CN101128029A - A terminal access method in TDD communication system - Google Patents
A terminal access method in TDD communication system Download PDFInfo
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- CN101128029A CN101128029A CNA2006101113089A CN200610111308A CN101128029A CN 101128029 A CN101128029 A CN 101128029A CN A2006101113089 A CNA2006101113089 A CN A2006101113089A CN 200610111308 A CN200610111308 A CN 200610111308A CN 101128029 A CN101128029 A CN 101128029A
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Abstract
The utility model discloses a access method of terminal in TDD communication system, which is characterized in that: firstly, a base station arranges an access time slot separately between at least two time slots of uplink time slot, or at least according to current remote co-frequency interference condition and business capacity, arranging access time slot at one time slot interval of the uplink time slots and always detecting uplink access request transmitted by the terminal; then, the terminal tries to access at the access time slot of the base station. by setting the access time slot for the base station, the utility model flexibly chooses the part free from the interference by remote co-frequency for terminal access in uplink time slot on the base station to avoid the influence of remote co-frequency interference, thus overcoming the influence of the remote co-frequency interference upon the terminal access to the maximal extent.
Description
Technical field
The present invention relates to a kind of cut-in method of terminal, relate in particular to the cut-in method of terminal in a kind of TDD communication system.
Background technology
The TDD mode is the duplex mode of more employing in the communication system.In at present most TDD communication systems, the access procedure of terminal normally: access terminal and launch up access request earlier at some access slots place of base station ascending time slot and (also claim: access exploration sequence); Afterwards, the base station is by knowing the access of terminal at this access slot to the detection of up access request, and then sends signaling with control and finish the process that terminal inserts in its descending time slot.Wherein, access slot is present in the ascending time slot of base station, and generally is certain fixing time slot or common signal channel; Terminal just is fixed on the up access request of this access slot place base station at every turn, so that initiate access procedure.In addition, the up access request of terminal emission carries the access information of terminal, up-link information can be known in the base station after detecting this up access request, and go into terminal by the information butt joint of carrying in this up access request of demodulation and carry out to a certain degree examination, the distribution of the grade of service and professional code channel is done to judge, and in descending time slot, the parameters such as time delay (synchronously), power and carrier wave frequency deviation of terminal are done to instruct follow-up terminal access procedure to proofread and correct in conjunction with its link quality information.
For the TDD communication system, because it adopts time division duplex, so uplink downlink is in the same channel, but is operated in different time-gap.For avoiding the phase mutual interference between the uplink downlink, the TDD communication system is provided with the protection time slot between uplink and downlink timeslot.Wherein, the coverage of the length of the protection time slot between descending time slot and ascending time slot and base station, relevant with the spacing distance of base station frequently.
As shown in Figure 1, suppose to exist base station A and base station B, its downlink signal is a strict synchronism, but owing to there is transmission delay, measure transmitting of base station A and base station B simultaneously at B antenna for base station place, can get the hysteresis that transmitted of the relative base station B of transmitting of base station A, be t=D/c its lag time, wherein D is the distance between base station A and the base station B, and c is the light velocity.Because the base station is provided with the protection time slot, if therefore lag time t less than the length of the protection time slot between descending time slot and ascending time slot, then this hysteresis can not impact the TDD communication system.If but lag time long enough, as shown in Figure 1, cause transmitting of base station A to enter the ascending time slot (being receiving slot) of base station B, then can cause co-channel interference.Wherein, the co-channel interference length among Fig. 1 is t1, and its size equals lag time t and deducts the length of the protection time slot between descending time slot and ascending time slot.
Under common propagation conditions; the design of the protection slot length of TDD communication system has guaranteed that in transmitting of base station A enters the receiving slot of base station B when causing co-channel interference, the loss that its transmission range D causes can make the intensity of co-channel interference little of ignoring (be lag time t greater than the length of the protection time slot between descending time slot and ascending time slot).
