CN101938856A - Method and system for configuring semi-static scheduling period - Google Patents
Method and system for configuring semi-static scheduling period Download PDFInfo
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- CN101938856A CN101938856A CN2009101484044A CN200910148404A CN101938856A CN 101938856 A CN101938856 A CN 101938856A CN 2009101484044 A CN2009101484044 A CN 2009101484044A CN 200910148404 A CN200910148404 A CN 200910148404A CN 101938856 A CN101938856 A CN 101938856A
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Abstract
The invention discloses a method and a system for configuring a semi-static scheduling period. The method comprises the following steps that: (1) both-side terminals establish connection and service signaling with a base station and a core network; (2) the both-side terminals report service coding and decoding capability to the core network; (3) the core network determines a service coding and decoding algorithm of a communication by matching the service coding and decoding capability of the both-side terminals and notifies to the both-side terminals and the base station; and (4) the base station determines the semi-static scheduling period according to the service coding and decoding algorithm of the communication and respectively configures to a media access control terminal and the both-side terminals. The system comprises the both-side terminals, the base station and the core network, wherein the core network notifies the service coding and decoding algorithm determined by the core network to the both-side terminals and the base station, and the base station determines the semi-static scheduling period and configures to relative sides. The invention well solves the problem of matching of the semi-static scheduling period and the service coding and decoding capability, enhances the service quality and the user experience and also saves the wireless resources.
Description
Technical field
The invention belongs to the mobile communication technology field, particularly the collocation method and the system of the semi-static scheduling cycle in LTE (long term evolution, the Long Term Evolution) mobile communication system.
Background technology
The LTE mobile communication system is referring to Fig. 1, mainly comprise: core net (CN) and Access Network (EvolvedUMTS Terrestrial Radio Access, evolved universal terrestrial radio access network, be called for short E_UTRAN), core net mainly comprises MME (Mobility Management Entity, Mobility Management Entity) and S-GW (Serving-Gateway, gateway), Access Network is made of eNB (eNodeB, the Node B in the long evolving system claim the base station again).Interconnect by the S1 interface between core net and the Access Network, interconnect by X2 interface between the inner different base station eNB of Access Network.
Scheduling mode in the mobile communication system is divided into dynamically, static state and semi-static.It is many that the dynamic dispatching mode expends system resource, static scheduling mode underaction, can not adapt to professional variation.The semi-persistent scheduling mode combines both advantages, has great advantage on using.
The cycle of using the semi-persistent scheduling mode need dispose semi-persistent scheduling.At present, the mode that base station eNB adopts database to table look-up more disposes semi-static scheduling cycle, professional and semi-static scheduling cycle employing fixed configurations in the allocation list, and set in advance in base station eNB.But business carries out that code decode algorithm might change in the process, and this will cause the cycle of semi-persistent scheduling and business datum codec not to match, thereby causes quality of service not high, perhaps wastes system resource.
Summary of the invention
The technical problem to be solved in the present invention is for base station eNB provides a kind of method that disposes semi-static scheduling cycle, adopts this method that semi-static scheduling cycle and business datum coding/decoding capability are mated preferably.For this reason, the present invention also provides a kind of system that disposes semi-static scheduling cycle.
For solving the problems of the technologies described above, the method for the configuration semi-static scheduling cycle that the present invention proposes comprises the steps:
Step 1, both sides' terminal UE (User Equipment) are with base station eNB and core net connects and traffic signaling;
Step 2, both sides' terminal UE report core net with professional coding/decoding capability;
Step 3, core net are determined this communication service code decode algorithm by the professional coding/decoding capability of coupling both sides terminal UE, and it are informed both sides' terminal UE and base station eNB;
Step 4, base station eNB are determined semi-static scheduling cycle according to described this communication service code decode algorithm, and it is disposed respectively to MAC (Medium Access Control, medium access control) and both sides' terminal UE.
Above-mentioned both sides' terminal UE comprises calling terminal UEA and terminal called UEB.
In the above-mentioned steps three, core net by and base station eNB between communication interface described this communication service code decode algorithm is sent to base station eNB.Send mode can have multiple, such as, the coding/decoding capability that core net is successfully mated both sides' terminal UE is as a trigger event, and after this incident took place, core net just comprised the message of the code decode algorithm that both sides' terminal UE will use to one of base station eNB transmission; For another example, after terminal called UEB and base station eNB and core net have been set up signaling and have been connected, base station eNB just initiatively sends a query messages to core net, be used to inquire about this communication service code decode algorithm that core net is determined according to the coding/decoding capability matching result of both sides' terminal UE, core net is exactly to send this communication service code decode algorithm of being determined to the response of this message.
