Method and apparatus for transmitting sensor data in a wireless network
First Claim
1. A method for transmitting data from a slave node to a master node in a robotic control network, the robotic control network being based on a shared transmission channel, access to the shared transmission channel being scheduled by the master node, the slave node comprising an acquisition device producing the data, the method comprising on the slave node:
- obtaining a request from the master node for acquiring data;
estimating the value of a time information representative of a delay for the acquisition device to acquire a block of data ready for transmission to the master node;
sending a message to the master node comprising the estimated time information value;
receiving, from the master node, an authorization of transmission of the block of data from the slave node to the master node, the authorization of transmission scheduling an access time for transmitting the block of data, wherein the scheduled access time depends on the estimated time information value and wherein the estimating of the value of the time information by the slave node is performed prior the receiving of the authorization of transmission from the master node; and
transmitting the block of data from the slave node to the master node during the scheduled access time after the receiving of the authorization of transmission of the block of data.
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Abstract
The present invention concerns a method and a device for transmitting sensor data in a wireless network. The network is based on a shared transmission channel. Access to the shared transmission channel is scheduled by the master node. The slave node comprises an acquisition device producing said data. The method comprises on the slave node: obtaining a request for acquiring data from the master node; estimating the value of a time information representative of a delay for the acquisition device to acquire a block of data ready for transmission; sending a message to the master node comprising the estimated time information; receiving an authorization of transmission from the master node, said authorization of transmission being scheduled at a time depending on the estimated time information; and transmitting a block of data to the master node after said reception according to the received authorization. Accordingly, the communication channel is reserved at the right time allowing minimizing the bandwidth and the latency.
25 Citations
12 Claims
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1. A method for transmitting data from a slave node to a master node in a robotic control network, the robotic control network being based on a shared transmission channel, access to the shared transmission channel being scheduled by the master node, the slave node comprising an acquisition device producing the data, the method comprising on the slave node:
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obtaining a request from the master node for acquiring data; estimating the value of a time information representative of a delay for the acquisition device to acquire a block of data ready for transmission to the master node; sending a message to the master node comprising the estimated time information value; receiving, from the master node, an authorization of transmission of the block of data from the slave node to the master node, the authorization of transmission scheduling an access time for transmitting the block of data, wherein the scheduled access time depends on the estimated time information value and wherein the estimating of the value of the time information by the slave node is performed prior the receiving of the authorization of transmission from the master node; and transmitting the block of data from the slave node to the master node during the scheduled access time after the receiving of the authorization of transmission of the block of data. - View Dependent Claims (2, 3, 4)
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5. A method for transmitting data from a slave node to a master node in a robotic control network, the robotic control network being based on a shared transmission channel, access to the shared transmission channel being scheduled by the master node, the slave node comprising an acquisition device producing the data, the method comprising on the master node:
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obtaining a message from the slave node comprising an estimate, calculated by the slave node, of the value of a time information representative of a delay for the acquisition device to acquire a block of data ready for transmission to the master node; determining an authorization of transmission of the block of data, the authorization of transmission scheduling an access time for transmitting the block of data, wherein the scheduled access time depends on the received estimated time information value; sending the authorization of transmission to the slave node after the slave node calculates the estimated time information value; and obtaining the block of data from the slave node during the scheduled access time, after the slave node receives the authorization of transmission, according to the sent authorization of transmission. - View Dependent Claims (6)
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7. A device acting as a slave node for transmitting data to a master node in a robotic control network, the robotic control network being based on a shared transmission channel, access to the shared transmission channel being scheduled by the master node, the slave node comprising an acquisition device producing the data, the device comprising a processing device configured for carrying out the steps of:
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obtaining a request from the master node for acquiring data; estimating the value of a time information representative of a delay for the acquisition device to acquire a block of data ready for transmission to the master node; sending a message to the master node comprising the estimated time information value; receiving, from the master node, an authorization of transmission of the block of data from the slave node to the master node, the authorization of transmission scheduling an access time for transmitting the block of data, wherein the scheduled access time depends on the estimated time information value and wherein the estimating of the value of the time information by the slave node is performed prior to the receiving of the authorization of transmission from the master node; and transmitting the block of data from the slave node to the master node during the scheduled access time after the receiving of the authorization of transmission of the block of data. - View Dependent Claims (8, 9, 10)
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11. A device acting as a master node for receiving data from a slave node in a robotic control network, the robotic control network being based on a shared transmission channel, access to the shared transmission channel being scheduled by the master node, the slave node comprising an acquisition device producing the data, the device comprising a processing device configured for carrying out the steps of:
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sending a request for acquiring data to the slave node; obtaining a message from the slave node comprising an estimate, calculated by the slave node, of the value of a time information representative of a delay for the acquisition device to acquire a block of data ready for transmission; determining an authorization of transmission of the block of data, the authorization of transmission scheduling an access time for transmitting the block of data, wherein the scheduled access time depends on the received estimated time information value; sending the authorization of transmission to the slave node after the slave node calculates the estimated time information value; and obtaining the block of data from the slave node during the scheduled access time, after the slave node receives the authorization of transmission, according to the sent authorization of transmission. - View Dependent Claims (12)
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Specification