Yet; in (for example atmospheric duct effect that occurs under extreme terrain, period and the weather conditions) under some special propagation conditions; the variation of air index can make radio wave carry out the propagation of the low attenuation of over the horizon aloft; signal strength signal intensity and propagation distance all exceed normal covering of radio wave and protection spacing distance, can reach 300km farthest.Its consequence is that other remote downstream signal (promptly transmitting) with the frequency base station has entered the ascending time slot of current base station in the TDD communication system, and the signal strength signal intensity of this downstream signal even may be better than the signal of the normal uplink of current base station, thereby the up link of current base station is caused interference; Here be referred to as remote co-channel interference.Particularly in TDD macrocellular communication network, remote have several with the frequency base station, and the interference of these a plurality of base stations can be superimposed upon in the ascending time slot of current base station.
In the TDD of reality communication system, the position of access slot often is positioned at the original position of base station ascending time slot.This makes when remote co-channel interference takes place, and brings difficulty can for the base station up access request of correct detection, has increased the omission of normal up access request and the probability of false-alarm.The same with similar phenomenons such as external interference or access collisions, greatly reduce terminal access efficiency.
In view of above-mentioned, be necessary in fact to design the cut-in method of terminal in a kind of new TDD communication system, so that the influence of avoiding remote co-channel interference to bring, improve the access efficiency of terminal.
Summary of the invention
Technical problem to be solved by this invention is when the terminal of TDD communication system inserts, and influence how to avoid remote co-channel interference to bring is to improve the access efficiency of terminal.
For achieving the above object, the present invention proposes the cut-in method of terminal in a kind of TDD communication system, and wherein this TDD communication system comprises base station and terminal at least, and this cut-in method comprises the steps:
Step 1: base station at least two slot time places of capable time slot thereon respectively is provided with an access slot, and all keeps the detection to the up access request of terminal emission at each access slot place;
Step 2: a terminal access slot place is therein carried out access attempts to the up access request of base station; If terminal repeats to be access failure behind the several times access attempts at this access slot place, then terminal is carried out access attempts at another access slot place to the up access request of base station; Otherwise terminal inserts successfully, communicates with the base station;
Step 3: if terminal repeats to be failure behind the several times access attempts at described another access slot place, then terminal continues to carry out access attempts at remaining access slot place to the up access request of base station, insert successfully until terminal, communicate with the base station.
Wherein, judge in described step 2 and step 3 whether the terminal access successfully is specially:
1) whether terminal judges receives the access response that the base station issues; If receive, then terminal inserts successfully, communicates with the base station; Otherwise, carry out next step;
2) behind the some frames of random wait, terminal continues to carry out access attempts at same access slot place to the up access request of base station; If terminal does not all receive the access response that the base station issues, then terminal access failure after this access slot place repeats the several times access attempts; Otherwise terminal inserts successfully, communicates with the base station;
Further, described cut-in method also comprises:
Step 4: after terminal inserted successfully, terminal was remembered the successful access slot of this access, and launched the fixed position of up access request when this access slot carried out access attempts later on as terminal.
Further, in described step 1, the base station is to the access slot set handling priority of its setting; If terminal is carried out access attempts at several access slot places to the up access request of base station simultaneously, then the base station is detected earlier and the high access attempts of response priority level.Wherein, in the access slot that the base station is provided with in step 1 is the existing access slot of TDD communication system.
Further, in the SCDMA system, go respectively before the time slot thereon in the base station, the slot time place of promptly descending and up conversion; And after the ascending time slot, promptly up and slot time place down conversion is provided with access slot.In the TD-SCDMA system, the base station is gone before each business time-slot of time slot at least thereon, after each business time-slot or two places in the slot time place between each business time-slot are provided with access slot; Wherein, in the TD-SCDMA system, at least one described access slot is the uplink synchronous time slot (UpPTS time slot) of TD-SCDMA system.
For achieving the above object, the present invention proposes the cut-in method of terminal in a kind of TDD communication system again, and wherein this TDD communication system comprises base station and terminal at least, and this cut-in method comprises:
Step 1: according to the situation and the volume of business of its current remote co-channel interference, one of them slot time place of capable time slot is provided with access slot thereon at least in the base station, and keeps the detection to the up access request of terminal emission at this access slot place; And this access slot is informed terminal by its Forward Broadcast Channel;
Step 2: after terminal is known this access slot from described Forward Broadcast Channel, insert to the up access request of base station at this access slot place.
