# US 2022/0069972 A1 · Device synchronization method and apparatus, device, and storage medium

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- Number: US 2022/0069972 A1
- Document ID: US20220069972A1
- Status: Published application
- Kind: A1
- Application number: 17/185,712
- Filed: 2021-02-25
- Published: 2022-03-03
- Earliest claimed: 2020-09-02
- Assignees: Keenon Robotics Co., Ltd.
- Applicants: Keenon Robotics Co., Ltd.
- Inventors: Yingxuan LI; Wei XU; Yayun YANG
- Web page: https://patentgrep.com/patent/US20220069972A1

## CPC

- H04L 7/0054: {Detection of the synchronisation error by features other than the received signal transition (by means of signal transition H04L7/033)}
- H04W 56/001: {Synchronization between nodes}
- H04L 7/0091: {Transmitter details}
- H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M)
- H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72)

## Abstract

Provided are a device synchronization method and apparatus, a device, and a storage medium. The device synchronization method includes: in response to determining that a second device does not receive a first data packet, determining a target time cycle for sending data packets by the second device based on a preset cycle adjustment parameter and a preset time slice length; determining whether the second device receives a second data packet sent by the first device based on the time slice length and the target time cycle of the second device; and in response to determining that the second device receives the second data packet sent by the first device, determining a time point for sending a data packet next time by the second device according to data packet information of the first device, achieving cycle synchronization of the second device in a preset synchronization cycle time period.

## Claims

### Claim 1

A device synchronization method, comprising:
in response to determining that a second device does not receive a first data packet sent by a first device within a preset time period, determining a target time cycle for sending data packets by the second device based on a preset cycle adjustment parameter and a preset time slice length for sending a data packet;
determining whether the second device receives a second data packet sent by the first device based on the time slice length for sending the data packet and the target time cycle of the second device; and
in response to determining that the second device receives the second data packet sent by the first device, determining a time point for sending a data packet next time by the second device according to data packet information of the first device, thus achieving a cycle synchronization of the second device in a preset synchronization cycle time period.

### Claim 2 (depends on 1)

The device synchronization method of claim 1, further comprising:
in response to determining that the second device receives the first data packet sent by the first device, determining the time point for sending the data packet next time by the second device according to data packet information of the first data packet sent by the first device thus achieving the cycle synchronization of the second device in the preset synchronization cycle time period.

### Claim 3 (depends on 1)

The device synchronization method of claim 1, further comprising the following operation subsequent to determining the target time cycle for sending data packets by the second device based on the preset cycle adjustment parameter and the preset time slice length for sending a data packet:
determining whether a current time reaches a time for sending a data packet by the second device, and in response to determining that the current time reaches the time for sending the data packet sent by the second device, determining that the second device sends a data packet, and continuing to determine whether the second device receives the second data packet sent by the first device, thus achieving the cycle synchronization of the second device in the preset synchronization cycle time period.

### Claim 4 (depends on 1)

The device synchronization method of claim 1, wherein determining the target time cycle for sending data packets by the second device based on the preset cycle adjustment parameter and the preset time slice length comprises:
calculating the target time cycle for sending data packets by the second device according to the following formulas:
in a case where
N
max
-
1
=
α
×
n
,
N
=
[
N
max
-
1
α
-
1
]
;
in a case where
N
max
-
1
≠
α
×
n
,
N
=
[
N
max
-
1
α
]
;
T
c
⁢
n
=
[
ID
N
+
1
]
;
and
T
c
=
(
N
max
×
T
c
⁢
n
+
(
ID
⁢
⁢
%
⁢
⁢
N
+
1
)
×
α
)
×
T
e
,
where Nmax denotes a current maximum number of devices, α denotes the preset cycle adjustment parameter greater than 1 and less than 2, n is an arbitrary integer, N denotes an intermediate calculation parameter, Tcn denotes an integer part of the target time cycle, ID denotes a device number of the second device, Tc denotes the target time cycle, and Te denotes the time slice length for sending the data packet.

### Claim 5 (depends on 1)

The device synchronization method of claim 1, wherein the preset cycle adjustment parameter is 1.5 so that the second device sends no more than two data packets according to the target time cycle.

### Claim 6 (depends on 1)

The device synchronization method of claim 1, further comprising the following operation subsequent to determining the time point for sending the data packet next time by the second device thus achieving the cycle synchronization of the second device in the present synchronization cycle time period:
in a case where the second device is disconnected, switching a synchronization state of the second device to an asynchronization state according to a preset synchronization timeout mechanism, so as to perform synchronization again after the second device gets online.

### Claim 7 (depends on 1)

The device synchronization method of claim 1, wherein determining the time point for sending the data packet next time by the second device according to the data packet information of the first device thus achieving the cycle synchronization of the second device in the preset synchronization cycle time period comprises:
determining an ending time point for sending the second data packet by the first device according to the data packet information of the second data packet that is sent by the first device and received by the second device; and
determining the time point for sending the next data packet by the second device according to the ending time point for sending the second data packet by the first device, thus achieving the cycle synchronization of the second device in the preset synchronization cycle time period.

