WO2023058120A1

WO2023058120A1 - Radio communication device and communication method

Info

Publication number: WO2023058120A1
Application number: PCT/JP2021/036849
Authority: WO
Inventors: 良太森若; 賀須男藤野; 和敏小林; 忠輔弓場; 裕喜南田; 諒下留; 次郎村岡
Original assignee: 株式会社安川電機
Priority date: 2021-10-05
Filing date: 2021-10-05
Publication date: 2023-04-13
Also published as: JPWO2023058120A1

Abstract

A radio communication device 5 or 6 includes: a radio communication unit 213 or 413 that performs radio communication with a target radio communication unit 213 or 413 by repeating a time division duplex pattern in which multiple communication slots 510 including a first class communication slot 510 and a second class communication slot 510 are time-division-multiplexed; and a communication control unit 112 or 312 that causes the radio communication unit 213 or 413 to transmit transmission data generated by an application 3 to the target radio communication unit 213 or 413 by using the first class communication slot 510 when the transmission data has a first attribute and causes the radio communication unit 213 or 413 to transmit the transmission data to the target radio communication unit 213 or 413 by using the second class communication slot 510 when the transmission data has a second attribute.

Description

Wireless communication device and communication method

The present disclosure relates to wireless communication devices and communication methods.

Patent Document 1 discloses a system including a robot, a processing device, a robot controller that controls the robot, a processing device controller that controls the processing device, and a programmable logic controller that generates commands for the robot controller and the processing device controller. disclosed.

JP 2019-209454 A

The present disclosure provides a wireless communication device that is effective in achieving both communication reliability and communication speed.

A wireless communication device according to one aspect of the present disclosure repeats a time division duplex pattern in which a plurality of communication slots including a first type communication slot and a second type communication slot are arranged in a time division manner to When the transmission data generated by the wireless communication unit that performs wireless communication with the communication unit and the application has the first attribute, the transmission data is transmitted from the wireless communication unit to the remote wireless communication unit using the first type communication slot. and a communication control unit for transmitting the transmission data from the wireless communication unit to the other wireless communication unit using the second type communication slot when the transmission data has the second attribute.

A communication method according to another aspect of the present disclosure repeats a time-division duplex pattern in which a plurality of communication slots including a first-type communication slot and a second-type communication slot are arranged in a time-division manner to perform wireless communication. When the transmission data generated by the application has the first attribute while wireless communication is being performed between the unit and the other wireless communication unit, the transmission data is transmitted from the wireless communication unit using the first type communication slot. and causing the wireless communication unit to transmit the transmission data to the wireless communication unit using the second type communication slot when the transmission data has the second attribute.

According to the present disclosure, it is possible to provide a wireless communication device that is effective in achieving both communication reliability and communication speed.

1 is a schematic diagram illustrating the configuration of a device system; FIG. 1 is a schematic diagram illustrating the configuration of a robot; FIG. 4 is a block diagram illustrating configurations of a control server and a base station; FIG. 4 is a table illustrating storage contents of a pattern storage unit; FIG. 4 is a schematic diagram illustrating a time division duplex pattern; FIG. 4 is a schematic diagram illustrating the relationship between time division duplex patterns and communication cycles; FIG. 4 is a schematic diagram illustrating the relationship between time division duplex patterns and communication cycles; FIG. 3 is a schematic diagram illustrating the relationship between the target arrangement and the arrangement of communication slots in each communication cycle; FIG. 4 is a block diagram illustrating the configuration of a local controller and mobile station; 3 is a block diagram illustrating the hardware configuration of a control server and base stations; FIG. 3 is a block diagram illustrating the hardware configuration of a local controller and mobile stations; FIG. 4 is a flow chart illustrating a procedure for setting a time division duplex pattern and a cycle start slot; 4 is a flow chart illustrating a wireless communication procedure; 4 is a flow chart illustrating a wireless communication procedure; 4 is a flowchart illustrating a communication control procedure; 7 is a flowchart illustrating a communication mode switching procedure; 4 is a flow chart illustrating a wireless communication procedure; 4 is a flow chart illustrating a wireless communication procedure; 4 is a flowchart illustrating a communication control procedure; 7 is a flowchart illustrating a communication mode switching procedure;

Hereinafter, embodiments will be described in detail with reference to the drawings. In the explanation, the same reference numerals are given to the same elements or elements having the same function, and duplicate explanations are omitted.

〔Communications system〕
A communication system 1 shown in FIG. 1 is a system that performs wireless communication using time division duplexing. A communication system 1 includes a wireless communication system 2 and an application 3 . The radio communication system 2 performs radio communication by repeating a time division duplex pattern in which a plurality of communication slots are arranged in a time division manner. Arranging by time division means arranging so as to line up along a time axis representing the passage of time.

Time division duplexing is a wireless communication method that enables transmission and reception in the same frequency band by switching transmission and reception for each time. The wireless communication system 2 performs wireless communication using a 5G network as an example of wireless communication using time division duplexing. For example, the radio communication system 2 performs radio communication by local 5G. Local 5G is a 5G network that is built for a limited area compared to public 5G, in which carriers provide communication services over a wide area.

The wireless communication system 2 has a base station 200 and one or more mobile stations 400. For example, the radio communication system 2 has multiple mobile stations 400 . The base station 200 is installed in a local 5G target area and performs wireless communication with a plurality of mobile stations 400 . Each of the plurality of mobile stations 400 can move within the target area and wirelessly communicate with the base station 200 .

A plurality of communication slots in wireless communication includes time division duplex uplink slots. The plurality of communication slots may further include time division duplexed downlink slots. An uplink slot is a slot in which mobile station 400 transmits data to base station 200 (base station 200 receives data from mobile station 400). A downlink slot is a slot in which base station 200 transmits data to mobile station 400 (mobile station 400 receives data from base station 200).

The application 3 uses the wireless communication system 2 to perform cyclic communication. Cyclic communication is communication in which data transmission and reception of the same content are repeated. The application 3 may use the wireless communication system 2 to perform cyclic communication with a constant communication cycle (communication period). Application 3 may repeat a communication cycle including generation of transmission data based on reception data received by base station 200 from mobile station 400 and transmission of transmission data from base station 200 to mobile station 400 . Application 3 may repeat a communication cycle including generation of transmission data based on reception data received by mobile station 400 from base station 200 and transmission of transmission data from mobile station 400 to base station 200 .

