CN109561396A - A kind of data transmission system for robot - Google Patents
A kind of data transmission system for robot Download PDFInfo
- Publication number
- CN109561396A CN109561396A CN201811527206.4A CN201811527206A CN109561396A CN 109561396 A CN109561396 A CN 109561396A CN 201811527206 A CN201811527206 A CN 201811527206A CN 109561396 A CN109561396 A CN 109561396A
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- China
- Prior art keywords
- base station
- transmission system
- time slot
- data transmission
- terminal
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
- H04L5/1469—Two-way operation using the same type of signal, i.e. duplex using time-sharing
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/0005—Synchronisation arrangements synchronizing of arrival of multiple uplinks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
- H04W72/044—Wireless resource allocation based on the type of the allocated resource
- H04W72/0446—Resources in time domain, e.g. slots or frames
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/20—Control channels or signalling for resource management
- H04W72/23—Control channels or signalling for resource management in the downlink direction of a wireless link, i.e. towards a terminal
Abstract
The invention discloses a kind of data transmission systems for robot, which is point-to-multipoint time division duplex bidirectional transmission system, and is made of 1 base station and multiple terminals.Every frame slot of the system is divided into descending time slot, multi-upstream access time slot and N number of upstream data time slot.The upstream data time slot that all descending time slots keep synchronous, all in time keeps synchronizing by base station side feedback control.Base station data are transmitted by upstream data time slot and base station by descending time slot, multi-upstream access time slot and terminal check correspondence, terminal.In addition, the data transmission system also has downlink bandwidth small, performance is good, support multifrequency point extension, and frequency point number there is no limit the advantages of.Therefore, with the application of the invention, can realize that base station is communicated with multiple terminals, the high performance requirements of terminal control can be met, and do not interfere with each other between each terminal.
Description
Technical field
The present invention relates to technical field of data transmission, in particular to a kind of data transmission system for robot.
Background technique
The communication system for being currently used for robot is roughly divided into several classes: mobile public network (2G/3G/4G), wifi, unidirectional biography
Defeated, narrowband number biography, FDD transmitted in both directions, TDD transmitted in both directions etc..
Mobile public network: its performance depends on the network coverage, is not available in the place of not network.
Wifi: performance is poor under complicated multi-path environment, is unable to satisfy remote transmission.
One-way transmission: can only carry out unidirectional data transmission, and Yao Shixian transmitted in both directions needs additional reverse link.
Narrowband number passes: the two-way frequency hopping in narrowband or spread spectrum system, message transmission rate is lower, long transmission distance, but only
It can be used to control, be unable to satisfy the transmission of the big quantity such as image.
FDD transmitted in both directions: 2 frequency points are needed to meet FDD transmitted in both directions, when two frequency bins are closer to, transmitting-receiving is deposited
In biggish interference, performance decline is more obvious, while radio-frequency receiving-transmitting device is required to 2 sets, higher cost.
TDD transmitted in both directions: for FDD, TDD in time separates transmitting-receiving, will not generate interference, utilize 1 frequency point
Transmitted in both directions can be carried out, still, time synchronization and frequency accuracy are required when point-to-multipoint transmission very high.
And in robot application, usual data amount is lower, and the image of passback and the data volume of state are larger, up and down
Row data are obviously asymmetric, need to require the control performance of robot to be greater than image transmitting performance, to guarantee robot control letter
Number reliability.But need multiple robots to work at the same time in many scenes, it is all using independent between these robots
Wireless device is controlled and is transmitted, it is difficult to ensure that not interfering between each other, performance does not decline.
Summary of the invention
The object of the present invention is to provide a kind of data transmission systems for robot, of the existing technology more to solve
Not the problem of a robot not can guarantee when working at the same time not to be interfered between each other, and performance does not decline.
