CN109561396B - Data transmission system for robot - Google Patents
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- CN109561396B CN109561396B CN201811527206.4A CN201811527206A CN109561396B CN 109561396 B CN109561396 B CN 109561396B CN 201811527206 A CN201811527206 A CN 201811527206A CN 109561396 B CN109561396 B CN 109561396B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 103
- 230000001360 synchronised effect Effects 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims abstract description 9
- 230000011664 signaling Effects 0.000 claims description 24
- 230000002457 bidirectional effect Effects 0.000 claims description 9
- 238000001228 spectrum Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000013468 resource allocation Methods 0.000 description 2
- 101100440934 Candida albicans (strain SC5314 / ATCC MYA-2876) CPH1 gene Proteins 0.000 description 1
- 101100273252 Candida parapsilosis SAPP1 gene Proteins 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
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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
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- 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
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Abstract
The invention discloses a data transmission system for a robot, which is a point-to-multipoint time division duplex two-way transmission system and consists of 1 base station and a plurality of terminals. Each frame time slot of the system is divided into a downlink time slot, an uplink access time slot and N uplink data time slots. All downlink time slots are kept synchronous in time, and all uplink data time slots are kept synchronous through feedback control of a base station side. The base station confirms the communication relation with the terminal through the downlink time slot and the uplink access time slot, and the terminal transmits data with the base station through the uplink data time slot. In addition, the data transmission system also has the advantages of small downlink bandwidth, good performance, support of multi-frequency point expansion and no limit on the number of frequency points. Therefore, the invention can realize the communication between the base station and a plurality of terminals, can meet the high-performance requirement of terminal control, and does not interfere with each other among the terminals.
Description
Technical Field
The invention relates to the technical field of data transmission, in particular to a data transmission system for a robot.
Background
Existing communication systems for robots are broadly classified into several types: mobile public network (2G/3G/4G), wifi, unidirectional transmission, narrowband data transmission, FDD bidirectional transmission, TDD bidirectional transmission and the like.
Mobile public network: its performance depends on network coverage and cannot be used where there is no network.
And wifi: the performance is poor under the complex multipath environment, and long-distance transmission cannot be satisfied.
Unidirectional transmission: only unidirectional data transmission can be performed, and an additional reverse link is required to realize bidirectional transmission.
Narrow-band data transmission: the narrow-band two-way frequency hopping or spread spectrum system has low data transmission rate and long transmission distance, but can only be used for control and cannot meet the requirement of large-quantity transmission of images and the like.
FDD bidirectional transmission: the two-way transmission of FDD is satisfied to 2 frequency points that need, and when two frequency points were comparatively close, there was great interference in receiving and dispatching, and the performance degradation is comparatively obvious, and radio frequency transceiver device all needs 2 sets simultaneously, and the cost is higher.
TDD two-way transmission: for FDD, TDD separates transmission and reception in time, and does not generate interference, and bidirectional transmission can be performed using 1 frequency point, but the requirements for time synchronization and frequency accuracy are high when point-to-multipoint transmission is performed.
When the robot is applied, the control data volume is generally low, the data volume of the returned image and state is large, the uplink data and the downlink data are obviously asymmetric, and the control performance of the robot needs to be required to be greater than the image transmission performance so as to ensure the reliability of the control signal of the robot. However, in many scenarios, a plurality of robots are required to work simultaneously, and the robots are controlled and transmitted by independent wireless devices, so that it is difficult to ensure that no interference exists between the robots and the performance is not reduced.
Disclosure of Invention
The invention aims to provide a data transmission system for robots, which solves the problems that in the prior art, when a plurality of robots work simultaneously, no interference exists between the robots and the performance is not reduced.