Further, in the SCDMA system, described access slot is arranged on before the ascending time slot of base station, the slot time place of promptly descending and up conversion; And after the ascending time slot, the slot time place of promptly up and down conversion.In the TD-SCDMA system, described access slot is arranged on before each business time-slot of base station ascending time slot, after each business time-slot or the wherein place in the slot time place between each business time-slot; Wherein, in the TD-SCDMA system, at least one described access slot is the uplink synchronous time slot (UpPTS time slot) of TD-SCDMA system.
Wherein, in described step 1, described access slot also can be by manually by the configuration mode setting.In addition, described access slot also can be the existing access slot of TDD communication system.
The present invention is by the setting of base station to access slot, the part of selecting neatly not to be subjected to remote co-channel interference in the ascending time slot of base station is used for the terminal access, to avoid the influence of remote co-channel interference, overcome the influence that remote co-channel interference inserts terminal to the full extent.Wherein, the base station can be provided with access slot according to the slot time place that communication quality requires not to be subjected to remote co-channel interference thereon in the capable time slot, to improve the efficient that terminal inserts; Certainly, the person of ordinary skill in the field should know, the base station also can be provided with access slot according to the idle time slot place that communication quality requires not to be subjected to remote co-channel interference thereon in the capable in the same way time slot, and improves the efficient that terminal inserts by similar detection and response processing.
Description of drawings
Fig. 1 is the time slot hysteresis schematic diagram of base station A and base station B;
Fig. 2 is the software flow pattern of a kind of terminal access method of the present invention;
Fig. 3 is the access slot position view of SCDMA system in a preferred embodiment of the present invention;
Fig. 4 is the access slot position view of TD-SCDMA system in another preferred embodiment of the present invention;
Fig. 5 is the software flow pattern of the another kind of terminal access method of the present invention;
Fig. 6 is the access slot position view of TD-SCDMA system in the another preferred embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, concrete enforcement of the present invention is further described in detail.
Embodiment one
The SCDMA system adopts the wireless access communication system of TDD mode.Figure 3 shows that the transmitting-receiving time slot map of base station on SCDMA system one channel, wherein Tx downlink is a descending time slot, and Rx uplink is an ascending time slot.Descending time slot in the SCDMA system-frame form is 0.39ms to the protection time slot of ascending time slot conversion; that is to say; when similar atmospheric duct effect takes place, surpass outer remote of 117km and might produce remote co-channel interference to the ascending time slot of current base station with base station frequently.
When remote co-channel interference took place, remote transmitting of descending time slot with the frequency base station entered the ascending time slot of current base station through propagation delay time, and ascending time slot is caused interference.Shown in dash area among Fig. 3, what remote co-channel interference influenced is the position that terminal to transmit uplink inserts the access slot of request (the SCDMA system is referred to as SYNC1) just, makes the up access of terminal be difficult to be discerned by current base station.Especially in the SCDMA macrocellular network, remote frequency together base station in certain distance (such as thinking that the propagation distance that influences of atmospheric duct effect the is 300km) scope has several, these several remote interference with the frequency base station can be superimposed upon on the ascending time slot of current base station, and is even more serious to the normal use influence of SCDMA system.The up access request SYNC1 that terminal sends is difficult to obtain the access response of base station all the time, can't insert the SCDMA system.Under the extreme case, the base station also can be thought the access request of having received terminal by mistake and then make response, but can't distinguish the SYNC1 that real terminal inserts under strong jamming.
In the present embodiment, for overcoming the influence that above-mentioned remote co-channel interference causes the access of terminal in the SCDMA system effectively.Present embodiment has increased the access slot of a receiving terminal emission SYNC1 in the ascending time slot of base station; as shown in Figure 3; for example the access slot of this increase can be arranged in the protection time slot between base station ascending time slot and descending time slot, can keep compatibility like this original SCDMA system.
Below in conjunction with Fig. 2 and Fig. 3, specify as follows to the access procedure of terminal in the SCDMA system.
Step 1: terminal is carried out access attempts in original position of sending out the access slot of SYNC1 to base station SYNC1 earlier, and waits the access response (SSEnable) that the base station issues in its down channel;
Step 2: whether terminal judges receives the access response that the base station issues; If receive, illustrate that then terminal inserts successfully, and communicate with the base station; Otherwise, execution in step 3;
Step 3: behind the some frames of random wait, terminal continues to carry out access attempts in the position of this access slot to base station SYNC1; If terminal does not all receive the access response that the base station issues after the position of this access slot repeats the several times access attempts, the terminal access failure then is described, execution in step 4; Otherwise, illustrate that terminal inserts successfully, and communicate with the base station;
Step 4: the position of the access slot that terminal increases newly in the base station is inserted to base station SYNC1; After treating that terminal inserts successfully, communicate with the base station.