To achieve the above object, the present invention provides following schemes:
A kind of data transmission system for robot, the data transmission system are the two-way biography of point-to-multipoint time division duplex
Defeated system, the data transmission system are made of 1 base station and multiple terminals, the transmission time slot period of the data transmission system
For T, every frame slot is divided into descending time slot, multi-upstream access time slot and N number of upstream data time slot；All descending time slots exist
It keeps synchronizing on time, all upstream data time slots keep synchronizing by base station side feedback control；The data transmission
System includes:
Step 101: the base station electrifying startup, and downlink signal is sent according to the time slot allocation of the base station, together
When start to detect whether multi-upstream access time slot has a multi-upstream access signal, include base station broadcast signaling, data in the downlink signal
Information, voice messaging, control information；
Step 102: the terminal electrifying startup starts frequency point one by one and detects the downlink signal, under locking is described
Row signal, and parse the base station broadcast parameter carried in the downlink signal；
Step 103: the terminal is according to the base station broadcast parameter, and transmission is specified in specified multi-upstream access time slot
Multi-upstream access signal, while access feedback signaling has been detected whether in downlink signal；
Step 104: when the base station has detected multi-upstream access signal in multi-upstream access time slot, the base station is under
Access feedback signaling is sent in row signal；
Step 105: the terminal sends number in specified upstream data time slot according to the access feedback signaling received
According to the data include image information, voice messaging, status information；
Step 106: the base station receives the data that the upstream data time slot is sent.
Optionally, the data transmission system further include:
Step 107: the terminal normally linked needs to send specified heartbeat signaling, institute every certain time interval
A heartbeat signaling can then be fed back by stating after base station receives the heartbeat signaling that the terminal is sent, with normally making for maintenance link
With.
Optionally, the data transmission system further include:
Step 108: described when being not received by the heartbeat signaling of base station feedback during the terminal is at the appointed time spaced
Terminal returns to open state, re-starts multi-upstream access state.
Optionally, the data transmission system further include:
Step 109: when the terminal does not retransmit data, the terminal sends de-registration request, stops transmission uplink and connects
Enter signal, stops receiving downlink signal, into low-power consumption mode or off-mode.
Optionally, the data transmission system further include:
Step 110: when the base station receives the upstream data time slot of de-registration request or the base station at the appointed time
When interval is not received by specified signal, the base station actively cancels the allocated time slot, and the time slot of active revocation is allowed
Give other terminals.
Optionally, the data transmission system further include:
Step 111: when the base station finds that current frequency point is all taken by the terminal, the base station exists automatically
Next frequency point sends downlink signal, and terminal establishes link, sending and receiving data on newly-increased frequency point.
Optionally, the base station carries currently used frequency point information in downlink signal, and terminal is receiving any frequency
When the downlink signal of point, frequency point information used in present data transmission system and service condition can be got, to facilitate terminal
Other frequency points are quickly switched into, are established the link.
Optionally, the descending time slot is that base station sends base station broadcast parameter to terminal, band in the base station broadcast parameter
There is data protocol；The descending time slot sends primary every a transmission time slot cycle T.
Optionally, the uplink and downlink of the data transmission system uses different communication modes；Downlink uses the direct sequence in narrowband
Column spread spectrum, and the single-frequency point transmission bandwidth of downlink is supported to be greater than 400000 bits per seconds；Uplink uses orthogonal frequency division multiplexing
Technology, and the single-frequency point transmission bandwidth of uplink is supported to be greater than 8 megabits per second.
