WO2018181790A1 - Procédé et système de radiocommunication - Google Patents
Procédé et système de radiocommunication Download PDFInfo
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- WO2018181790A1 WO2018181790A1 PCT/JP2018/013392 JP2018013392W WO2018181790A1 WO 2018181790 A1 WO2018181790 A1 WO 2018181790A1 JP 2018013392 W JP2018013392 W JP 2018013392W WO 2018181790 A1 WO2018181790 A1 WO 2018181790A1
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/04—Wireless resource allocation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W72/00—Local resource management
- H04W72/12—Wireless traffic scheduling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
- H04W84/10—Small scale networks; Flat hierarchical networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Definitions
- the present invention relates to a wireless communication method and system in a tree-type network that transmits and receives data between two or more nodes arranged with a collection control station as a root.
- FIG. 10 shows an example of a time chart when data from lower nodes 72-3 and 72-4 is transmitted to the CS 71.
- Each of the CS 71 and each node 72 is assigned an active period (communication period) T1 and a sleep period T2 within a basic interval (intermittent standby period) T.
- Wireless communication can be performed in the communication period T1, and in the sleep period T2, the receiving side shifts to the sleep state and cannot perform wireless communication with each other.
- the sleep period T2 By intentionally providing the sleep period T2 within the basic interval T, power consumption can be reduced, and as a result, power consumption of the entire system can be suppressed.
- the node 72-3 When data is transmitted from the node 72-3 to the CS 71, the node 72-3 is relayed from the node 72-1 to become the CS 71 path.
- the upper node 72-1 is a master and the lower node 72-3 is a slave.
- the CS 71 as an upper node is a master and the lower node 72-1 is a slave.
- the higher order master determines the timing of the communication period T1 in the basic interval T
- the lower order slave determines the data in accordance with the timing of the communication period T1 determined on the master side. Will be sent.
- the node 72-3 first transmits the data D81 generated at the timing t91 in accordance with the communication period T1 of the node 72-1 as the master starting at the timing t92.
- the node 72-1 that has received the data D81 transmits the data D81 in accordance with the communication period T1 of the CS 71 as the master starting at the timing t93.
- the CS 71 can receive the data D81 within the communication period T1 set by itself.
- the node 72-4 when data is transmitted from the node 72-4 to the CS 71, the node 72-4 is relayed from the node 72-1 to become the CS 71 path.
- the node 72-4 transmits the data D82 generated at the timing t94 in accordance with the communication period T1 of the node 72-1 as the master starting at the timing t95.
- the node 72-1 that has received the data D82 transmits the data D82 in accordance with the communication period T1 of the CS 71 as the master starting at timing t96.
- the CS 71 can receive the data D82 within the communication period T1 set by itself.
- the CS 71 can collect all data from each node 72 in the tree network based on the above-described wireless communication processing operation method.
- the control system from the CS 71 is used.
- Control data for controlling this may be transmitted to the node 72 by downlink data communication.
- the control system data D83 sometimes requires an emergency stop control of the valve or an emergency control to stop the gas pipe, and the so-called emergency data D83 must be transmitted to the node 72. .
- the bidirectional transmission of uplink data communication from the node 72 to the CS 71 and downlink data communication from the CS 71 to the node 72 is performed, and the data collection and control by the CS 71 are originally different in expected transmission quality.
- the same communication path via the node 72 is shared and the same frequency channel is shared.
- the present invention has been devised in view of the above-described problems, and the object of the present invention is a tree type that transmits and receives data between two or more nodes arranged with a collection control station as a root.
- the object of the present invention is a tree type that transmits and receives data between two or more nodes arranged with a collection control station as a root.
- the present inventors previously set a communication resource including a frequency or a communication time when transmitting / receiving data between two or more nodes arranged with a collection control station as a root.
- Each divided resource unit is divided into a plurality of divided resource units, and this is overlapped with the uplink data communication channel from the node to the collection control station and the downlink data communication channel from the collection control station to the node.
- Invented a wireless communication method and system for controlling to allocate without performing.