In the above-mentioned steps four, base station eNB determines that according to this communication service code decode algorithm the method for semi-static scheduling cycle can be: base station eNB with this communication service code decode algorithm as searching index, in the semi-static scheduling cycle table, search corresponding semi-static scheduling cycle, this semi-static scheduling cycle table is the correspondence table of semi-static scheduling cycle and terminal code decode algorithm, is stored in the base station eNB.
For solving the problems of the technologies described above, the system of the configuration semi-static scheduling cycle that the present invention proposes comprises calling terminal UEA, terminal called UEB, base station eNB and core net.Wherein, calling terminal UEA and terminal called UEB all comprise professional coding/decoding capability reporting module, professional code decode algorithm receiver module and semi-static scheduling cycle receiver module.Described professional coding/decoding capability reporting module is used for the professional coding/decoding capability of this terminal is reported core net, professional code decode algorithm receiver module is used to receive this communication service code decode algorithm information that core net is sent, and the semi-static scheduling cycle receiver module is used to receive the semi-static scheduling cycle configuration that base station eNB is carried out this terminal.
Described core net comprises professional coding/decoding capability receiver module, professional code decode algorithm determination module and professional code decode algorithm notification module.Wherein, professional coding/decoding capability receiver module is used to receive the professional coding/decoding capability of this terminal that calling terminal UEA and terminal called UEB report; Professional code decode algorithm determination module is used for determining this communication service code decode algorithm by the professional coding/decoding capability of matches caller terminal UE A and terminal called UEB; Professional code decode algorithm notification module is used for determined this communication service code decode algorithm is informed to calling terminal UEA, terminal called UEB and base station eNB.
Described base station eNB comprises professional code decode algorithm receiver module, semi-static scheduling cycle determination module and semi-static scheduling cycle configuration module.Wherein, professional code decode algorithm receiver module is used to receive this communication service code decode algorithm information that core net is sent; The semi-static scheduling cycle determination module is used for determining semi-static scheduling cycle according to described this communication service code decode algorithm; The semi-static scheduling cycle configuration module is used for determined semi-static scheduling cycle is disposed respectively to media access control MAC, calling terminal UEA and terminal called UEB.
Compared with prior art, the present invention passes through such scheme, make semi-static scheduling cycle related with each time communication service code decode algorithm neatly, rather than mechanically bind with type of service, solved the matching problem of semi-static scheduling cycle and professional coding/decoding capability better, thereby improved quality of service and user experience, saved Radio Resource simultaneously, guaranteed quality of service and saving between the system resource and obtain good balance.
Description of drawings
Fig. 1 is the network architecture diagram of LTE mobile communication system;
Fig. 2 disposes the method flow diagram of semi-static scheduling cycle for the present invention;
Fig. 3 disposes the system block diagram of semi-static scheduling cycle for the present invention.
Embodiment
Reach technological means and the effect that predetermined purpose is taked for further setting forth the present invention, below in conjunction with drawings and Examples, the method and system of the configuration semi-static scheduling cycle that the present invention is proposed are described in detail as follows.