Optionally, there is no limit for the frequency point number in the data transmission system, and supports multifrequency point extension；The data
Transmission system realizes the transmitted in both directions of point-to-multipoint in 1 frequency point, and each frequency point could support up 6 terminals.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention provides a kind of data transmission system for robot, which is the point-to-multipoint time-division
Duplexing bidirectional transmission system.The data transmission system is made of 1 base station and multiple terminals, when the transmission of the data transmission system
The gap period is T, and every frame slot is divided into descending time slot, multi-upstream access time slot and N number of upstream data time slot.When base station passes through downlink
Gap, multi-upstream access time slot and terminal check correspondence, terminal transmit data by upstream data time slot and base station.Due to this hair
The support multifrequency point of the data transmission system of bright offer extends, and there is no limit, it can be achieved that base station and multiple terminals for frequency point number
Communication；There is multi-upstream access time slot due to data transmission system provided by the invention, allow to dynamically distribute upstream data time slot
And resource, the application of different terminals can be met；Since the downlink bandwidth of data transmission system provided by the invention is small, performance is good,
The high performance requirements of terminal control can be met；Since all descending time slots of data transmission system provided by the invention are in the time
Upper holding synchronizes, and all upstream data time slots keep synchronizing by base station side feedback control, and guaranteeing will not phase between uplink and downlink
Mutually interference, and then meet when multiple robots work at the same time and do not interfere with each other.Therefore, it is deposited with the application of the invention, solving the prior art
Multiple robots work at the same time when not can guarantee and do not interfere between each other, the problem of performance does not decline.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the data transmission system composition block diagram that the embodiment of the present invention is used for robot；
Fig. 2 is that time slot of the embodiment of the present invention for the data transmission system of robot divides figure；
Fig. 3 is that multifrequency point of the embodiment of the present invention for the data transmission system of robot works at the same time timing diagram；
Fig. 4 is workflow schematic diagram of the embodiment of the present invention for the data transmission system of robot.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of data transmission systems for robot, can guarantee multiple robots simultaneously
It when work, does not interfere between each other, and performance does not decline.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is the data transmission system composition block diagram that the embodiment of the present invention is used for robot, as shown in Figure 1, the present invention is real
Apply example offer the data transmission system for robot for point-to-multipoint time division duplex (time division duplexing,
Abbreviation TDD) bidirectional transmission system, which is made of 1 base station and multiple terminals, and the transmitting-receiving of the base station uses
TDD mode is multiplexed, and the transmitting-receiving between multiple terminals is also multiplexed by the way of TDD.
There is no limit for frequency point number in the data transmission system, and supports multifrequency point extension.
The data transmission system realizes the transmitted in both directions of point-to-multipoint in 1 frequency point, and each frequency point could support up 6
Terminal.
Base station and terminal in the data transmission system are equipped with transceiver module, and the resource of the shared descending time slot of terminal
It is to be distinguished by data packet instruction.
The transmission time slot period of data transmission system provided in an embodiment of the present invention for robot is T, every frame slot
It is divided into descending time slot, multi-upstream access time slot and upstream data 1~N of time slot, as shown in Figure 2.
Descending time slot is that base station sends base station broadcast parameter to terminal, data protocol is had in the base station broadcast parameter, eventually
End can parse the data that base station is sent to oneself by data protocol.
The data of all base stations to terminal pass through the descending time slot and send, and the descending time slot is every a transmission time slot
Cycle T sends primary.
The uplink and downlink of data transmission system provided in an embodiment of the present invention for robot uses different communication modes.
Downlink improves downlink performance using narrowband Direct Sequence Spread Spectrum (abbreviation narrowband spreads DSSS), meets control and requires, single-frequency point
Transmission bandwidth is supported to be greater than 400000 bits per seconds.Uplink uses orthogonal frequency division multiplexi, improves spectrum efficiency, meets big
The requirement of data volume, single-frequency point transmission bandwidth are supported to be greater than 8 megabits per second.
After terminal receives downlink signal, then the base station broadcast parameter sent according to base station, terminal connects in specific uplink
Input time slot sends multi-upstream access signal, and after base station receives multi-upstream access signal, time interval resource is distributed in base station in descending time slot.
All terminal initials access when, multi-upstream access time slot send multi-upstream access signal, by different sequences come
It distinguishes, once access, then do not retransmit multi-upstream access signal.
After terminal receives resource allocation feedback, data are sent in specified upstream data time slot.When N number of upstream data
Gap can give multiple terminals by parameter flexible allocation, meet the requirement of different data transmission rate.
Multifrequency point work when, as shown in figure 3, the data transmission system provided in an embodiment of the present invention for robot when
Between distribute still by base station side keep synchronize, guarantee uplink and downlink between will not interfere with each other.All descending time slots are in time
It keeps synchronizing, all upstream data time slots keep synchronizing also by base station side feedback control.It is needed between multifrequency point higher
ACPR is met the requirements, and improves dynamic range.
The workflow of data transmission system provided in an embodiment of the present invention for robot is as shown in Figure 4, comprising:
Step 101: base station electrifying startup, and downlink signal is sent according to the time slot allocation of base station, start simultaneously at inspection
It surveys whether multi-upstream access time slot has multi-upstream access signal, includes base station broadcast signaling, data, voice, control etc. in downlink signal
Information.