- a wireless communication method is a wireless communication method in a tree-type network that transmits and receives data between two or more nodes arranged with a collection control station as a root.
- Each divided resource unit is divided into a plurality of divided resource units, and this is overlapped with the uplink data communication channel from the node to the collection control station and the downlink data communication channel from the collection control station to the node. It is characterized by assigning without doing.
- the wireless communication method according to a second aspect of the present invention is the wireless communication method according to the first aspect, wherein the channel of each communication path of the uplink data communication is allocated to each divided resource unit allocated to the uplink data communication without overlapping each other, and A channel of each communication path of the downlink data communication is allocated to each divided resource unit allocated to data communication without overlapping each other.
- the wireless communication method according to a third aspect of the present invention is the wireless communication method according to the second aspect, wherein each divided resource unit is divided in the order of the channel of each communication path of uplink data communication or the channel of each communication path of downlink data communication in which communication is started. Are allocated without overlapping each other, and when the channel is allocated to all of the divided resource units, the operation of allocating the divided resource unit to the channel where communication is newly started is stopped. And
- a wireless communication method wherein the exchange status of each data frame between the uplink data communication and the downlink data communication is identified, and based on the identified exchange status
- the communication path for uplink data communication or the communication path for downlink data communication is controlled, or the allocation of the divided resource unit to the channel is controlled.
- a wireless communication method according to any one of the first to third aspects, wherein data is transmitted and received between nodes in accordance with a periodic standby communication period designated by a higher-order node. At least one node is pre-assigned as a controlled terminal, and the collection control station, the controlled terminal, and all nodes arranged on these paths are specified as control support terminals, and the controlled control terminal At least downlink data communication to the terminal is controlled to increase the time ratio of the communication period in the control support terminal.
- a wireless communication system is a tree-type wireless communication system that transmits and receives data between nodes in which two or more nodes having a collection control station as a root are arranged.
- Each divided resource unit divided in advance is divided into an uplink data communication channel from the node to the collection control station and a downlink data communication channel from the collection control station to the node. It is characterized by assigning without duplication.
- the channels of the respective communication paths are also separated so as not to overlap each other. Allocate to each divided resource unit As a result, it is possible to prevent the data frames of the uplink data communication and the downlink data communication from colliding with each other, and the data frames are also exchanged between the channels of each communication path of the uplink data communication and between the channels of each communication path of the downlink data communication. It is possible to prevent a collision.
- 1 is a diagram illustrating an example of a network that conforms to the IEEE 802.15.4 standard.
- FIG. It is a figure for demonstrating the problem of a prior art.
- FIG. 1 is a schematic diagram showing an example of a wireless communication system 1 to which the present invention is applied.
- the wireless communication system 1 includes, as wireless communication terminals, nodes 3-1, 3-2, 3-3, 3-4 rooted at a collection control station (collection station: hereinafter referred to as CS) 2, and a so-called tree A type topology is adopted.
- CS collection control station
- a lower node 3 performs uplink data communication toward a higher node 3 and CS2.
- the higher order node 3 and CS 2 perform downlink data communication toward the lower order node 3.
- CS2 is the highest-level master device and collects data transmitted from each node 3-1 to 3-4 by upstream data communication.
- the CS 2 also plays a role as a central control unit for controlling the entire wireless communication system 1 and performs downlink data communication of control data to a specific node 3.
- Node 3 is a generic name for devices capable of transmitting and receiving data such as data transmission and relay, and is a communication device compliant with the IEEE 802.15.4 standard, for example.
- the node 3 may be embodied as a sensor that senses predetermined data and transmits the data wirelessly, such as a mobile phone, a smartphone, a tablet terminal, a wearable terminal, a notebook personal computer (PC), or the like. It may be embodied as a terminal device capable of wireless communication.
- the node 3 may include a control system such as an actuator. In such a case, for example, it is embodied as a device that can perform control for stopping a valve, control a robot, or perform control for stopping gas. If the node 3 is embodied as an actuator including a control system, various control operations are executed based on the control data transmitted from the CS 2 via the other nodes 3 via the downlink data. It becomes.