The access procedure of above-mentioned terminal has comprised at two access slots and has carried out access attempts, receives in terminal and inserts aspect the response, and the access attempts of terminal on these two access slots can be as broad as long.
In addition, present embodiment in case after inserting successfully, terminal can be remembered the position of this time inserting successful access slot, is launched the fixed position of up access request in terminal in the time of also this access slot can being carried out access attempts later on as terminal.Certainly, because access slot of the present invention can be selected neatly, the base station is not to carry out this operation.
In the present embodiment, on the actual treatment of base station, except the SYNC1 that terminal is sent out on the position of original access slot detects, also to keep detectability, and all keep demodulates information, information parameters such as () synchronously, power to extract and insert the ability of response fast the SYNC1 of two access slot positions to the SYNC1 that on the position of the access slot that increases newly, sends out.Aspect the processing priority of two access slots, the SYNC1 that the base station can be designed as sending out on the access slot position that increases newly preferentially detects and responds processing.Because on the access slot position that increases newly, send out the terminal of SYNC1, often may be because current base station has been under the influence of remote co-channel interference, can't detect SYNC1 in original access slot position and parse the SYNC1 of terminal, therefore to the up access request of this terminal, should give the redemption strategy of high priority.That is to say, if the up access request of terminal is found all to have on former and later two access slot positions in the base station, then preferentially the SYNC1 of the access slot position that increases newly is handled, issue SS Enable and carry out uplink synchronous and power adjustments according to the locational access of access slot that increases newly.
The implementation result of the present invention in the SCDMA system is, when remote co-channel interference takes place when, terminal may be difficult to insert successfully in original access slot position, the SYNC1 that terminal begins on the access slot position that increases newly to send out then will help the base station to finish identification to SYNC1, thereby realizes that terminal inserts.
Embodiment two
In the TD-SCDMA system; be illustrated in figure 4 as the transmitting-receiving time slot map of TD-SCDMA system base-station; wherein the base station is 75 microseconds from descending time slot (Ts0 distributes to descending time slot the figure) to the GP of ascending time slot (Ts1 distributes to ascending time slot among the figure) conversion protection time slot, and corresponding distance is 22.5km.That is to say that when TD-SCDMA system generation remote co-channel interference, the downstream signal that surpasses the downlink synchronization slot (DwPTS time slot) of 22.5km base station in addition can enter in the uplink synchronous time slot (UpPTS time slot) of current base station.
In the random access procedure of TD-SCDMA system, before terminal is initiated to insert, terminal need obtain the uplink synchronous sequence (SYNC_UL sign indicating number) of distributing to the UpPTS physical channel for inserting at random from the DwPTS time slot of current base station, terminal sends out access request (SYNC_UL sign indicating number) up on the UpPTS time slot then.In case after the base station detected the UpPTS gap information of self terminal emission, the instruction that its power upgrades and regularly adjusts was determined according to this information in the base station, on the FPACH channel, be handed down to terminal to prepare next should instruct, thereby instruct the process that inserts at random.
When TD-SCDMA system generation remote co-channel interference, base station UpPTS time slot may be subjected to the interference from the DwPTS time slot even the Ts0 downstream signal of other base station, thereby has influenced the judgement of base station to the up access request of terminal emission.For this reason, can adopt in the present embodiment and the foregoing description one similar method, for example at least one place in the slot time place between the slot time place between the slot time place between business time-slot Ts1 and Ts2, business time-slot Ts2 and Ts3, business time-slot Ts3 and Ts4 increases an access slot UpPTS newly, slot time place between the concrete several ascending time slots as shown in Figure 4 in its position so just can overcome the influence of remote co-channel interference to the UpPTS time slot effectively.Same, the base station need keep the detectability of up access request that terminal is issued two access slot UpPTS positions at least in the present embodiment.Wherein, the access attempts process of terminal is similar to Example 1 in the present embodiment, does not repeat them here.