Embodiment 1
Present embodiment is used for speech business.Referring to Fig. 2, the flow process of present embodiment configuration semi-static scheduling cycle is as follows:
The first step: calling terminal UEA and base station eNB are set up RRC (Radio Resource Control, radio resource control) and are connected, and enter the RRC_CONNECTED state;
Second step: calling terminal UEA initiates speech business, and sets up the traffic signaling carrying between the network;
The 3rd step: terminal called UEB receives paging, sets up RRC with base station eNB and is connected, and terminal called UEB enters the RRC_CONNECTED state;
The 4th step: terminal called UEB accepts speech business, sets up the traffic signaling carrying between terminal called UEB and the network;
The 5th step: calling terminal UEA and terminal called UEB send to core net with oneself speech coding capacity and tone decoding ability;
The 6th step: after core net is received, the speech coding capacity of calling terminal UEA and the tone decoding ability of terminal called UEB are mated, and the tone decoding ability of calling terminal UEA and the speech coding capacity of terminal called UEB mated, determine the code decode algorithm that this communicating pair uses, this states for the prior art event is tired, and the result is informed calling terminal UEA and terminal called UEB;
The 7th step: the code decode algorithm that code decode algorithm that core net will be used this communication calling terminal UEA and terminal called UEB will use sends to base station eNB by the communication interface between core net and the base station eNB, be about to core net and successfully mate the coding/decoding capability of both sides' terminal UE as a trigger event, in case the match is successful, core net just sends a message that comprises the code decode algorithm that both sides' terminal UE will use to base station eNB;
The 8th the step: base station eNB with this professional voice coding/decoding algorithms as searching index, in the semi-static scheduling cycle table, search the semi-static scheduling cycle of corresponding uplink and downlink channel, semi-static scheduling cycle with the up-downgoing channel disposes to MAC again, wherein, the semi-static scheduling cycle table in the base station eNB is the correspondence table of semi-static scheduling cycle and terminal code decode algorithm; Initiate the RRC reprovision then, the semi-static scheduling cycle of up-downgoing channel is disposed to calling terminal UEA and terminal called UEB;
The 9th step: calling terminal UEA enters with terminal called UEB and communicates by letter, and flow process finishes.
Embodiment 2
Present embodiment is used for game service.Referring to Fig. 2, the flow process of present embodiment configuration semi-static scheduling cycle is as follows:
The first step: calling terminal UEA sets up RRC with base station eNB and is connected, and enters the RRC_CONNECTED state;
Second step: calling terminal UEA initiates the recreation request, and sets up the traffic signaling carrying between the network;
The 3rd step: terminal called UEB receives paging, sets up RRC with base station eNB and is connected, and terminal called UEB enters the RRC_CONNECTED state;
The 4th step: terminal called UEB accepts the recreation request, set up the traffic signaling carrying between terminal called UEB and the network, this moment, base station eNB was initiatively sent a query messages to core net, was used to inquire about this communication service code decode algorithm that core net is determined according to the coding/decoding capability matching result of both sides' terminal UE;
The 5th step: calling terminal UEA and terminal called UEB send to core net with oneself recreation code capacity and recreation decoding capability;
The 6th step: after core net is received, the recreation code capacity of calling terminal UEA and the recreation decoding capability of terminal called UEB are mated, and the recreation decoding capability of calling terminal UEA and the recreation code capacity of terminal called UEB mated, determine the code decode algorithm that this communicating pair uses, and the result is informed calling terminal UEA and terminal called UEB;
The 7th step: the code decode algorithm that code decode algorithm that core net will be used this communication calling terminal UEA and terminal called UEB will use sends to base station eNB by the mode that sends message, i.e. the query messages sent of core net response base station eNB;
The 8th step: base station eNB is played code decode algorithm as searching index with this business, in the semi-static scheduling cycle table, search the semi-static scheduling cycle of corresponding uplink and downlink channel, semi-static scheduling cycle with the up-downgoing channel disposes to MAC again, wherein, the semi-static scheduling cycle table in the base station eNB is the correspondence table of semi-static scheduling cycle and terminal code decode algorithm; Initiate the RRC reprovision then, the semi-static scheduling cycle of up-downgoing channel is disposed to calling terminal UEA and terminal called UEB;
The 9th step: calling terminal UEA enters with terminal called UEB and communicates by letter, and flow process finishes.