Step 102: the terminal electrifying startup starts frequency point one by one and detects the downlink signal, under locking is described
Row signal, and parse the base station broadcast parameter carried in the downlink signal.
Step 103: the terminal is according to the base station broadcast parameter, and transmission is specified in specified multi-upstream access time slot
Multi-upstream access signal, while access feedback signaling has been detected whether in downlink signal.
Step 104: when the base station has detected multi-upstream access signal in multi-upstream access time slot, the base station is under
Access feedback signaling is sent in row signal.
Step 105: the terminal sends number in specified upstream data time slot according to the access feedback signaling received
According to the data include the information such as image, voice, state.
Step 106: the base station receives the data that the upstream data time slot is sent.
Above step completes the transmission of data.In addition, the workflow of system provided in an embodiment of the present invention further include:
Step 107: the terminal normally linked needs to send specified heartbeat signaling, institute every certain time interval
A heartbeat signaling can then be fed back by stating after base station receives the heartbeat signaling that the terminal is sent, with normally making for maintenance link
With.
Step 108: described when being not received by the heartbeat signaling of base station feedback during the terminal is at the appointed time spaced
Terminal returns to open state, re-starts multi-upstream access state.
Step 109: when the terminal does not retransmit data, the terminal sends de-registration request, stops transmission uplink and connects
Enter signal, stops receiving downlink signal, into low-power consumption mode or off-mode.
Step 110: when the base station receives the upstream data time slot of de-registration request or the base station at the appointed time
When interval is not received by specified signal, the base station actively cancels the allocated time slot, and the time slot of active revocation is allowed
Give other terminals.
Step 111: when the base station finds that current frequency point is all taken by the terminal, the base station exists automatically
Next frequency point sends downlink signal, and terminal establishes link, sending and receiving data on newly-increased frequency point.The base station is in downlink signal
Currently used frequency point information is carried, terminal can get current data biography when receiving the downlink signal of any frequency point
Frequency point information used in defeated system and service condition are established the link with facilitating terminal to be quickly switched into other frequency points.
Provided by the present invention for the data transmission system of robot, have the advantages that following.
First, point-to-multipoint system, each frequency point could support up 6 terminals, multifrequency point can be supported to extend, and frequency point number does not have
It is restricted.
Second, downlink bandwidth is small, and performance is good, meets the high performance requirements of robot control, while terminal is simple, complexity
Low, terminal volume is small.The resource that used terminal shares descending time slot is distinguished by data packet instruction.
Third has multi-upstream access time slot, allows to dynamically distribute upstream data time slot and resource, meets answering for different terminals
With.
4th, upstream bandwidth is big, meets the requirement of the big data quantities such as video image, and time delay is small, and real-time is high.All terminals
Unified resource allocation is carried out by base station, scheduling is flexible.
5th, support single control platform to control multiple robots, while observing image data and shape that multiple robots are sent
State.
6th, support the voice communications versus data communications (forwarding by base station) between robot.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of data transmission system for robot, which is characterized in that the data transmission system is the point-to-multipoint time-division
Duplexing bidirectional transmission system, the data transmission system are made of 1 base station and multiple terminals, the biography of the data transmission system
Defeated slot cycle is T, and every frame slot is divided into descending time slot, multi-upstream access time slot and N number of upstream data time slot；All is described
Descending time slot keeps synchronous in time, and all upstream data time slots keep synchronizing by base station side feedback control；Institute
Stating data transmission system includes:
Step 101: the base station electrifying startup, and downlink signal is sent according to the time slot allocation of the base station, it opens simultaneously
Whether the detection multi-upstream access time slot that begins has a multi-upstream access signal, in the downlink signal comprising base station broadcast signaling, data information,
Voice messaging, control information；
Step 102: the terminal electrifying startup starts frequency point one by one and detects the downlink signal, until locking the downlink letter
Number, and parse the base station broadcast parameter carried in the downlink signal；
Step 103: the terminal sends specified uplink in specified multi-upstream access time slot according to the base station broadcast parameter
Signal is accessed, while having detected whether access feedback signaling in downlink signal；
Step 104: when the base station has detected multi-upstream access signal in multi-upstream access time slot, the base station is believed in downlink
Access feedback signaling is sent in number；
Step 105: the terminal sends data in specified upstream data time slot according to the access feedback signaling received,
The data include image information, voice messaging, status information；
Step 106: the base station receives the data that the upstream data time slot is sent.