Embodiment three
Certainly, in the TD-SCDMA system, terminal can also insert with another kind of flexible way.Below in conjunction with Fig. 5 and Fig. 6 this access procedure is carried out specific description.
As Fig. 5 and shown in Figure 6, this access procedure mainly comprises the steps:
Step 1: the base station is according to the situation and the volume of business of its current remote co-channel interference, go any one slot time place of time slot thereon, for example the slot time place between the slot time place between the slot time place between the slot time place between business time-slot Ts0 and Ts1, business time-slot Ts1 and Ts2, business time-slot Ts2 and Ts3, business time-slot Ts3 and Ts4 is provided with access slot UpPTS, and keeps the detection to the up access request of terminal emission at this access slot place; In the present embodiment, as shown in Figure 6, the base station is arranged at slot time place between business time-slot Ts2 and Ts3 with access slot, certainly the base station also can still only keep original UpPTS time slot as access slot, but also can be neatly with other slot time places of access slot capable time slot disposed thereon;
In addition, described access slot also can be by manually by the configuration mode setting;
Step 2: the base station is informed terminal by its Forward Broadcast Channel with this access slot;
Step 3: after terminal is known this access slot from described Forward Broadcast Channel, insert to the up access request of base station in the position of this access slot.
In addition, terminal also may need to calculate by the position of this access slot the relative position of business time-slot.For example, in the present embodiment, under the prerequisite that only keeps a UpPTS time slot, terminal knows that from the base station UpPTS time slot is positioned at the slot time between business time-slot Ts2 and Ts3, then the transmitting-receiving time slot of TD-SCDMA system is as shown in Figure 4 no longer just at this moment, and need on basis shown in Figure 4, shift to an earlier date the launch time of Ts1 and Ts2 ascending time slot, the time span that wherein shifts to an earlier date equals the slot length of UpPTS, as shown in Figure 6.
In addition, the person of ordinary skill in the field should know, the base station is except can according to the slot time place that communication quality requires not to be subjected to remote co-channel interference thereon in the capable time slot access slot being set in the described mode of the foregoing description, outside the efficient that improves the terminal access; The idle time slot place that the base station also can require not to be subjected to remote co-channel interference thereon in the capable time slot according to communication quality in the same way is provided with access slot, and improves the efficient that terminal inserts by similar detection and response processing.Since terminal with idle time slot as the process of the access attempts of access slot and above embodiment similar, do not repeat them here.
Should be pointed out that the above, only is several preferred embodiment of the present invention, is not to be used to limit protection scope of the present invention.It will be apparent to those skilled in the art that and can also make some improvements and modifications under the prerequisite that does not break away from the principle of the invention, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (11)
1. the cut-in method of terminal in the TDD communication system, wherein this TDD communication system comprises base station and terminal at least, it is characterized in that, comprising:
Step 1: base station at least two slot time places of capable time slot thereon respectively is provided with an access slot, and all keeps the detection to the up access request of terminal emission at each access slot place;
Step 2: a terminal access slot place is therein carried out access attempts to the up access request of base station; If terminal repeats to be access failure behind the several times access attempts at this access slot place, then terminal is carried out access attempts at another access slot place to the up access request of base station; Otherwise terminal inserts successfully, communicates with the base station;
Step 3: if terminal repeats to be failure behind the several times access attempts at described another access slot place, then terminal continues to carry out access attempts at remaining access slot place to the up access request of base station, insert successfully until terminal, communicate with the base station.
2. cut-in method according to claim 1 is characterized in that, judges in described step 2 and step 3 whether the terminal access successfully is specially:
1) whether terminal judges receives the access response that the base station issues; If receive, then terminal inserts successfully, communicates with the base station; Otherwise, carry out next step;
2) behind the some frames of random wait, terminal continues to carry out access attempts at same access slot place to the up access request of base station; If terminal does not all receive the access response that the base station issues, then terminal access failure after this access slot place repeats the several times access attempts; Otherwise terminal inserts successfully, communicates with the base station.
3. cut-in method according to claim 1 and 2 is characterized in that, described cut-in method also comprises:
Step 4: after terminal inserted successfully, terminal was remembered the successful access slot of this access, and launched the fixed position of up access request when this access slot carried out access attempts later on as terminal.