Embodiment 3
Present embodiment is used for monitoring business.Referring to Fig. 2, the flow process of present embodiment configuration semi-static scheduling cycle is as follows:
The first step: calling terminal UEA sets up RRC with base station eNB and is connected, and enters the RRC_CONNECTED state;
Second step: calling terminal UEA initiates the monitoring request, and sets up the traffic signaling carrying between the network;
The 3rd step: terminal called UEB receives paging, sets up RRC with base station eNB and is connected, and terminal called UEB enters the RRC_CONNECTED state;
The 4th step: terminal called UEB accepts the monitoring request, sets up the traffic signaling carrying between terminal called UEB and the network;
The 5th step: calling terminal UEA and terminal called UEB send to core net with oneself monitoring code capacity and monitoring decoding capability;
The 6th step: after core net is received, the monitoring code capacity of calling terminal UEA and the monitoring decoding capability of terminal called UEB are mated, and the monitoring decoding capability of calling terminal UEA and the monitoring code capacity of terminal called UEB mated, determine the code decode algorithm that this communicating pair uses, and the result is informed calling terminal UEA and terminal called UEB;
The 7th step: the code decode algorithm that code decode algorithm that core net will be used this communication calling terminal UEA and terminal called UEB will use sends to base station eNB, sends hairdo and can adopt arbitrary mode or other any feasible modes among aforementioned two embodiment;
The 8th step: base station eNB is determined the semi-static scheduling cycle of up-downgoing channel by the monitoring business code decode algorithm, the method of determining can adopt method or other any feasible methods among aforementioned two embodiment, and the semi-static scheduling cycle with up-downgoing disposes to MAC again; Initiate the RRC reprovision then, semi-static scheduling cycle is disposed to calling terminal UEA and terminal called UEB;
The 9th step: calling terminal UEA enters with terminal called UEB and communicates by letter, and flow process finishes.
Embodiment 4
Referring to Fig. 3, the system of present embodiment configuration semi-static scheduling cycle comprises calling terminal UEA, terminal called UEB, base station eNB and core net.Wherein, calling terminal UEA and terminal called UEB all comprise professional coding/decoding capability reporting module, professional code decode algorithm receiver module and semi-static scheduling cycle receiver module.Described professional coding/decoding capability reporting module is used for the professional coding/decoding capability of this terminal is reported core net, professional code decode algorithm receiver module is used to receive this communication service code decode algorithm information that core net is sent, and the semi-static scheduling cycle receiver module is used to receive the semi-static scheduling cycle configuration that base station eNB is carried out this terminal.
Described core net comprises professional coding/decoding capability receiver module, professional code decode algorithm determination module and professional code decode algorithm notification module.Wherein, professional coding/decoding capability receiver module is used to receive the professional coding/decoding capability of this terminal that calling terminal UEA and terminal called UEB report; Professional code decode algorithm determination module is used for determining this communication service code decode algorithm by the professional coding/decoding capability of matches caller terminal UE A and terminal called UEB; Professional code decode algorithm notification module is used for determined this communication service code decode algorithm is informed to calling terminal UEA, terminal called UEB and base station eNB.
Described base station eNB comprises professional code decode algorithm receiver module, semi-static scheduling cycle determination module and semi-static scheduling cycle configuration module.Wherein, professional code decode algorithm receiver module is used to receive this communication service code decode algorithm information that core net is sent; The semi-static scheduling cycle determination module is used for determining semi-static scheduling cycle according to described this communication service code decode algorithm; The semi-static scheduling cycle configuration module is used for determined semi-static scheduling cycle is disposed respectively to media access control MAC, calling terminal UEA and terminal called UEB.
Professional code decode algorithm notification module in the above-mentioned core net can be with the coding/decoding capability of core net success matches caller terminal UE A and terminal called UEB as a trigger event, after this incident takes place, just send a message that comprises the code decode algorithm that calling terminal UEA and terminal called UEB will use, thereby realization informs determined this communication service code decode algorithm to base station eNB to base station eNB.Perhaps, also can be after terminal called UEB and base station eNB and core net have been set up signaling and have been connected, initiatively send a query messages by base station eNB to core net, be used to inquire about this communication service code decode algorithm that core net is determined according to the coding/decoding capability matching result of calling terminal UEA and terminal called UEB, and behind the coding/decoding capability of core net success matches caller terminal UE A and terminal called UEB, professional code decode algorithm notification module in the above-mentioned core net responds described query messages, sends described this communication service code decode algorithm to base station eNB.
Semi-static scheduling cycle determination module in the above-mentioned base station eNB can be searched corresponding semi-static scheduling cycle with described this communication service code decode algorithm for searching index in the semi-static scheduling cycle table.This semi-static scheduling cycle table is the correspondence table of semi-static scheduling cycle and terminal code decode algorithm, is stored in the base station eNB.
Explanation by above-mentioned embodiment, when can being to reach technological means and the effect that predetermined purpose takes to be able to more deeply and concrete understanding to the present invention, yet embodiment and appended diagram only provide with reference to the usefulness of explanation, be not to be used for the present invention is limited.In fact, the method and system of the configuration semi-static scheduling cycle that the present invention proposes are not only applicable to speech business, game service and monitoring business, also are suitable for adopting the type of service of semi-persistent scheduling mode applicable to other all.And for various types of traffic, the various different implementation methods and the system of the configuration semi-static scheduling cycle that the present invention proposes all are suitable for.
