The present disclosure selects a node generating a periodic time slot request in a network to construct a set of periodic time slot request generation nodes, and constructs a time slot request cycle set; selects a node generating an aperiodic time slot request in the network to construct a set of aperiodic time slot request generation nodes, and constructs a time set of the aperiodic time slot request generation nodes; calculates a time slot contention scheduling parameter of each node in the set of the periodic time slot request generation nodes; and if no aperiodic time slot request arrives, allocates a time slot to each time slot requesting node during periodic time slot scheduling; or if an aperiodic time slot request, namely, a sporadic time slot request, arrives, performs rescheduling through hybrid time slot scheduling based on arrival time of the aperiodic time slot request.