- the present invention is not limited to this. That is, the node 3 arranged in the lower link of the CS 2 may have a tree structure composed of any branching pattern as long as the data is collected by the CS 2. It may be configured.
- a channel is assigned to each communication path between the CS2 and the nodes 3-1 to 3-4.
- the channel for uplink data communication from the node 3-1 to CS2 is ChU1
- the channel for uplink data communication from the node 3-2 to the node 3-1 is ChU2
- the channel from the node 3-3 to the node 3-1 is ChU3
- the channel for uplink data communication from the node 3-4 to the node 3-2 is ChU4.
- the downlink data communication channel from CS2 to node 3-1 is ChD1
- the downlink data communication channel from CS2 to node 3-2 is ChD2
- the downlink data communication channel from CS2 to node 3-3 is The channel is ChD3
- the downlink data communication channel from CS2 to the node 3-4 is ChD4.
- a divided resource unit 21 is formed by dividing a communication resource including a frequency channel as shown in FIG.
- This divided resource unit 21 is a concept including both time-divided slots and frequency-divided bands.
- Each divided resource unit 21 can be assigned to each channel of uplink data communication or downlink data communication. That is, a frequency channel is completed by assigning each communication channel to the divided resource unit 21.
- the plurality of divided resource units 21 are allocated to uplink data communication and downlink data communication without overlapping each other.
- the divided resource units 21-1 to 21-8 divided into eight are allocated to the uplink data communication channel, and the downlink data communication is performed.
- Divided resource units 21-6 to 21-8 are allocated to the channel. In this way, control is performed so that there are no divided resource units 21 that are allocated in an overlapping manner between the uplink data communication channel and the downlink data communication channel. In addition, a so-called remaining divided resource unit to which no channel is allocated in the divided resource unit 21 may be included. In the following example, description will be made by taking as an example the case of comprising eight divided resource units, but the number of divided resource units may be constituted by any other number depending on the number of divisions.
- a time-division divided resource unit 22 may be configured in which communication resources having communication times as shown in FIG.
- Each time division resource unit 22 can be assigned to each channel of uplink data communication or downlink data communication. That is, a time division channel is completed by allocating each communication channel to this time division division resource unit 22.
- the plurality of divided resource units 22 are allocated to uplink data communication and downlink data communication without overlapping each other.
- the divided resource units 22-1 to 22-8 divided into eight are allocated to the uplink data communication channel, and the downlink data communication is performed.
- Divided resource units 22-4 to 22-8 are allocated to the channel.
- control is performed so that there are no divided resource units 22 that are allocated in an overlapping manner between the uplink data communication channel and the downlink data communication channel.
- a so-called remaining divided resource unit to which no channel is assigned in the divided resource unit 22 may be included.
- each divided resource unit 21 and 22 assigned to the uplink data communication includes each communication path of the uplink data communication. Are assigned without overlapping each other.
- the channel ChU of each communication path of the stream data communication is allocated without overlapping each other.
- the channel ChU1 is assigned to the divided resource unit 21-1
- the channel ChU2 is assigned to the divided resource unit 21-2
- the channel ChU3 is assigned to the divided resource unit 21-3
- the divided resource unit 21-- 4 is assigned channel ChU4.
- the channel ChD1 is allocated to the divided resource unit 21-6
- the channel ChD4 is allocated to the divided resource unit 21-7
- the channel ChD3 is allocated to the divided resource unit 21-8.
- the divided resource unit 21 obtained by dividing the communication resource including the frequency has been described as an example.
- the channel of each communication path does not overlap each other with respect to the time-divided divided resource unit 22 as well.
- the divided resource units 21 and 22 assigned to the uplink data communication and the divided resource units 21 and 22 assigned to the downlink data communication are determined in advance, and the assigned divided resource units 21 and 22 are assigned.
- channels for each communication path of uplink data communication and downlink data communication may be allocated, but the present invention is not limited to this.