Claims (10)
1. method that disposes semi-static scheduling cycle is characterized in that may further comprise the steps:
Step 1, both sides' terminal UE and base station eNB and core net connects and traffic signaling;
Step 2, both sides' terminal UE report core net with professional coding/decoding capability;
Step 3, core net are determined this communication service code decode algorithm by the professional coding/decoding capability of coupling both sides terminal UE, and it are informed both sides' terminal UE and base station eNB;
Step 4, base station eNB are determined semi-static scheduling cycle according to described this communication service code decode algorithm, and it is disposed respectively to media access control MAC and both sides' terminal UE;
Wherein, described both sides' terminal UE comprises calling terminal UEA and terminal called UEB.
2. the method for configuration semi-static scheduling cycle according to claim 1 is characterized in that, core Netcom crosses following mode described this communication service code decode algorithm is informed base station eNB in the described step 3:
The coding/decoding capability that core net is successfully mated both sides' terminal UE is as a trigger event, and after this incident took place, core net just comprised the message of the code decode algorithm that both sides' terminal UE will use to one of base station eNB transmission.
3. the method for configuration semi-static scheduling cycle according to claim 1 is characterized in that, core Netcom crosses following mode described this communication service code decode algorithm is informed base station eNB in the described step 3:
After terminal called UEB and base station eNB and core net have been set up signaling and have been connected, base station eNB initiatively sends a query messages to core net, be used to inquire about this communication service code decode algorithm that core net is determined according to the coding/decoding capability matching result of both sides' terminal UE, core net responds this query messages behind the coding/decoding capability that successfully mates both sides' terminal UE, send described this communication service code decode algorithm to base station eNB.
4. according to the method for claim 1 or 2 or 3 described configuration semi-static scheduling cycles, it is characterized in that base station eNB is determined described semi-static scheduling cycle by the following method in the described step 4:
Base station eNB as searching index, is searched corresponding semi-static scheduling cycle with described this communication service code decode algorithm in the semi-static scheduling cycle table; Described semi-static scheduling cycle table is the correspondence table of semi-static scheduling cycle and terminal code decode algorithm, is stored in the base station eNB.
5. the method for configuration semi-static scheduling cycle according to claim 4, it is characterized in that, the professional coding/decoding capability of core net coupling both sides terminal UE comprises in the described step 3: the code capacity of calling terminal UEA and the decoding capability of terminal called UEB are mated, and the decoding capability of calling terminal UEA and the code capacity of terminal called UEB are mated.
6. the method for configuration semi-static scheduling cycle according to claim 4 is characterized in that, described business is speech business or game service or monitoring business.
7. according to the method for any described configuration semi-static scheduling cycle in the claim 1,2,3 and 5, it is characterized in that described business is speech business or game service or monitoring business.
8. system that disposes semi-static scheduling cycle, comprise calling terminal UEA, terminal called UEB, base station eNB and core net, it is characterized in that described calling terminal UEA and terminal called UEB all comprise professional coding/decoding capability reporting module, professional code decode algorithm receiver module and semi-static scheduling cycle receiver module; Wherein, professional coding/decoding capability reporting module is used for the professional coding/decoding capability of this terminal is reported described core net, professional code decode algorithm receiver module is used to receive this communication service code decode algorithm information that described core net is sent, and the semi-static scheduling cycle receiver module is used to receive the semi-static scheduling cycle configuration that described base station eNB is carried out this terminal;
Described core net comprises professional coding/decoding capability receiver module, professional code decode algorithm determination module and professional code decode algorithm notification module; Wherein, professional coding/decoding capability receiver module is used to receive the professional coding/decoding capability of this terminal that calling terminal UEA and terminal called UEB report, professional code decode algorithm determination module is used for determining this communication service code decode algorithm by the professional coding/decoding capability of matches caller terminal UE A and terminal called UEB that professional code decode algorithm notification module is used for determined this communication service code decode algorithm is informed to calling terminal UEA, terminal called UEB and base station eNB;
Described base station eNB comprises professional code decode algorithm receiver module, semi-static scheduling cycle determination module and semi-static scheduling cycle configuration module; Wherein, professional code decode algorithm receiver module is used to receive this communication service code decode algorithm information that described core net is sent, the semi-static scheduling cycle determination module is used for determining semi-static scheduling cycle according to described this communication service code decode algorithm that the semi-static scheduling cycle configuration module is used for determined semi-static scheduling cycle is disposed respectively to media access control MAC, calling terminal UEA and terminal called UEB.