In order to achieve the purpose, the invention provides the following scheme:
a data transmission system for a robot is a point-to-multipoint time division duplex two-way transmission system, and consists of 1 base station and a plurality of terminals, wherein the transmission time slot cycle of the data transmission system is T, and each frame of time slot is divided into a downlink time slot, an uplink access time slot and N uplink data time slots; all the downlink time slots are kept synchronous in time, and all the uplink data time slots are kept synchronous through feedback control of a base station side; the data transmission system includes:
step 101: the base station is powered on and started, downlink signals are sent according to the local time slot allocation of the base station, and meanwhile, whether the uplink access time slot has the uplink access signals or not is detected, wherein the downlink signals comprise base station broadcast signaling, data information, voice information and control information;
step 102: the terminal is powered on and started, the downlink signals are detected one by one at frequency points until the downlink signals are locked, and base station broadcast parameters carried in the downlink signals are analyzed;
step 103: the terminal sends an appointed uplink access signal in an appointed uplink access time slot according to the base station broadcast parameters, and simultaneously detects whether an access feedback signaling exists in a downlink signal;
step 104: when the base station detects an uplink access signal in an uplink access time slot, the base station sends an access feedback signaling in a downlink signal;
step 105: the terminal sends data in a specified uplink data time slot according to the received access feedback signaling, wherein the data comprises image information, voice information and state information;
step 106: and the base station receives the data sent by the uplink data time slot.
Optionally, the data transmission system further includes:
step 107: the terminal which is normally linked needs to send appointed heartbeat signaling at regular intervals, and the base station can feed back one heartbeat signaling after receiving the heartbeat signaling sent by the terminal so as to maintain the normal use of the link.
Optionally, the data transmission system further includes:
step 108: and when the terminal does not receive the heartbeat signaling fed back by the base station in the appointed time interval, the terminal returns to the power-on state and carries out the uplink access state again.
Optionally, the data transmission system further includes:
step 109: when the terminal does not send data any more, the terminal sends a logout request, stops sending uplink access signals, stops receiving downlink signals, and enters a low power consumption mode or a power-off state.
Optionally, the data transmission system further includes:
step 110: and when the base station receives a logout request or the uplink data time slot of the base station does not receive a specified signal in a specified time interval, the base station actively cancels the allocated time slot and gives up the actively cancelled time slot to other terminals.
Optionally, the data transmission system further includes:
step 111: and when the base station finds that the current frequency point is fully occupied by the terminal, the base station automatically sends a downlink signal at the next frequency point, and the terminal establishes a link on the newly added frequency point and receives and transmits data.
Optionally, the base station carries currently used frequency point information in the downlink signal, and when the terminal receives the downlink signal of any frequency point, the terminal can acquire the frequency point information and the use condition used by the current data transmission system, so that the terminal can be conveniently and quickly switched to other frequency points to establish a link.
Optionally, the downlink timeslot is that a base station sends a base station broadcast parameter to a terminal, where the base station broadcast parameter has a data protocol; the downlink time slot is sent once every other transmission time slot period T.
Optionally, the uplink and the downlink of the data transmission system adopt different communication modes; a narrowband direct sequence spread spectrum technology is adopted for downlink, and the transmission bandwidth of a downlink single frequency point supports more than 400000 bits per second; the uplink adopts an orthogonal frequency division multiplexing technology, and the single-frequency point transmission bandwidth of the uplink supports more than 8 megabits per second.