"Application" represents an application target of wireless communication by the wireless communication system 2. A specific example of the application 3 is a device system 10 including multiple devices. When the application 3 is the device system 10 , the communication system 1 performs wireless communication in the device system 10 . Each of the plurality of devices may be a hardware device configured by a set of hardware, or may be a software device implemented in a computer by software.

As an example, the device system 10 includes multiple machines 20, a control server 100, and a time server 101. Machine 20 is an example of a hardware device. For example, machine 20 is an industrial machine. Specific examples of industrial machines include machine tools, carrier devices, robots, and the like. A servo system including a servo motor and a servo drive circuit is also an example of an industrial machine.

The machine 20 has a machine body 30 and a local controller 300. The machine main body 30 is a machine that realizes operations. The local controller 300 controls the machine body 30 so as to implement the operations.

Although there are no particular restrictions on the type of machine body 30, two types of

machine bodies

30A and 30B are illustrated in FIG. The machine body 30A is a mobile robot that works on a work while moving. For example, the machine main body 30A has an automatic guided vehicle 31 and a robot 40 . The automatic guided vehicle 31 is driven by the local controller 300 to move.

The robot 40 is installed on the unmanned guided vehicle 31. The robot 40 is driven by the local controller 300 to carry out work such as transportation, processing, and assembly of the work.

The robot 40 is, for example, a vertically articulated industrial robot. As shown in FIG. 2 , the robot 40 has a base portion 41 , a turning portion 42 , a first arm 43 , a second arm 44 , a wrist portion 45 and a tip portion 46 . The base 41 is installed on the automatic guided vehicle 31 . The swivel part 42 is mounted on the base part 41 so as to be rotatable around the vertical axis 51 . For example, the robot 40 has a joint 61 that attaches the pivot 42 to the base 41 so as to be rotatable about the axis 51 . The first arm 43 is connected to the swivel portion 42 so as to be rotatable about an axis 52 that intersects (for example, is perpendicular to) the axis 51 . For example, the robot 40 has a joint 62 that connects the first arm 43 to the pivot 42 so as to be rotatable about the axis 52 . An intersection includes being in a twisted relationship, such as a so-called overpass. The same applies to the following. The first arm 43 extends from the turning portion 42 along one direction that intersects (for example, orthogonally) the axis 52 .

The second arm 44 is connected to the end of the first arm 43 so as to be rotatable around an axis 53 parallel to the axis 52 . For example, the robot 40 has a joint 63 connecting the second arm 44 to the first arm 43 so as to be rotatable about the axis 53 . The second arm 44 includes an arm base 47 extending from the end of the first arm 43 along one direction intersecting (for example, perpendicular to) the axis 53 and an arm further extending from the end of the arm base 47 along the same one direction. and end 48 . Arm end 48 is rotatable about axis 54 with respect to arm base 47 . Axis 54 intersects (eg, is orthogonal to) axis 53 . For example, robot 40 has a joint 64 that connects arm end 48 to arm base 47 such that arm end 48 is rotatable about axis 54 .

The wrist 45 is connected to the end of the arm end 48 so as to be rotatable about an axis 55 that intersects (for example, is perpendicular to) the axis 54 . For example, the robot 40 has a joint 65 that connects the arm end 48 such that the wrist 45 is rotatable about the axis 55 . Wrist 45 extends from the end of arm end 48 along a direction that intersects (eg, is perpendicular to) axis 55 . The tip 46 is connected to the end of the wrist 45 so as to be rotatable about an axis 56 that intersects (eg, is perpendicular to) the axis 55 . For example, robot 40 has a joint 66 that connects tip 46 to wrist 45 such that tip 46 is rotatable about axis 56 . An end effector is provided at the distal end portion 46 . Specific examples of the end effector include a hand for gripping a work, a work tool for processing and assembling a work, and the like.

Actuators 71 , 72 , 73 , 74 , 75 , 76 drive joints 61 , 62 , 63 , 64 , 65 , 66 . Each of the actuators 71, 72, 73, 74, 75, 76 has, for example, an electric motor and a transmission section (for example, reduction gear) that transmits the power of the electric motor to the joints 61, 62, 63, 64, 65, 66. . For example, actuator 71 drives joint 61 to rotate pivot 42 about axis 51 . Actuator 72 drives joint 62 to rotate first arm 43 about axis 52 . Actuator 73 drives joint 63 to rotate second arm 44 about axis 53 . Actuator 74 drives joint 64 to rotate arm end 48 about axis 54 . Actuator 75 drives joint 65 to rotate wrist 45 about axis 55 . Actuator 76 drives joint 66 to rotate tip 46 about axis 56 .

Returning to FIG. 1, the machine main body 30B is an unmanned guided vehicle that transports objects such as workpieces. The machine main body 30B has an unmanned guided vehicle 33 and a loading platform 34. As shown in FIG. The automatic guided vehicle 33 is driven by the local controller 300 to move. The loading platform 34 is provided on the automatic guided vehicle 33 and supports the object to be transported.

The control server 100 includes multiple controllers 111 that respectively control multiple machines 20 . Each of the multiple controllers 111 is an example of a software device, and is implemented in the control server 100 by software. The plurality of controllers 111 may be hardware devices independent of each other on hardware.

Communication system 1 communicates from controller 111 to machine 20 via downlink slots and from machine 20 to controller 111 via uplink slots. is connected to the control server 100 via the . A plurality of mobile stations 400 of the radio communication system 2 are provided in a plurality of machines 20 respectively, and are connected to a plurality of local controllers 300 respectively. The control server 100 transmits data to each of the multiple machines 20 via the base station 200 and the mobile station 400 and receives data from each of the multiple machines 20 via the mobile station 400 and the base station 200 . Each of the plurality of local controllers 300 transmits data to the control server 100 via the mobile station 400 and base station 200 and receives data from the control server 100 via the base station 200 and mobile station 400 .

The application 3 uses the wireless communication system 2 to transmit and receive control data for controlling the machine 20 . Specific examples of the control data include command data for controlling the machine 20 and response data of the industrial machine according to the command data.