- each divided resource unit 21 in the channel for uplink data communication and the channel for downlink data communication may be executed based on the method described below.
- the divided resource unit 22-1 is allocated to the channel ChU3 that starts communication first.
- the divided resource unit 22-8 is allocated to this, and when communication on the channel ChD1 is started, this is assigned to this.
- the divided resource unit 22-7 is allocated and communication of the channel ChU4 is started next, the divided resource unit 22-2 is allocated thereto.
- the channel is assigned in ascending order from the divided resource unit 22-1 in order from the channel of the communication path where communication is started, and in the case of downlink data communication, the channel of the communication path where communication is started Are allocated in descending order from the divided resource unit 22-8.
- uplink data communication and downlink data communication channels are allocated to all divided resource units 22. That is, the divided resource unit 22 is occupied by the uplink data communication channel and the downlink data communication channel, and there is no unused divided resource unit.
- the allocation operation of the divided resource unit 22 is stopped. As a result, it is possible to prevent another channel from being redundantly assigned to the divided resource unit 22 to which another channel has already been assigned.
- the divided resource units 22 are sequentially allocated from the channel where the communication is started, and therefore, the divided resource units 22 are allocated without omission for the channel having a high communication priority. Further, as a result of preferentially allocating the divided resource unit 22 allocated to uplink data communication and the divided resource unit 22 allocated to downlink data communication in advance from the channel where communication is newly started, Finally, the allocation boundary between the divided resource units 22 for uplink data communication and downlink data communication is determined naturally. For this reason, the division resource unit 22 does not remain in either one of the uplink data communication and the downlink data communication, and the division resource unit does not become insufficient in the other, and more efficient allocation of the division resource unit 22 can be realized. It becomes.
- the allocation of the divided resource unit 21 to each channel may be executed after identifying the exchange status of each data frame between the uplink data communication and the downlink data communication.
- the identification of the exchange status of the data frame here means that the communication amount and communication frequency of the data frame, the number of channels on which the communication is started, and the like are respectively determined for the uplink data communication and the downlink data communication.
- the identification of the exchange status of the data frame includes whether or not data requiring urgency is transmitted. By performing these determinations, it is possible to determine the channel to which the divided resource units 21 and 22 should be preferentially allocated. For example, divided resource units 21 and 22 are preferentially assigned to channels in which the exchange status of data frames is active, and the priority of assignment of divided resource units 21 and 22 is lowered for channels in which the exchange status of data frames is low. You may do it.
- control data that requires urgency may be sent from CS 2 to each node 3 via downlink data communication.
- This urgent control data is control data for urgently stopping the valve and control data for urgently stopping the gas pipe.
- the presence or absence of such urgency can be identified by setting a flag or the like in the data frame in advance.
- the divided resource units 21 and 22 can be preferentially allocated to the downlink data communication with the higher urgency. .
- the communication path for uplink data communication or the communication path for downlink data communication may be controlled based on the exchange status of the identified data frame.
- the communication path for uplink data communication and the communication path for downlink data communication may overlap.
- channel ChU1 and channel ChD1 may be assigned to the same communication path.
- communication of uplink data communication Communication paths ChD2, ChD3, and ChD4 that do not overlap with the path may be set.
- uplink data communication is similarly performed in terms of communication paths. Can effectively prevent communication collisions.
- the node 3 described above may be a concept including CS2. That is, the process performed in each node 3 may be performed in CS2, and the process performed in CS2 may be performed in node 3. Further, CS2 may be replaced with a so-called node 3.
- each processing described above can be similarly applied to communication between the CS 2 and the node 3 and communication between the nodes 3.
- the processing operation described below is further executed on the assumption that the processing operation of the first embodiment described above is performed.
- At least one of the nodes 3 is assigned as a controlled terminal.
- the controlled terminal is a node that is embodied as an actuator or the like including a control system in the node 3, and is a node to which urgent control data may be transmitted from the CS2.
- the urgent control data here is control data for urgently stopping the valve or control data for urgently stopping the gas pipe.