Optionally, the number of frequency points in the data transmission system is not limited, and multi-frequency point extension is supported; the data transmission system realizes point-to-multipoint bidirectional transmission in 1 frequency point, and each frequency point supports at most 6 terminals.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a data transmission system for a robot, which is a point-to-multipoint time division duplex two-way transmission system. The data transmission system consists of 1 base station and a plurality of terminals, the transmission time slot period of the data transmission system is T, and each frame time slot is divided into a downlink time slot, an uplink access time slot and N uplink data time slots. The base station confirms the communication relation with the terminal through the downlink time slot and the uplink access time slot, and the terminal transmits data with the base station through the uplink data time slot. Because the data transmission system provided by the invention supports multi-frequency point expansion and the number of frequency points is not limited, the communication between a base station and a plurality of terminals can be realized; the data transmission system provided by the invention has the uplink access time slot, so that the uplink data time slot and resources are allowed to be dynamically allocated, and the application of different terminals can be met; the data transmission system provided by the invention has small downlink bandwidth and good performance, and can meet the high-performance requirement of terminal control; all downlink time slots of the data transmission system provided by the invention are kept synchronous in time, and all uplink time slots are kept synchronous through feedback control of the base station side, so that the uplink and the downlink cannot interfere with each other, and further, the condition that a plurality of robots do not interfere with each other when working simultaneously is met. Therefore, the invention solves the problems that the plurality of robots in the prior art cannot ensure no interference among the robots and the performance is not reduced when the robots work simultaneously.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a block diagram of a data transmission system for a robot according to an embodiment of the present invention;
FIG. 2 is a time slot division diagram of a data transmission system for a robot according to an embodiment of the present invention;
fig. 3 is a timing diagram illustrating simultaneous operation of multiple frequency points in a data transmission system for a robot according to an embodiment of the present invention;
fig. 4 is a schematic workflow diagram of a data transmission system for a robot according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a data transmission system for robots, which can ensure that when a plurality of robots work simultaneously, the robots do not interfere with each other and the performance is not reduced.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a block diagram of a data transmission system for a robot according to an embodiment of the present invention, and as shown in fig. 1, the data transmission system for a robot according to the embodiment of the present invention is a point-to-multipoint Time Division Duplex (TDD) bidirectional transmission system, where the data transmission system includes 1 base station and a plurality of terminals, the base station performs transceiving in a TDD manner, and the terminals perform transceiving in a TDD manner.
The number of frequency points in the data transmission system is not limited, and multi-frequency point spreading is supported.
The data transmission system realizes point-to-multipoint bidirectional transmission in 1 frequency point, and each frequency point supports at most 6 terminals.
The base station and the terminal in the data transmission system are both provided with a transceiver module, and the resources of the downlink time slot shared by the terminal are distinguished by data packet indication.
The transmission time slot cycle of the data transmission system for the robot provided by the embodiment of the invention is T, and each frame of time slot is divided into a downlink time slot, an uplink access time slot and uplink data time slots 1-N, as shown in FIG. 2.
The downlink time slot is that the base station sends base station broadcast parameters to the terminal, the base station broadcast parameters contain a data protocol, and the terminal can analyze the data sent to the terminal by the base station through the data protocol.
All data from the base station to the terminal are sent through the downlink time slot, and the downlink time slot is sent once every other transmission time slot period T.
The uplink and the downlink of the data transmission system for the robot provided by the embodiment of the invention adopt different communication modes. The downlink adopts narrow-band direct sequence spread spectrum (called narrow-band spread spectrum DSSS for short), the downlink performance is improved, the control requirement is met, and the single frequency point transmission bandwidth supports more than 400000 bits per second. The uplink adopts the orthogonal frequency division multiplexing technology, the frequency spectrum efficiency is improved, the requirement of large data volume is met, and the single-frequency point transmission bandwidth supports more than 8 megabits per second.
After receiving the downlink signal, the terminal sends an uplink access signal in a specific uplink access time slot according to the base station broadcast parameters sent by the base station, and after receiving the uplink access signal, the base station allocates time slot resources in the downlink time slot.
When all terminals are initially accessed, uplink access signals are sent in uplink access time slots and are distinguished through different sequences, and once the terminals are accessed, the uplink access signals are not sent any more.
And after receiving the resource allocation feedback, the terminal sends data in the appointed uplink data time slot. The N uplink data time slots can be flexibly distributed to a plurality of terminals through parameters, and the requirements of different data transmission rates are met.