The command data is data representing an operation command for the machine 20, for example. A specific example of the data representing the motion command is target motion data representing the target motion of the machine 20 . The target data includes target positions, target velocities, etc. for the machine 20 . The data representing the operation command may be target output data representing a target output (for example, target torque or target current) for causing the operation of the machine 20 to follow the target operation. The response data is, for example, data representing an action performed by the machine 20 in response to command data. Specific examples of the data representing the motion include the motion speed of the machine 20, the position of the machine 20, and the like.

For example, the application 3 repeatedly executes a communication cycle including transmission of command data from the controller 111 to the machine 20 and transmission of response data from the machine 20 to the controller 111 by cyclic communication. As a result, the controller 111 repeatedly executes a communication cycle including transmission of command data and reception of response data by cyclic communication. The machine 20 repeatedly executes a communication cycle including reception of command data and transmission of response data by cyclic communication.

The time server 101 is a computer connected to the control server 100 via a wired communication network and generates global time. The time server 101 may be incorporated in the control server 100 or may be incorporated in the base station 200 . The global time is used to align at least the time inside the control server 100 and the time inside the base station 200 with the global time.

The

communication control units

112 and 312 control cyclic communication. For example, the communication control unit 112 controls communication using a downlink slot among cyclic communications. The communication control unit 112 and the base station 200 constitute a wireless communication device 5 that performs communication from the controller 111 to the machine 20 using downlink slots. The communication control unit 312 controls communication using a downlink slot among cyclic communications. The communication control unit 312 and the mobile station 400 constitute a wireless communication device 6 that performs communication from the machine 20 to the controller 111 using uplink slots.

As an example, the communication control unit 112 is incorporated in the control server 100 and the communication control unit 312 is incorporated in the local controller 300. As described above, when the plurality of controllers 111 are hardware devices independent of each other, the communication control unit 112 may be incorporated in each of the plurality of controllers 111 . Communication control unit 112 may be incorporated in base station 200 and communication control unit 312 may be incorporated in mobile station 400 .

In wireless communication performed in the device system 10, the timing at which information should be transmitted using the downlink slot and the timing at which information should be transmitted using the uplink slot can be changed depending on the configuration of the device system 10. Therefore, the communication system 1 acquires configuration information indicating the configuration of the device system 10, and according to the configuration of the device system 10, the downlink slots for time division duplex and the time division duplex It may be configured to set a time division duplex pattern that defines an arrangement with uplink slots, and to perform wireless communication by repeating the set time division duplex pattern. According to this configuration, the time division duplex pattern is set according to the configuration of the device system, and wireless communication is performed by repeating the set time division duplex pattern. Therefore, it is effective for more timely wireless communication.

When the time division duplex pattern is repeated, the communication reliability of a plurality of communication slots may differ depending on the position in the time division duplex pattern. For example, other wireless communication systems 900 may perform other wireless communications via a space that at least partially overlaps the space in which the wireless communication system 2 wirelessly communicates. Another radio communication system 900 repeats another time division duplex pattern in which a plurality of other communication slots are arranged in a time division manner to perform the other radio communication. A specific example of such another wireless communication system 900 is a system that performs wireless communication by public 5G as described above.

For example, another wireless communication system 900 has a base station 910 and a terminal 920 . Terminal 920 is, for example, a mobile communication terminal such as a smart phone, tablet computer, or laptop computer. The base station 910 is installed at the end of the communication network of the carrier, performs wireless communication with the terminal 920 , and relays communication between the communication network and the terminal 920 .

When the other radio communication system 900 repeats another time division duplex pattern to perform other radio communication, the plurality of communication slots of the time division duplex pattern repeated by the radio communication system 2 include a synchronous slot and an asynchronous slot. slots. A synchronous slot is a communication slot whose status as a downlink slot or an uplink slot matches the communication slot of another wireless communication performed at the same timing. An asynchronous slot is a communication slot that does not match the communication slot of another wireless communication performed at the same timing in terms of whether it is a downlink slot or an uplink slot. Compared to communication using synchronous slots, communication using asynchronous slots is more susceptible to deterioration in communication quality due to interference with communication using communication slots of other wireless communications.

In this way, the plurality of communication slots can include first-type communication slots (for example, synchronous slots) and second-type communication slots (for example, asynchronous slots) with mutually different communication reliability. Therefore, when the transmission data generated by the controller 111 has the first attribute, the wireless communication device 5 transmits the transmission data from the base station 200 (wireless communication unit) to the mobile station 400 (counterpart wireless communication) using the first type communication slot. and if the transmission data has the second attribute, the transmission data is transmitted from the base station 200 (wireless communication unit) to the mobile station 400 (counterpart wireless communication unit) using the second type communication slot. and may be configured to perform

Similarly, when the transmission data generated by the machine 20 has the first attribute, the wireless communication device 6 transmits the transmission data from the mobile station 400 (wireless communication section) to the base station 200 (counterpart wireless) using the first type communication slot. communication unit), and when the transmission data has the second attribute, the transmission data is transmitted from the mobile station 400 (wireless communication unit) to the base station 200 (counterpart wireless communication unit) using the second type communication slot. and may be configured to perform.

The time division duplex pattern is not necessarily suitable for cyclic communication of applications. Therefore, the communication system 1 uses the wireless communication system 2 to perform cyclic communication, and at least a part of each of two or more consecutive communication cycles of the cyclic communication is one time division of wireless communication. and controlling cyclic communication to occur within a duplex pattern. According to this configuration, the arrangement of communication slots in each communication cycle of cyclic communication (hereinafter referred to as "slot arrangement") can be adjusted without changing the time division duplex pattern. Therefore, it is effective in applying wireless communication to various applications.

The configurations of the control server 100, the base station 200, the local controller 300, and the mobile station 400 will be illustrated in more detail below.

[Configuration of control server and base station]
FIG. 3 is a block diagram illustrating configurations of the control server 100 and the base station 200. As shown in FIG. As shown in FIG. 3, the control server 100 has a plurality of controllers 111 and a communication control unit 112 as functional components (hereinafter referred to as "functional blocks"). Each of the plurality of controllers 111 (hereinafter simply referred to as “controller 111 ”) controls the corresponding machine 20 .