### Claim 8 (depends on 1)

The device synchronization method of claim 1, further comprising the following operations subsequent to determining the time point for sending the data packet next time by the second device according to the data packet information of the first device thus achieving the cycle synchronization of the second device in the present synchronization cycle time period:
determining a time for sending a data packet by a first numbered device after receiving a data packet from a second numbered device, based on the synchronization cycle and a device numbering sequence; and
determining the time for sending the data packet by the first numbered device according to the following formulas:
in a case where ID2>ID1,t1=t0+(Nmax+ID1−ID2)×Te−Ts;
in a case where ID2<ID1,t1=t0+(ID1−ID2)×Te−Ts,
wherein ID1 denotes a device number of the first numbered device, ID2 denotes a device number of the second numbered device, t1 denotes the time for sending the data packet by the first numbered device, t0 denotes a time for receiving the data packet from the second numbered device by the first numbered device, Te denotes the time slice length for sending the data packet, Ts denotes a time period required for totally sending a fixed-length data packet, and Ts is less than or equal to Te.

### Claim 9 (depends on 1)

The device synchronization method of claim 1, wherein the time slice length for sending a data packet by each device is consistent, and the time slice length for sending the data packet comprises a time period required for totally sending a fixed-length data packet by a device and a preset redundant time period.

### Claim 10 (depends on 1)

The device synchronization method of claim 1, wherein the synchronization cycle is a time period required for completing the sending of data packet sending once by all devices in operation; and
the synchronization cycle is calculated according to following formula: TD=Nmax×Te:
wherein TD denotes the synchronization cycle.

### Claim 11 (depends on 1)

The device synchronization method of claim 1, further comprising the following operation prior to determining the target time cycle for sending data packets by the second device based on the preset cycle adjustment parameter and a preset time slice length for sending the data packet:
determining a synchronization cycle and a data packet sending rule corresponding to the device number based on a preset number of devices, a device number, and a length of a data packet sent by a device, wherein the data packet sent by the device is a fixed-length data packet.

### Claim 12

A device synchronization apparatus, comprising:
a target cycle determination module, configured for: in response to determining that a second device does not receive a first data packet sent by a first device within a preset time period, determining a target time cycle for sending data packets by the second device based on a preset cycle adjustment parameter and a preset time slice length for sending a data packet determining;
a data packet receiving module, configured for: determining whether the second device receives a second data packet sent by the first device based on the time slice length for sending the data packet and the target time cycle of the second device; and
a device synchronization module, configured for: in response to determining that the second device receives the second data packet sent by the first device, determining a time point for sending a data packet next time by the second device according to data packet information of the first device, thus achieving a cycle synchronization of the second device in a preset synchronization cycle time period.

### Claim 13 (depends on 12)

The device synchronization apparatus of claim 12, further comprising:
a synchronization implementation module, configured for: in response to determining that the second device receives the first data packet sent by the first device, determining the time point for sending the data packet next time by the second device according to data packet information of the first data packet sent by the first device thus achieving the cycle synchronization of the second device in the preset synchronization cycle time period.

### Claim 14 (depends on 12)

The device synchronization apparatus of claim 12, further comprising:
a data packet sending module, configured for determining whether a current time reaches a time for sending a data packet by the second device, and in response to determining that the current time reaches the time for sending the data packet by the second device, determining that the second device sends a data packet, and continuing to determine whether the second device receives the second data packet sent by the first device, thus achieving the cycle synchronization of the second device in the preset synchronization cycle time period.

### Claim 15 (depends on 12)

The device synchronization apparatus of claim 12, wherein the target cycle determination module is configured for:
calculating the target time cycle for sending data packets by the second device according to the following formulas:
in a case where
N
max
-
1
=
α
×
n
,
N
=
[
N
max
-
1
α
-
1
]
;
in a case where
N
max
-
1
≠
α
×
n
,
N
=
[
N
max
-
1
α
]
;
T
c
⁢
n
=
[
ID
N
+
1
]
;
and
T
c
=
(
N
max
×
T
c
⁢
n
+
(
ID
⁢
⁢
%
⁢
⁢
N
+
1
)
×
α
)
×
T
e
,
where Nmax denotes a current maximum number of devices, α denotes the preset cycle adjustment parameter greater than 1 and less than 2, n is an arbitrary integer, N denotes an intermediate calculation parameter, Tcn denotes an integer part of the target time cycle, ID denotes a device number of the second device, Tc denotes the target time cycle, and Te denotes the time slice length for sending the data packet.

### Claim 16 (depends on 12)

The device synchronization apparatus of claim 12, wherein the preset cycle adjustment parameter 1.5 so that the second device sends no more than two data packets according to the target time cycle.

### Claim 17 (depends on 12)

The device synchronization apparatus of claim 12, further comprising a state switching module, configured for performing the following operation subsequent to determining the time point for sending the data packet next time by the second device thus achieving the cycle synchronization of the second device in the present synchronization cycle time period:
in a case where the second device is disconnected, switch a synchronization state of the second device to an asynchronization state according to a preset synchronization timeout mechanism, so as to perform synchronization again after the second device is online

### Claim 18 (depends on 12)

The device synchronization apparatus of claim 12, wherein the device synchronization module is configured for:
determining an ending time point for sending the second data packet by the first device according to the data packet information of the second data packet that is sent by the first device and received by the second device; and
determining the time point for sending the next data packet by the second device according to the ending time point for sending the second data packet by the first device, thus achieving the cycle synchronization of the second device in the preset synchronization cycle time period.

### Claim 19 (depends on 1)

A computer device, comprising a memory, a processor and a computer program stored in the memory and executable by the processor, wherein the processor, when executing the computer program, performs the device synchronization method of claim 1.

### Claim 20 (depends on 1)

A storage medium comprising computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are configured to perform the device synchronization method of claim 1.