4. cut-in method according to claim 1 is characterized in that, in described step 1, the base station is to the access slot set handling priority of its setting; If terminal is carried out access attempts at several access slot places to the up access request of base station simultaneously, then the base station is detected earlier and the high access attempts of response priority level.
5. cut-in method according to claim 1 is characterized in that, in the SCDMA system, go respectively before the time slot thereon in the base station, the slot time place of promptly descending and up conversion; And after the ascending time slot, promptly up and slot time place down conversion is provided with access slot.
6. cut-in method according to claim 1 is characterized in that, in the TD-SCDMA system, the base station is gone before each business time-slot of time slot at least thereon, after each business time-slot or two places in the slot time place between each business time-slot are provided with access slot.
7. cut-in method according to claim 6 is characterized in that, in the TD-SCDMA system, at least one described access slot is the uplink synchronous time slot of TD-SCDMA system.
8. the cut-in method of terminal in the TDD communication system, wherein this TDD communication system comprises base station and terminal at least, it is characterized in that, comprising:
Step 1: according to the situation and the volume of business of its current remote co-channel interference, one of them slot time place of capable time slot is provided with access slot thereon at least in the base station, and keeps the detection to the up access request of terminal emission at this access slot place; And this access slot is informed terminal by its Forward Broadcast Channel;
Step 2: after terminal is known this access slot from described Forward Broadcast Channel, insert to the up access request of base station at this access slot place.
9. cut-in method according to claim 8 is characterized in that, in the SCDMA system, described access slot is arranged on before the ascending time slot of base station, the slot time place of promptly descending and up conversion; And after the ascending time slot, the slot time place of promptly up and down conversion.
10. cut-in method according to claim 8, it is characterized in that, in the TD-SCDMA system, described access slot is arranged on before each business time-slot of base station ascending time slot, after each business time-slot or the wherein place in the slot time place between each business time-slot.
11. cut-in method according to claim 10 is characterized in that, in the TD-SCDMA system, at least one described access slot is the uplink synchronous time slot of TD-SCDMA system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2006101113089A CN101128029B (en) | 2006-08-18 | 2006-08-18 | A terminal access method in TDD communication system |
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| CN2006101113089A CN101128029B (en) | 2006-08-18 | 2006-08-18 | A terminal access method in TDD communication system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102149096A (en) * | 2010-02-05 | 2011-08-10 | 中国移动通信集团公司 | Method and device for positioning remote same-frequency interference source |
| CN102487540A (en) * | 2010-12-02 | 2012-06-06 | 无锡物联网产业研究院 | Wireless access method, relevant device and system of single frequency network |
| CN109561396A (en) * | 2018-12-13 | 2019-04-02 | 浙江天则通信技术有限公司 | A kind of data transmission system for robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100395968C (en) * | 2002-04-03 | 2008-06-18 | 华为技术有限公司 | Method for transmitting high-speed data service based on time-division duplex mode |
| CN1194563C (en) * | 2002-04-19 | 2005-03-23 | 华为技术有限公司 | Radio communication method based on time division diplexing |
-
2006
- 2006-08-18 CN CN2006101113089A patent/CN101128029B/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102149096A (en) * | 2010-02-05 | 2011-08-10 | 中国移动通信集团公司 | Method and device for positioning remote same-frequency interference source |
| CN102149096B (en) * | 2010-02-05 | 2013-11-06 | 中国移动通信集团公司 | Method and device for positioning remote same-frequency interference source |
| CN102487540A (en) * | 2010-12-02 | 2012-06-06 | 无锡物联网产业研究院 | Wireless access method, relevant device and system of single frequency network |
| CN102487540B (en) * | 2010-12-02 | 2014-08-13 | 无锡物联网产业研究院 | Wireless access method, relevant device and system of single frequency network |
| CN109561396A (en) * | 2018-12-13 | 2019-04-02 | 浙江天则通信技术有限公司 | A kind of data transmission system for robot |
| CN109561396B (en) * | 2018-12-13 | 2021-03-02 | 浙江天则通信技术有限公司 | Data transmission system for robot |
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| Publication number | Publication date |
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| CN101128029B (en) | 2010-08-18 |
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