The controller 111 controls the machine 20 by repeating a control cycle including one or more communications from the controller 111 to the machine 20 and one or more communications from the machine 20 to the controller 111 . For example, the controller 111 repeats a control cycle including receiving the response data from the machine 20 , generating the command data based on the response data, and transmitting the command data to the machine 20 . For example, the controller 111 calculates, as command data, the target output data for causing the operation of the machine 20 represented by the response data to follow the target operation. For example, the controller 111 calculates target output data by performing a proportional operation, a proportional/integral operation, or a proportional/integral/differential operation on the deviation between the target operation and the operation of the machine 20 .

The controller 111 repeats a constant control cycle (control period). For example, controller 111 executes a control cycle each time a control clock signal is generated that signals the passage of a certain control cycle. In this case, the processing executed by the controller 111 between the generation of the control clock signal and the generation of the next control clock signal is one control cycle.

In each control cycle, the controller 111 may receive response data after generating command data and transmitting command data. In this case, the controller 111 generates command data based on the response data received in the previous control cycle.

In each control cycle, the controller 111 may receive the response data and generate the command data after sending the command data. In this case, the controller 111 transmits command data generated in the previous control cycle.

A control cycle includes a communication cycle. A communication cycle includes sending command data and receiving response data. When the controller 111 executes a control cycle each time a control clock signal is generated, the processing executed by the controller 111 between the generation of the control clock signal and the generation of the next control clock signal is equivalent to one communication cycle. is.

The controller 111 causes the communication control unit 112 to receive reception data such as response data and transmit transmission data such as command data. For example, the controller 111 causes the communication control unit 112 to receive the received data, and acquires the received data received by the communication control unit 112 . Further, the controller 111 outputs transmission data to the communication control section 112 and causes the communication control section 112 to transmit the transmission data.

The communication control unit 112 receives received data and transmits transmitted data via the base station 200 . Base station 200 has transmission buffer 211 , reception buffer 212 , radio communication section 213 , and clock 214 . The radio communication unit 213 repeats the time division duplex pattern to perform radio communication with the mobile station 400 (counterpart radio communication unit). For example, the radio communication unit 213 reads transmission data from the transmission buffer 211 and transmits the transmission data to the mobile station 400 by downlink slots of the time division duplex pattern. Also, the wireless communication unit 213 receives reception data from the mobile station 400 in the uplink slot of the time division duplex pattern, and stores the reception data in the reception buffer 212 .

The communication control unit 112 stores the transmission data acquired from the controller 111 in the transmission buffer 211. As described above, the transmission data stored in transmission buffer 211 is read by wireless communication section 213 . Therefore, storing the transmission data in the transmission buffer 211 is an example of handing over the transmission data to the wireless communication unit 213 . Data stored in the transmission buffer 211 is transmitted to the machine 20 via the base station 200 and mobile station 400 .

The communication control unit 112 reads the reception data received by the wireless communication unit 213 from the mobile station 400 from the reception buffer 212 . Reading received data from the reception buffer 212 is an example of obtaining received data from the wireless communication unit 213 . Receive data is received from machine 20 via mobile station 400 and base station 200 by reading the receive data from receive buffer 212 .

The clock 214 repeatedly generates the time necessary for repeating the time division duplex pattern. Hereinafter, the time generated by the clock 214 will be referred to as "base station time". Radio communication section 213 repeats the time division duplex pattern based on the base station time.

For example, the wireless communication unit 213 executes a time division duplex pattern each time a communication clock signal that notifies the passage of a certain repetition cycle is generated. In this case, the communication performed between the generation of the communication clock signal and the generation of the next communication clock signal is one time division duplex pattern. Radio communication section 213 may execute the time division duplex pattern each time a repetition cycle elapses from a predetermined start time at the base station time. In this case, one time-division duplex pattern is communication performed from the time obtained by adding an integral multiple of the repetition cycle to the start time until one repetition cycle elapses.

The radio communication unit 213 may repeat the time division duplex pattern in synchronization with another time division duplex pattern repeated by the other radio communication system 900 . In this case, clock 214 may be configured to generate base station time synchronized to the global time. For example, the clock 214 receives the global time from the time server 101 through communication that guarantees time synchronization, such as TSN (Time Sensitive Networking) communication via a wired communication network, and sets the base station time in synchronization with the received global time. Generate. For example, the clock 214 synchronizes the base station time to the global time, and then repeatedly updates the base station time by counting clock pulses at regular cycles. The clock 214 may repeatedly synchronize the base station time to the global time at predetermined time intervals.

Also in other wireless communication systems 900, other time division duplex patterns are repeated based on the time synchronized with the global time. Radio communication section 213 repeats the time division duplex pattern in synchronization with other time division duplex patterns based on the base station time synchronized with the global time. For example, the wireless communication system 900 executes another time division duplex pattern each time a repetition cycle elapses from a predetermined start time at a time synchronized to global time. The wireless communication unit 213 also repeats the time division duplex pattern every time the repetition cycle elapses from the start time at the base station time synchronized with the global time. As a result, the radio communication unit 213 starts the time division duplex pattern at the same time as the other radio communication system 900 starts another time division duplex pattern.

As described above, the communication system 1 acquires the configuration information indicating the configuration of the device system 10, and according to the configuration of the device system 10, the time division duplex downlink slot and the time division duplex slot. setting a time division duplex pattern that defines the alignment with the uplink slots of the communication; and repeating the set time division duplex pattern to perform wireless communication. . In this case, the control server 100 further comprises a configuration information acquisition section 113 and a communication pattern setting section 114. FIG.

The configuration information acquisition unit 113 acquires configuration information indicating the configuration of the device system 10. For example, the configuration information acquisition unit 113 acquires configuration information from multiple controllers 111 .

The communication pattern setting unit 114 sets a time division duplex pattern that defines the arrangement of time division duplex downlink slots and time division duplex uplink slots according to the configuration of the device system 10 . Communication pattern setting section 114 notifies wireless communication section 213 of the set time division duplex pattern. Radio communication section 213 repeats the time division duplex pattern notified from communication pattern setting section 114 to perform the above-described radio communication.

