作信息。
  16. 根据权利要求15所述的中间节点，其特征在于，所述本地时钟信息包括第一本地时钟的信息和第二本地时钟的信息，所述第一本地时钟用于所述中间节点与所述控制节点同步，所述第二本地时钟用于所述中间节点与所述终端同步。
  17. 根据权利要求16所述的中间节点，其特征在于，所述处理模块具体用于：
    根据所述本地时钟信息，确定所述第一本地时钟和所述第二本地时钟的对应关系；
    所述中间节点根据所述任务信息和所述对应关系，确定所述终端的操作信息；其中，所述任务信息以所述第一本地时钟为时间基准，所述终端执行所述至少一个操作的时间以所述第二本地时钟为时间基准。
  18. 一种控制节点，应用于时序管理系统，其特征在于，所述时序管理系统包括所述控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述控制节点包括：
    处理模块，用于确定任务信息，所述任务信息包括至少一个任务的开始信息、结束信息中的至少一个；
    发送模块，用于向所述中间节点发送所述任务信息，所述任务信息用于使得所述中间节点向所述终端发送第一操作信息，以指示所述终端执行至少一个第一操作的时间。
  19. 根据权利要求18所述的控制节点，其特征在于，所述发送模块还用于：
    向所述终端发送第二操作信息，所述第二操作信息用于指示所述终端执行至少一个第二操作。
  20. 根据权利要求19所述的控制节点，其特征在于，所述发送模块还具体用于：
    通过第一承载向所述终端发送所述第二操作信息；其中，所述第一承载为所述中间节点向所述终端发送所述第一操作信息的承载；或者
    通过第二承载向所述终端发送所述第二操作信息，所述中间节点通过第一承载向所述终端发送所述第一操作信息。
  21. 根据权利要求19或20所述的控制节点，其特征在于，还包括：接收模块；
    所述接收模块，用于在向所述终端发送第二操作信息之前，接收所述中间节点发送的时钟同步信息，所述时钟同步信息包括所述中间节点所维护的本地时钟的当前时间，所述本地时钟用于所述中间节点与所述终端同步；
    所述处理模块，具体用于根据所述时钟同步信息确定所述第二操作信息，所述第二操作信息包括所述终端执行所述至少一个第二操作的时间，所述第二操作的时间以所述本地时钟为时间基准。
  22. 一种终端，应用于时序管理系统，其特征在于，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域，所述终端包括：
    接收模块，用于从所述中间节点接收第一操作信息，所述第一操作信息包括所述终端执行至少一个第一操作的时间；
    处理模块，用于根据所述第一操作信息，执行所述至少一个第一操作。
  23. 根据权利要求22所述的终端，其特征在于，所述接收模块还用于：从所述控制节点接收第二操作信息，所述第二操作信息用于指示所述终端执行至少一个第二操作；
    所述处理模块还用于，在所述终端的分组数据汇聚协议PDCP实体接收到所述第二操作信息后，优先向应用层实体递交所述第二操作信息。
  24. 根据权利要求22所述的终端，其特征在于，所述接收模块还用于：从所述控制节点接收第二操作信息，所述第二操作信息包括所述终端执行所述至少一个第二操作的时间；
    所述处理模块还用于：根据执行所述至少一个第二操作的时间，向所述应用层实体递交所述第二操作信息。
  25. 根据权利要求23或24所述的终端，其特征在于，所述接收模块还具体用于：
    通过第一承载从所述控制节点接收所述第二操作信息，其中，所述第一承载为所述终端从中间节点接收所述第一操作信息的承载；
    通过第二承载从所述控制节点接收所述第二操作信息，所述终端通过第一承载从所述中间节点接收所述第一操作信息。
  26. 一种时序管理系统，其特征在于，所述时序管理系统包括控制节点、中间节点以及与所述中间节点通信的至少一个终端，所述控制节点和所述中间节点位于第一时钟同步区域，所述中间节点和所述至少一个终端位于第二时钟同步区域；
    所述中间节点用于执行权利要求1-4任一项所述的方法；
    所述控制节点用于执行权利要求5-9任一项所述的方法；
    所述终端用于执行权利要求10-14任一项所述的方法。
  27. 一种中间节点，其特征在于，包括：存储器和处理器，所述存储器用于存储计算机程序，所述处理器用于从所述存储器中调用并运行所述计算机程序，使得所述处理器运行所述计算机程序执行如权利要求1-4任一项所述的时序管理方法。
  28. 一种控制节点，其特征在于，包括：存储器和处理器，所述存储器用于存储 计算机程序，所述处理器用于从所述存储器中调用并运行所述计算机程序，使得所述处理器运行所述计算机程序执行如权利要求5-9任一项所述的时序管理方法。
  29. 一种终端，其特征在于，包括：存储器和处理器，所述存储器用于存储计算机程序，所述处理器用于从所述存储器中调用并运行所述计算机程序，使得所述处理器运行所述计算机程序执行如权利要求10-14任一项所述的时序管理方法。
  30. 一种存储介质，其特征在于，所述存储介质包括计算机程序，所述计算机程序用于实现如下中的任一：
    权利要求1-4任一项所述的时序管理方法；
    权利要求5-9任一项所述的时序管理方法；
    权利要求10-14任一项所述的时序管理方法。
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