- This allocation of controlled terminals may be performed manually by an administrator or user of the wireless communication system 1 in advance, or as a controlled terminal on the CS 2 side based on information sent from each node 3. You may make it identify automatically. In such a case, the case requiring urgency is classified in advance, and if the information sent from the node 3 is included in the case requiring urgency, this is specified as the controlled terminal. Also good. Other than this, it may be determined whether or not the terminal is a controlled terminal based on information sent from the node 3. For example, when CS2 identifies that a signal received from a certain node 3 is a unique signal sent from a robot, it identifies that there is a possibility of sending urgent control data, and You may make it allocate as a controlled terminal.
- the CS 2 and controlled terminals and all nodes arranged on these routes are specified as control support terminals.
- the communication method differs between the wireless communication between the control support terminals and the wireless communication between the other routes.
- FIG. 6 shows a time chart in the case where data is transmitted from the node 3-5 to the CS 2 by relaying the node 3-2 between the nodes 3 other than the control support terminal.
- Each of CS2 and each of the nodes 3-2 and 3-5 is assigned an active period (communication period) T1 and a sleep period T2 within a basic interval (intermittent standby period) T.
- Wireless communication can be performed in the communication period T1, and in the sleep period T2, the receiving side shifts to the sleep state and cannot perform wireless communication with each other.
- the sleep period T2 By intentionally providing the sleep period T2 within the basic interval T, power consumption can be reduced, and as a result, power consumption of the entire system can be suppressed.
- the upper node 3-2 is the master and the lower node 3 is between the node 3-5 and the higher node 3-2. -5 is the slave relationship.
- CS2 as a higher node is a master and the lower node 3-2 is a slave.
- the higher order master determines the timing of the communication period T1 in the basic interval T
- the lower order slave determines the data in accordance with the timing of the communication period T1 determined on the master side. Will be sent.
- the node 3-5 first transmits the data D21 generated at the timing t11 in accordance with the communication period T1 starting at the timing t12 of the node 3-2 as the master. To do.
- the node 3-2 that has received the data D21 transmits the data D21 in accordance with the communication period T1 of the CS2 as the master that starts at the timing t13.
- the CS 2 can receive the data D21 within the communication period T1 set by itself.
- the time ratio of the communication period T1 is increased within the basic interval T as shown in FIG. To shorten.
- the amount of increase in the communication period may be any, but as shown in FIG. 7, all the basic intervals T may be assigned to the communication period T1 and the sleep period may be set to zero. Further, as shown in FIG. 7, the communication period T1 may be set shorter than the basic interval T by setting the end points Ts1 to Ts3 or the like. In such a case, the end points Ts1 to Ts3 are the start points of the sleep period.
- control data when control data is transmitted from CS2 to the node 3-4, this control support terminal CS2 transmits this to the node 3-4 via the node 3-1.
- the control support terminals (CS2, node 3-1, node 3-4) will be described by taking as an example the case where all basic intervals are allocated to the communication period and the sleep period is set to 0 as shown in the time chart of FIG. . With the time ratio of the active communication period increased in this way, the control data D22 is downlink data communicated from the CS 2 to the node 3-4.
- the CS2 generates this data D22 at timing t14 and transmits it to the node 3-1. Since all the basic intervals are allocated to the communication period, the node 3-1 can receive the data D22 at the timing t14, and can transmit the data D22 to the node 3-4 at the same timing t14. Since all the basic intervals are also allocated to the communication period in the node 3-4, the data D22 can be received at this timing t14.
- the present invention it becomes possible to perform downlink data communication of data D22 from CS2 to node 3-4 more quickly. Even if the data D22 is urgent, it is possible to transmit the data D22 to the node 3-4 as the controlled terminal without waiting until the sleep period elapses.
- the various controls in the node 3-4 performed in this manner are executed quickly. As a result, it is possible to prevent a serious control delay caused by a delay in transmission of data D22 from CS2 to node 3-4 as a controlled terminal.