For example, the communication pattern setting unit 114 sets the time division duplex pattern to the first pattern when the device system 10 is in the first configuration, and the device system 10 is in the second configuration different from the first configuration. In some cases, the time division duplex pattern is set to a second pattern in which the arrangement of downlink slots and uplink slots is different from the first pattern.

The second configuration may be a configuration with a larger amount of communication information from the multiple machines 20 to the multiple controllers 111 than the first configuration. In this case, when the device system 10 is in the second configuration, the communication pattern setting unit 114 sets the time division duplex pattern to the second pattern having a larger number of uplink slots than the first pattern. may When the device system 10 is in the second configuration, the communication pattern setting unit 114 may set the time division duplex pattern to a second pattern in which the number of uplink slots is greater than the number of downlink slots. .

The configuration information may include communication configuration information indicating the relationship between the communication traffic from the controllers 111 to the machines 20 and the communication traffic from the machines 20 to the controllers 111 . In this case, the communication pattern setting section 114 may set the time division duplex pattern based on the communication configuration information.

The configuration may include the hardware configuration of the device system 10. For example, the first configuration may include a first hardware configuration and the second configuration may include a second hardware configuration different from the first hardware configuration. Specific examples of differences in hardware configuration include differences in the types and numbers of machines 20 included in the device system 10 .

The configuration may include work content to be executed by the device system 10. For example, a first configuration may involve having machine 20 perform a first task, and a second configuration may involve having machine 20 perform a second task that is different from the first task. Specific examples of differences in tasks include differences in the types and number of times of work realized by the operation of the machine 20 .

A configuration information acquisition unit 113 acquires configuration information when a plurality of machines 20 are controlled by a plurality of controllers 111, and a communication pattern setting unit 114 acquires configuration information when the configuration information changes. You may change your communication pattern. As a specific example of a case in which the configuration information changes, due to changes in the tasks that the plurality of controllers 111 cause the plurality of machines 20 to execute, the amount of communication per unit time from the plurality of controllers 111 to the plurality of machines 20 and the number of The relationship between the amount of communication per unit time from the machine 20 to the plurality of controllers 111 changes.

The communication pattern setting unit 114 may select a time division duplex pattern corresponding to the configuration of the device system 10 based on a reference table that defines time division duplex patterns for each of a plurality of configurations. In this case, the selected time division duplex pattern becomes the setting result of the time division duplex pattern by the communication pattern setting unit 114 . For example, the control server 100 may further have a pattern storage unit 115 that stores reference tables. The communication pattern setting section 114 selects a time division duplex pattern corresponding to the configuration of the device system 10 in the reference table stored in the pattern storage section 115 .

FIG. 4 illustrates a reference table stored by the pattern storage unit 115. FIG. The reference table illustrated in FIG. 4 associates identification information of a plurality of configurations with identification information of a plurality of time division duplex patterns, respectively. When the configuration of the device system 10 is "configuration E" in FIG. 4, the communication pattern setting unit 114 selects "pattern 2" associated with "configuration E".

The first pattern may match other time division duplex patterns repeated in other wireless communications performed by other wireless communication systems 900 . The second pattern consists of synchronization slots that match communication slots of other time division duplex patterns in terms of whether they are downlink slots or uplink slots, and synchronization slots that are different in terms of whether they are downlink slots or uplink slots. It may include synchronous slots and asynchronous slots that do not match the communication slots of the time division duplex pattern.

FIG. 5 is a schematic diagram illustrating a time division duplex pattern. A time division duplex pattern 500R represents the time division duplex pattern in public 5G described above. In the time division duplex pattern 500R, first three downlink slots 511 are arranged along the time axis, followed by two uplink slots 512 along the time axis, followed by four downlink slots 511. are arranged along the time axis. A special slot 513 is arranged between the 3 downlink slots 511 and the 2 uplink slots 512 . Special slot 513 is a slot that includes, in order, a transmission period from base station 200 to mobile station 400 , a non-transmission period, and a transmission period from mobile station 400 to base station 200 . Special slot 513 is available as downlink slot 511 and is also available as uplink slot 512 .

A time division duplex pattern 500A illustrates a first pattern that matches the time division duplex pattern 500R. Time division duplex pattern 500B illustrates the second pattern. In the time division duplex pattern 500B, first three downlink slots 511 are arranged along the time axis, then two uplink slots 512 are arranged along the time axis, and then one uplink slot 512 is arranged along the time axis. are arranged, followed by two uplink slots 512 arranged along the time axis. A special slot 513 is arranged between the 3 downlink slots 511 and the following 2 uplink slots 512 . A special slot 513 is also arranged between the 1 downlink slot 511 and the following 2 uplink slot 512 .

In the time division duplex pattern 500B, the first communication slot 510, which is the downlink slot 511, to the seventh communication slot 510, which is the downlink slot 511, correspond to the synchronization slot 521. Also, the eighth communication slot 510 , which is a special slot 513 , can also be used as a synchronization slot 521 . The ninth and tenth communication slots 510 , which are uplink slots 512 , correspond to asynchronous slots 522 .

Therefore, in the time division duplex pattern 500B, the period T11 in which the first to eighth communication slots 510 are arranged is the synchronous period, and the period T12 in which the ninth and tenth communication slots 510 are arranged is the asynchronous period. becomes.

A time division duplex pattern 500C shows another example of the second pattern. In time division duplex pattern 500C, first two downlink slots 511 are arranged along the time axis, followed by seven uplink slots 512 arranged along the time axis. A special slot 513 is arranged between the second downlink slot 511 and the following seven uplink slot 512 . In the time division duplex pattern 500C, the first and second communication slots 510, which are the downlink slots 511, and the fourth and fifth communication slots 510, which are the uplink slots 512, correspond to the synchronization slots 521. A third special slot 513 , which is a special slot 513 , is also available as a synchronization slot 521 . Furthermore, the third communication slot 510 which is the uplink slot 512 can also be used as a synchronization slot 521 because the communication slot 510 performed by another wireless communication system 900 at the same timing is a special slot 513 . The 7th to 10th communication slots 510 that are uplink slots 512 correspond to asynchronous slots 522 .

Therefore, in the time division duplex pattern 500C, the period T21 in which the first to sixth communication slots 510 are arranged is the synchronous period, and the period T22 in which the seventh to tenth communication slots 510 are arranged is the asynchronous period. becomes.