9. the system of configuration semi-static scheduling cycle according to claim 8, it is characterized in that, professional code decode algorithm notification module in the described core net with the coding/decoding capability of core net success matches caller terminal UE A and terminal called UEB as a trigger event, after this incident takes place, just comprise the message of the code decode algorithm that calling terminal UEA and terminal called UEB will use to one of base station eNB transmission;
Semi-static scheduling cycle determination module in the described base station eNB as searching index, is searched corresponding semi-static scheduling cycle with described this communication service code decode algorithm in the semi-static scheduling cycle table; Described semi-static scheduling cycle table is the correspondence table of semi-static scheduling cycle and terminal code decode algorithm, is stored in the base station eNB.
10. the system of configuration semi-static scheduling cycle according to claim 8, it is characterized in that, after terminal called UEB and base station eNB and core net have been set up signaling and have been connected, base station eNB initiatively sends a query messages to core net, is used to inquire about this communication service code decode algorithm that core net is determined according to the coding/decoding capability matching result of calling terminal UEA and terminal called UEB; Behind the coding/decoding capability of core net success matches caller terminal UE A and terminal called UEB, the professional code decode algorithm notification module in the described core net sends described this communication service code decode algorithm to base station eNB;
Semi-static scheduling cycle determination module in the described base station eNB as searching index, is searched corresponding semi-static scheduling cycle with described this communication service code decode algorithm in the semi-static scheduling cycle table; Described semi-static scheduling cycle table is the correspondence table of semi-static scheduling cycle and terminal code decode algorithm, is stored in the base station eNB.
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CN200910148404.4A CN101938856B (en) | 2009-06-29 | 2009-06-29 | Method and system for configuring semi-static scheduling period |
PCT/CN2010/071325 WO2010145261A1 (en) | 2009-06-29 | 2010-03-25 | Method and system for configuring semi-persistent scheduling periodicity |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107371260A (en) * | 2016-05-13 | 2017-11-21 | 中兴通讯股份有限公司 | Resource request, resource allocation methods and device |
CN111510888A (en) * | 2020-04-16 | 2020-08-07 | 蓓安科仪(北京)技术有限公司 | Medical robot energy-saving method and control system based on 5G communication |
WO2021073296A1 (en) * | 2019-10-15 | 2021-04-22 | 中兴通讯股份有限公司 | Scheduling method and apparatus, communication device, and storage medium |
Family Cites Families (2)
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US8144589B2 (en) * | 2007-05-07 | 2012-03-27 | Qualcomm Incorporated | Learning-based semi-persistent scheduling in wireless communications |
KR101116095B1 (en) * | 2007-06-15 | 2012-02-13 | 리서치 인 모션 리미티드 | System and method for semi-persistent and dynamic scheduling and discontinuous reception control |
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2009
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107371260A (en) * | 2016-05-13 | 2017-11-21 | 中兴通讯股份有限公司 | Resource request, resource allocation methods and device |
CN107371260B (en) * | 2016-05-13 | 2020-05-22 | 中兴通讯股份有限公司 | Resource request and resource allocation method and device |
CN111683411A (en) * | 2016-05-13 | 2020-09-18 | 中兴通讯股份有限公司 | Resource request and resource allocation method and device |
CN111683411B (en) * | 2016-05-13 | 2023-06-13 | 中兴通讯股份有限公司 | Resource request and resource allocation method and device |
WO2021073296A1 (en) * | 2019-10-15 | 2021-04-22 | 中兴通讯股份有限公司 | Scheduling method and apparatus, communication device, and storage medium |
CN111510888A (en) * | 2020-04-16 | 2020-08-07 | 蓓安科仪(北京)技术有限公司 | Medical robot energy-saving method and control system based on 5G communication |
CN111510888B (en) * | 2020-04-16 | 2023-08-15 | 蓓安科仪(北京)技术有限公司 | Medical robot energy-saving method and control system based on 5G communication |
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CN101938856B (en) | 2013-05-01 |
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