When multiple frequency points work, as shown in fig. 3, the time allocation of the data transmission system for the robot provided by the embodiment of the present invention is still kept synchronous by the base station side, so as to ensure that the uplink and the downlink do not interfere with each other. All downlink time slots are kept synchronous in time, and all uplink data time slots are also kept synchronous through feedback control of the base station side. Higher ACPR is needed among multiple frequency points to meet the requirement and improve the dynamic range.
The work flow of the data transmission system for the robot provided by the embodiment of the invention is shown in fig. 4, and comprises the following steps:
step 101: the base station is powered on and started, downlink signals are sent according to the local time slot allocation of the base station, and meanwhile, whether the uplink access time slot has the uplink access signals or not is detected, wherein the downlink signals comprise information such as base station broadcast signaling, data, voice, control and the like.
Step 102: and the terminal is powered on and started, and the downlink signals are detected one by one at frequency points until the downlink signals are locked, and base station broadcast parameters carried in the downlink signals are analyzed.
Step 103: and the terminal sends an appointed uplink access signal in an appointed uplink access time slot according to the base station broadcast parameters, and simultaneously detects whether an access feedback signaling exists in a downlink signal.
Step 104: and when the base station detects that an uplink access signal exists in an uplink access time slot, the base station sends an access feedback signaling in a downlink signal.
Step 105: and the terminal sends data in a specified uplink data time slot according to the received access feedback signaling, wherein the data comprises information such as images, voice, states and the like.
Step 106: and the base station receives the data sent by the uplink data time slot.
The above steps complete the transmission of data. In addition, the workflow of the system provided by the embodiment of the invention further comprises:
step 107: the terminal which is normally linked needs to send appointed heartbeat signaling at regular intervals, and the base station can feed back one heartbeat signaling after receiving the heartbeat signaling sent by the terminal so as to maintain the normal use of the link.
Step 108: and when the terminal does not receive the heartbeat signaling fed back by the base station in the appointed time interval, the terminal returns to the power-on state and carries out the uplink access state again.
Step 109: when the terminal does not send data any more, the terminal sends a logout request, stops sending uplink access signals, stops receiving downlink signals, and enters a low power consumption mode or a power-off state.
Step 110: and when the base station receives a logout request or the uplink data time slot of the base station does not receive a specified signal in a specified time interval, the base station actively cancels the allocated time slot and gives up the actively cancelled time slot to other terminals.
Step 111: and when the base station finds that the current frequency point is fully occupied by the terminal, the base station automatically sends a downlink signal at the next frequency point, and the terminal establishes a link on the newly added frequency point and receives and transmits data. The base station carries currently used frequency point information in downlink signals, and when a terminal receives downlink signals of any frequency point, the terminal can acquire the frequency point information and the use condition used by a current data transmission system, so that the terminal can be conveniently and quickly switched to other frequency points to establish links.
The data transmission system for the robot provided by the invention has the following advantages.
First, in the point-to-multipoint system, each frequency point supports at most 6 terminals, and can support multi-frequency point spreading, and the number of frequency points is not limited.
Secondly, the downlink bandwidth is small, the performance is good, the high-performance requirement of robot control is met, and meanwhile, the terminal is simple, low in complexity and small in size. The resources of the terminal sharing the downlink time slot are distinguished by the data packet indication.
And thirdly, an uplink access time slot is provided, so that the uplink data time slot and resources are allowed to be dynamically allocated, and the application of different terminals is met.
Fourthly, the uplink bandwidth is large, the requirements of large data volume such as video images are met, the time delay is small, and the real-time performance is high. All terminals carry out uniform resource allocation through the base station, and the scheduling is flexible.
Fifthly, a single console is supported to control a plurality of robots, and image data and states sent by the plurality of robots are observed simultaneously.