In the asynchronous slot 522, compared to the synchronous slot 521, the communication quality is more likely to deteriorate due to interference with the communication slot 510 of the time division duplex pattern 500R. Therefore, the synchronous slot 521 is an example of the first type communication slot 510 described above, and the asynchronous slot 522 is an example of the second type communication slot 510 described above.

Note that "first type" and "second type" are terms given for convenience to distinguish the communication slots 510, so the synchronous slot 521 is not necessarily the first type communication slot 510, and the asynchronous slot 522 is not necessarily the first type communication slot 510. may not be the second type communication slot 510 , the synchronous slot 521 may be the second type communication slot 510 and the asynchronous slot 522 may be the first type communication slot 510 .

As exemplified by the time division duplex pattern 500B or the time division duplex pattern 500C, when the time division duplex pattern includes a first type communication slot and a second type communication slot, the communication control unit 112 When the transmission data generated by the controller 111 has the first attribute, the transmission data is transmitted from the wireless communication unit 213 to the mobile station 400 using the first type communication slot 510, and the transmission data generated by the controller 111 has the second attribute. , the transmission data may be transmitted from the wireless communication unit 213 to the mobile station 400 using the second type communication slot 510 .

"Attribute" represents the property of data that does not change regardless of the value of the data. A specific example of the attribute is the type of data. The data type is the type of event represented by the data value. Data representing the "current position" as an example of an event remains data representing the "current position" even if the value representing the "current position" changes. When the priority of data is determined according to the type of data, the priority is also an example of an attribute.

The first attribute may be the first priority, and the second attribute may be the second priority lower than the first priority. The communication control unit 112 performs radio communication so that transmission data having the first priority is transmitted to the mobile station 400 through the synchronous slot 521 and transmission data having the second priority is transmitted to the mobile station 400 through the asynchronous slot 522. 213 may be controlled.

The first attribute may be “the above control data”, and the communication control unit 112 controls the wireless communication unit so that the transmission data is transmitted in the synchronization slot 521 when the transmission data is the control data. 213 may be controlled. The second attribute may be "data of a predetermined type different from the control data". The wireless communication unit 213 may be controlled to transmit by 522.

As illustrated above, the communication control unit 112 controls which communication slot 510 is used to transmit the transmission data based on the attributes of the transmission data. In order to perform such control, the communication control unit 112 acquires attribute information indicating attributes of transmission data from the controller 111 together with the transmission data. Based on the acquired attribute information, the communication control unit 112 attaches a tag representing the attribute of the transmission data to the transmission data, and stores the tagged transmission data in the transmission buffer 211 . The wireless communication unit 213 controls which communication slot 510 is used to transmit the transmission data based on the tag attached to the transmission data.

For example, the communication control unit 112 attaches a first tag to the transmission data when the transmission data has the first attribute and stores the transmission data in the transmission buffer 211, and attaches a second tag to the transmission data when the transmission data has the second attribute. and stores the transmission data in the transmission buffer 211 . Wireless communication section 213 transmits the transmission data to mobile station 400 using first type communication slot 510 when the transmission data is tagged with the first tag, and transmits the transmission data to mobile station 400 when the transmission data is tagged with the second tag. Transmission data is transmitted to the mobile station 400 using the second type communication slot 510 .

The method of controlling which communication slot 510 is used to transmit the transmission data based on the attributes of the transmission data is not limited to the method of tagging the transmission data. For example, the communication control unit 112 determines in which communication slot 510 the transmission data is to be transmitted based on the attributes of the transmission data, and controls the transmission data so that the transmission data is transmitted in the determined communication slot 510 . may be controlled at the timing of storing in the transmission buffer 211 .

In this case, the base station 200 further has a timing notification section 221. The timing notification unit 221 notifies the communication control unit 112 of the start timing of the time division duplex pattern. The communication control unit 112 recognizes the execution timing of each communication slot 510 based on the start timing of the time division duplex pattern, and adjusts the transmission data so that the transmission data is transmitted in the determined communication slot 510. It controls the timing of storing in the transmission buffer 211 .

As described above, the time division duplex pattern is not necessarily suitable for cyclic communication of application 3. Therefore, the communication system 1 uses the wireless communication system 2 to perform cyclic communication, and at least a part of each of two or more consecutive communication cycles of the cyclic communication is one time division of wireless communication. and controlling cyclic communication to occur within a duplex pattern.

In this case, the communication control unit 112 controls cyclic communication such that at least part of each of two or more consecutive communication cycles of cyclic communication is performed within one time division duplex pattern of wireless communication. do. For example, the communication control unit 112 controls the timing of writing the transmission data to the transmission buffer 211 in each communication cycle so that at least part of each of the two or more communication cycles is performed within one time division duplex pattern. , and the timing of reading received data from the receive buffer 212 . For example, the communication control unit 112 selects a predetermined communication slot 510 among the communication slots 510 arranged between the first communication slot 510 and the last communication slot 510 in the time division duplex pattern. The timing of storing the transmission data in the transmission buffer 211 is controlled in each communication cycle so that one communication cycle among the communication cycles is started. Hereinafter, the predetermined communication slot 510 will be referred to as a "cycle start slot".

For example, the communication control unit 112 recognizes the execution timing of the cycle start slot based on the start timing of the time division duplex pattern acquired from the timing notification unit 221 . The communication control unit 112 controls the timing of storing the transmission data in the transmission buffer 211 in each communication cycle based on the execution timing of the cycle start slot so that the communication cycle 1 is started at the cycle start slot. .

As described above, the application 3 may perform cyclic communication in a constant communication cycle. In this case, the application 3 may perform cyclic communication in the same communication cycle as the repeating cycle of the time division duplex pattern. A "repetition cycle" is the time from the start timing of a time division duplex pattern to the start timing of the next time division duplex pattern. A "communication cycle" is the time from the start timing of a communication cycle to the start timing of the next communication cycle.

When the repetition cycle and the communication cycle are equal, the communication control unit 112 controls cyclic communication so that all communication cycles are started at the cycle start slot. If the repetition cycle and the communication cycle are equal, each communication cycle initiated at the cycle start slot will span two or more consecutive time division duplex patterns of wireless communication.