- the data D23 when the data D23 is transmitted from the node 3-4 to CS2 between these control support terminals (CS2, node 3-1, node 3-4), this time ratio is increased. You may make it carry out using a communication period. Further, as shown in FIG. 8, it is assumed that CS2, node 3-1, and node 3-4 are not specified as control support terminals and the time ratio of the communication period is not increased, and is designated by the master side.
- the data D23 may be transmitted in accordance with the communication period. In such a case, as shown in FIG. 8, the data D23 generated by the node 3-4 at the timing t15 is transmitted to the node 3-1 in the communication period starting at the timing t16. Then, the node 3-1 transmits the data D23 in the communication period starting at the timing t17 designated by CS2.
- the number of nodes 3 that need to send control data that is particularly urgent is only a few of the total number of nodes. Therefore, the ratio of the control support terminal to the total number of nodes is very small. Only such a control support terminal increases the time ratio of the communication period T1 as described above, and for the other nodes 3 by increasing the sleep period without increasing the time ratio of the communication period T1 as in the prior art. Thus, the power consumption of the entire wireless communication system 1 does not increase so much, and the power saving performance can be continuously maintained.
- the present invention it is possible to more quickly download data that requires urgent data from the CS 2 to the node 3 while maintaining the power saving performance of the entire system.
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Abstract
Le problème décrit par la présente invention est de fournir un procédé et un système de radiocommunication qui permettent d'empêcher une collision de données entre une communication de données de liaison montante et une communication de données de liaison descendante et qui, en fonction de la qualité attendue de communication de liaison montante et de communication de liaison descendante, permettent une attribution de canal autonome et une attribution de trajet de communication. À cet effet, l'invention porte sur un procédé de radiocommunication permettant d'envoyer et de recevoir des données entre des nœuds (3) dans un réseau de type arborescent présentant un CS 2 en tant que racine et au moins deux nœuds (3) attribués au CS 2. L'invention est caractérisé en ce que des ressources de communication, qui sont constituées de fréquences ou de temps de communication et qui ont été divisées à l'avance en de multiples unités de ressources divisées, sont attribuées sans chevauchement à un canal pour une communication de données de liaison montante depuis un nœud (3) vers le CS 2 et à un canal pour une communication de données de liaison descendante depuis le CS 2 vers le nœud (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-068652 | 2017-03-30 | ||
| JP2017068652A JP6985658B2 (ja) | 2017-03-30 | 2017-03-30 | 無線通信方法及びシステム |
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| WO2018181790A1 true WO2018181790A1 (fr) | 2018-10-04 |
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| PCT/JP2018/013392 Ceased WO2018181790A1 (fr) | 2017-03-30 | 2018-03-29 | Procédé et système de radiocommunication |
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| WO (1) | WO2018181790A1 (fr) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008228176A (ja) * | 2007-03-15 | 2008-09-25 | Japan Radio Co Ltd | 無線装置 |
| JP2009218861A (ja) * | 2008-03-11 | 2009-09-24 | Fujitsu Ltd | 無線通信装置、無線通信方法および無線通信制御プログラム |
-
2017
- 2017-03-30 JP JP2017068652A patent/JP6985658B2/ja active Active
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2018
- 2018-03-29 WO PCT/JP2018/013392 patent/WO2018181790A1/fr not_active Ceased
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008228176A (ja) * | 2007-03-15 | 2008-09-25 | Japan Radio Co Ltd | 無線装置 |
| JP2009218861A (ja) * | 2008-03-11 | 2009-09-24 | Fujitsu Ltd | 無線通信装置、無線通信方法および無線通信制御プログラム |
Non-Patent Citations (1)
| Title |
|---|
| MATSUURA YOSHIKI ET AL.: "Wireless Access Priority Control Scheme Considering Bi-Directional Communication in Multi-hop Networks", IEICE TECHNICAL REPORT- ASN2013-51, vol. 113, no. 132, 10 July 2013 (2013-07-10), pages 23 - 28, XP055612835 * |
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| Publication number | Publication date |
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| JP6985658B2 (ja) | 2021-12-22 |
| JP2018170723A (ja) | 2018-11-01 |
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