Sixth, voice and data communication between robots (via base station forwarding) is supported.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A data transmission system for a robot is characterized in that the data transmission system is a point-to-multipoint time division duplex two-way transmission system, the data transmission system consists of 1 base station and a plurality of terminals, the transmission time slot cycle of the data transmission system is T, and each frame of time slot is divided into a downlink time slot, an uplink access time slot and N uplink data time slots; all the downlink time slots are kept synchronous in time, and all the uplink data time slots are kept synchronous through feedback control of a base station side; the data transmission system includes:
the base station is powered on and started, downlink signals are sent according to the local time slot allocation of the base station, and meanwhile, whether the uplink access time slot has the uplink access signals or not is detected, wherein the downlink signals comprise base station broadcast signaling, data information, voice information and control information;
the terminal is powered on and started, the downlink signals are detected one by one at frequency points until the downlink signals are locked, and base station broadcast parameters carried in the downlink signals are analyzed;
the terminal sends an appointed uplink access signal in an appointed uplink access time slot according to the base station broadcast parameters, and simultaneously detects whether an access feedback signaling exists in a downlink signal;
when the base station detects an uplink access signal in an uplink access time slot, the base station sends an access feedback signaling in a downlink signal;
the terminal sends data in a specified uplink data time slot according to the received access feedback signaling, wherein the data comprises image information, voice information and state information;
and the base station receives the data sent by the uplink data time slot.
2. The data transmission system for a robot of claim 1, further comprising:
the terminal which is normally linked needs to send appointed heartbeat signaling at regular intervals, and the base station can feed back one heartbeat signaling after receiving the heartbeat signaling sent by the terminal so as to maintain the normal use of the link.
3. The data transmission system for a robot of claim 2, further comprising:
and when the terminal does not receive the heartbeat signaling fed back by the base station in the appointed time interval, the terminal returns to the power-on state and carries out the uplink access state again.
4. The data transmission system for a robot of claim 1, further comprising:
when the terminal does not send data any more, the terminal sends a logout request, stops sending uplink access signals, stops receiving downlink signals, and enters a low power consumption mode or a power-off state.
5. The data transmission system for a robot of claim 4, further comprising:
and when the base station receives a logout request or the uplink data time slot of the base station does not receive a specified signal in a specified time interval, the base station actively cancels the allocated time slot and gives up the actively cancelled time slot to other terminals.
6. The data transmission system for a robot of claim 1, further comprising:
and when the base station finds that the current frequency point is fully occupied by the terminal, the base station automatically sends a downlink signal at the next frequency point, and the terminal irrelevant to the current frequency point establishes a link on the newly added frequency point to receive and send data.
7. The data transmission system for the robot of claim 6, wherein the base station carries currently used frequency point information in downlink signals, and the terminal can obtain the frequency point information and the use condition used by the current data transmission system when receiving downlink signals of any frequency point, so that the terminal can be switched to other frequency points quickly and establish a link.
8. The data transmission system for the robot as claimed in claim 1, wherein the downlink timeslot is used for the base station to transmit base station broadcast parameters to the terminal, and the base station broadcast parameters include a data protocol; the downlink time slot is sent once every other transmission time slot period T.
9. The data transmission system for a robot according to claim 1, wherein the uplink and the downlink of the data transmission system use different communication methods; a narrowband direct sequence spread spectrum technology is adopted for downlink, and the transmission bandwidth of a downlink single frequency point supports more than 400000 bits per second; the uplink adopts an orthogonal frequency division multiplexing technology, and the single-frequency point transmission bandwidth of the uplink supports more than 8 megabits per second.
10. The data transmission system for a robot according to claim 1, wherein the number of frequency points in the data transmission system is not limited and multi-frequency point spreading is supported; the data transmission system realizes point-to-multipoint bidirectional transmission in 1 frequency point, and each frequency point supports at most 6 terminals.
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CN117835430A (en) * | 2023-02-09 | 2024-04-05 | 厦门纵行信息科技有限公司 | Method and system for realizing multi-channel concurrent transmission |
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