FIG. 6 is a schematic diagram illustrating the relationship between the time division duplex pattern and the communication cycle when the repetition cycle and the communication cycle are equal. The time division duplex pattern in FIG. 6 is the time division duplex pattern 500A described above.

In FIG. 6(a), the cycle start slot is the seventh communication slot 510, which is the downlink slot 511. In FIG. In this case, the communication control unit 112 repeats the communication cycle 611 that starts in the seventh communication slot 510 of the time division duplex pattern 500A and ends in the sixth communication slot 510 of the next time division duplex pattern 500A. to control cyclic communication. In the communication cycle 611, 7

downlink slots

511, 1

special slot

513, and 2 uplink slots 512 are arranged in order. Therefore, according to the example of (a) of FIG. 6, the time division duplex pattern 500A can be used for cyclic communication in which the communication cycle in which the uplink slot 512 is arranged after the downlink slot 511 is repeated.

In FIG. 6(b), the cycle start slot is the fourth communication slot 510, which is the special slot 513. In FIG. In this case, communication control section 112 repeats communication cycle 612 that starts in the fourth communication slot 510 of time division duplex pattern 500A and ends in the third communication slot 510 of the next time division duplex pattern 500A. to control cyclic communication. In the

communication cycle

612, 1

special slot

513, 2 uplink slots 512, and 7 downlink slots 511 are arranged in order. As noted above, special slot 513 is also available as uplink slot 512 . Therefore, according to the example of FIG. 6B, the time division duplex pattern 500A can be used for cyclic communication in which the communication cycle in which the downlink slot 511 is arranged after the uplink slot 512 is repeated.

In FIG. 6(c), the cycle start slot is the sixth communication slot 510, which is the uplink slot 512. In FIG. In this case, the communication control unit 112 repeats the communication cycle 613 that starts in the sixth communication slot 510 of the time division duplex pattern 500A and ends in the fifth communication slot 510 of the next time division duplex pattern 500A. to control cyclic communication. In the

communication cycle

613, 1 uplink slot 512, 7

downlink slots

511, 1

special slot

513, and 1 uplink slot 512 are arranged in order. Therefore, according to the example of FIG. 6(c), the time division duplex pattern 500A is used for communication in which the downlink slot 511 is arranged after the uplink slot 512, and the uplink slot 512 is arranged after the downlink slot 511. It can be used for cyclic communication that repeats the cycle.

The application 3 may perform cyclic communication in one communication cycle, which is an integer (an integer equal to or greater than 2) of the repetition cycle. Hereinafter, the above integer is referred to as "multiplication number". When the number of communication cycles is 1/multiplied number of repetition cycles, the communication control unit 112 performs cyclic communication so that one communication cycle is started at the cycle start slot for each continuous communication cycle of the multiplication number. to control.

Furthermore, the communication control unit 112 transfers the transmission data to the transmission buffer 211 in each communication cycle so that one communication cycle is performed over two consecutive time division duplex patterns for each communication cycle of the consecutive multiplication number. You may control the timing to store. In the multiplication number communication cycle, one communication cycle initiated at the cycle start slot and one communication cycle conducted over two time division duplex patterns may be different. For example, the communication control unit 112 is configured so that the first communication cycle performed over two or more time division duplex patterns and the second communication cycle performed within one time division duplex pattern are included in the communication cycles of the multiplication number. cyclic communication may be controlled.

The communication control unit 112 may control cyclic communication so that the number of communication slots 510 used in each communication cycle of the multiplication number is equal. The communication control unit 112 may control cyclic communication so that the number of uplink slots 512 used in each communication cycle of the multiplication number is equal to each other. The communication control unit 112 may control cyclic communication such that the downlink slot 511 is followed by the uplink slot 512 in each communication cycle of the multiplication number. The communication control unit 112 establishes a synchronous communication cycle in which the arrangement of the uplink slots 512 and the downlink slots 511 matches that of other radio communication performed in parallel with the radio communication, and the uplink slots 512 and the downlink slots 511. The cyclic communication may be controlled such that an asynchronous communication cycle that does not match other wireless communication is included in the multiplication number communication cycle.

FIG. 7 is a schematic diagram illustrating the relationship between the time division duplex pattern and the communication cycle when the communication cycle is 1/multiple of the repetition cycle. The multiplication factor in FIG. 7 is the wireless communication system 2, and the time division duplex pattern in FIG. 7 is the time division duplex pattern 500B described above.

In FIG. 7(a), the cycle start slot is the seventh communication slot 510, which is the downlink slot 511. In FIG. In this case, the communication control unit 112 sets the communication cycle 621 (first a communication cycle 631 (a second communication cycle) that begins in the second communication slot 510 of the time division duplex pattern 500B and ends in the sixth communication slot 510 of the same time division duplex pattern 500B; Control cyclic communication to alternately repeat The number of communication slots 510 included in the communication cycle 621 and the number of communication slots 510 included in the communication cycle 631 are equal. Therefore, according to the example of (a) of FIG. 7, the same number of communication slots 510 can be used in each communication cycle of the multiplication number.

The number of uplink slots 512 included in the communication cycle 621 and the number of uplink slots 512 included in the communication cycle 631 are equal. Therefore, according to the example of FIG. 7(a), the same number of uplink slots 512 can be used in each communication cycle of the multiplication number.

In the

communication cycle

621, 1

downlink slot

511, 1

special slot

513, 2

uplink slots

512, and 1 downlink slot 511 are arranged in order. In the communication cycle 631, two downlink slots 511, one special slot 513, and two uplink slots 512 are arranged in order. For this reason, according to the example of FIG. 7A, the time division duplex pattern 500B is set to double the communication cycle in which the uplink slot 512 is arranged after the downlink slot 511 in the radio communication system of the time division duplex pattern. It can be used for repeated cyclic communication.

In the example of (a) of FIG. 7, the communication cycle 621 includes a period T12, which is an asynchronous period, and the communication cycle 631 does not include an asynchronous period. Therefore, the communication cycle 621 corresponds to the asynchronous communication cycle, and the communication cycle 631 corresponds to the synchronous communication cycle.