2. the data transmission system according to claim 1 for robot, which is characterized in that the data transmission system
Further include:
Step 107: the terminal normally linked needs to send specified heartbeat signaling, the base every certain time interval
Station can then feed back a heartbeat signaling after receiving the heartbeat signaling that the terminal is sent, with the normal use of maintenance link.
3. the data transmission system according to claim 2 for robot, which is characterized in that the data transmission system
Further include:
Step 108: when being not received by the heartbeat signaling of base station feedback during the terminal is at the appointed time spaced, the terminal
Open state is returned, multi-upstream access state is re-started.
4. the data transmission system according to claim 1 for robot, which is characterized in that the data transmission system
Further include:
Step 109: when the terminal does not retransmit data, the terminal sends de-registration request, stops sending multi-upstream access letter
Number, stop receiving downlink signal, into low-power consumption mode or off-mode.
5. the data transmission system according to claim 4 for robot, which is characterized in that the data transmission system
Further include:
Step 110: when the upstream data time slot that the base station receives de-registration request or the base station is at the appointed time spaced
When being not received by specified signal, the base station actively cancels the allocated time slot, and gives the time slot of active revocation to it
His terminal.
6. the data transmission system according to claim 1 for robot, which is characterized in that the data transmission system
Further include:
Step 111: when the base station finds that current frequency point is all taken by the terminal, the base station is automatically next
A frequency point sends downlink signal, and terminal establishes link, sending and receiving data on newly-increased frequency point.
7. the data transmission system according to claim 6 for robot, which is characterized in that believe in downlink the base station
Currently used frequency point information is carried in number, terminal can get current number when receiving the downlink signal of any frequency point
It is established the link according to frequency point information used in Transmission system and service condition with facilitating terminal to be quickly switched into other frequency points.
8. the data transmission system according to claim 1 for robot, which is characterized in that the descending time slot is base
It stands and sends base station broadcast parameter to terminal, data protocol is had in the base station broadcast parameter；The descending time slot is every one
Transmission time slot cycle T sends primary.
9. the data transmission system according to claim 1 for robot, which is characterized in that the data transmission
The uplink and downlink of system uses different communication modes；Downlink uses narrowband direct sequence spread spectrum skill, and the single-frequency point of downlink passes
Defeated bandwidth is supported to be greater than 400000 bits per seconds；Uplink uses orthogonal frequency division multiplexi, and the single-frequency point transmission bandwidth of uplink
It supports to be greater than 8 megabits per second.
10. the data transmission system according to claim 1 for robot, which is characterized in that the data transmission system
There is no limit for frequency point number in system, and supports multifrequency point extension；The data transmission system is realized point-to-points in 1 frequency point
The transmitted in both directions of point, and each frequency point could support up 6 terminals.
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| CN201811527206.4A CN109561396B (en) | 2018-12-13 | 2018-12-13 | Data transmission system for robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115297558A (en) * | 2022-10-10 | 2022-11-04 | 西安云脉智能技术有限公司 | Communication method and system for multiple LoRa nodes based on time division multiple access |
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| 金瑞 刘作学 王俊达: "基于全网时帧改变的TDMA Ad Hoc时隙分配协议", 《计算机应用》 * |
| 韦日华张春王志华: "一种点对多点无线数据传输系统的设计", 《电讯技术》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115297558A (en) * | 2022-10-10 | 2022-11-04 | 西安云脉智能技术有限公司 | Communication method and system for multiple LoRa nodes based on time division multiple access |
| CN115297558B (en) * | 2022-10-10 | 2023-09-19 | 西安云脉智能技术有限公司 | Communication method and system of multiple LoRa nodes based on time division multiple access |
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| CN109561396B (en) | 2021-03-02 |
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