In (b) of FIG. 7, the cycle start slot is the 9th communication slot 510 which is the uplink slot 512 . In this case, the communication control unit 112 sets the communication cycle 622 (first a communication cycle 632 (a second communication cycle) that begins in the fourth communication slot 510 of the time division duplex pattern 500B and ends in the eighth communication slot 510 of the same time division duplex pattern 500B; Control cyclic communication to alternately repeat The number of communication slots 510 included in communication cycle 622 is equal to the number of communication slots 510 included in communication cycle 632 . Therefore, according to the example of FIG. 7B, the same number of communication slots 510 can be used in each communication cycle of the multiple number.

The number of uplink slots 512 included in the communication cycle 622 and the number of uplink slots 512 included in the communication cycle 632 are equal. Therefore, according to the example of FIG. 7(b), the same number of uplink slots 512 can be used in each communication cycle of the multiplication number.

In the

communication cycle

622, 2

uplink slots

512 and 3 downlink slots 511 are arranged in order. In the communication cycle 632, one special slot 513, two uplink slots 512, one downlink slot 511, and one special slot 513 are arranged in order. For this reason, according to the example of FIG. 7B, the time division duplex pattern 500B is set to the time division duplex pattern, and the communication cycle in which the downlink slot 511 is arranged after the uplink slot 512 is doubled by the wireless communication system of the time division duplex pattern. It can be used for repeated cyclic communication.

In the example of FIG. 7(b), the communication cycle 622 includes a period T12, which is an asynchronous period, and the communication cycle 632 does not include an asynchronous period. Therefore, the communication cycle 622 corresponds to the asynchronous communication cycle, and the communication cycle 632 corresponds to the synchronous communication cycle.

In FIG. 7(c), the cycle start slot is the tenth communication slot 510, which is the uplink slot 512. In FIG. In this case, the communication control unit 112 sets the communication cycle 623 (first a communication cycle 633 (a second communication cycle) that begins in the fifth communication slot 510 of the time division duplex pattern 500B and ends in the ninth communication slot 510 of the same time division duplex pattern 500B; Control cyclic communication to alternately repeat The number of communication slots 510 included in the communication cycle 623 and the number of communication slots 510 included in the communication cycle 633 are equal. Therefore, according to the example of (c) in FIG. 7, the same number of communication slots 510 can be used in each communication cycle of the multiplication number.

In the communication cycle 623, one uplink slot 512, three downlink slots 511, and one special slot 513 are arranged in order. In the

communication cycle

633, 2

uplink slots

512, 1

downlink slot

511, 1

special slot

513, and 1 uplink slot 512 are arranged in order. As noted above, special slot 513 is also available as uplink slot 512 . Therefore, according to the example of FIG. 7C, the time division duplex pattern 500B is used for communication in which the downlink slot 511 is arranged after the uplink slot 512, and the uplink slot 512 is arranged after the downlink slot 511. It can be used for cyclic communication in which the cycle is repeated in a time-division duplex pattern wireless communication system doubled.

In the example of (b) of FIG. 7, both the communication cycle 623 and the communication cycle 633 include a period T12, which is an asynchronous period. Therefore, both the communication cycle 623 and the communication cycle 623 correspond to the asynchronous communication cycle.

A technique for controlling cyclic communication stores transmission data in a transmission buffer 211 such that at least a portion of each of two or more consecutive communication cycles occurs within one time division duplex pattern of wireless communication. It is not limited to the method of controlling the timing. For example, the communication control unit 112 attaches a tag designating the communication slot 510 corresponding to the communication cycle to the transmission data, stores the tagged transmission data in the transmission buffer 211, and the radio communication unit 213 attaches a tag to the transmission data. Based on the attached tag, the transmission data may be transmitted in the communication slot 510 corresponding to the communication cycle.

The communication system 1 sets the target arrangement of the downlink slots 511 and the uplink slots 512 in the communication cycle based on the configuration information indicating the configuration of the device system 10, and the downlink slots 511 in each communication cycle. and controlling the cyclic communication to approximate the alignment of , and uplink slots 512 to a target alignment.

For example, the control server 100 further has a goal setting unit 122. The target setting unit 122 sets a target arrangement of the downlink slots 511 and the uplink slots 512 in the communication cycle based on the configuration information acquired by the configuration information acquisition unit 113 . The target setting unit 122 may select the target array corresponding to the configuration of the device system 10 based on a lookup table that defines the target array for each of multiple configurations. In this case, the selected target array becomes the setting result of the target array. The communication control unit 112 controls cyclic communication so that the arrangement of the downlink slots 511 and the uplink slots 512 in each communication cycle approximates the target arrangement.

FIG. 8 is a schematic diagram illustrating the relationship between the target arrangement and the arrangement of the downlink slots 511 and the downlink slots 511 in each communication cycle. FIG. 8 illustrates a case where a target array 620 is set in which two downlink slots 511 are followed by two uplink slots 512 . On the other hand, the communication control unit 112 controls cyclic communication so as to alternately repeat the communication cycle 621 and the communication cycle 631 described above. Special slots 513 are available as both downlink slots 511 and uplink slots 512 . Therefore, both the communication cycle 621 and the communication cycle 631 can be used as a communication cycle in which two downlink slots 511 are followed by two uplink slots 512 in the same manner as the target array 620 .

The communication system 1 may be configured to further evaluate communication quality in the second type communication slot 510 . For example, the communication system 1 may be configured to further evaluate communication quality in the asynchronous slots 522 . For example, the control server 100 further has a communication monitor 131 . Communication monitor 131 evaluates communication quality in asynchronous slot 522 .

When the multiplication number communication cycle includes a synchronous communication cycle and an asynchronous communication cycle, evaluating communication quality in the asynchronous slot 522 is an example of evaluating communication quality in the asynchronous communication cycle.

For example, the communication monitor 131 may evaluate the communication quality in the asynchronous slot 522 based on the communication packet loss rate in the asynchronous slot 522 . For example, the communication monitor 131 may evaluate whether the packet loss rate exceeds a predetermined degradation detection threshold, and detect degradation of communication quality when the packet loss rate exceeds the degradation detection threshold.

The communication monitor 131 may evaluate communication quality in the asynchronous slot 522 based on the magnitude of communication jitter in the asynchronous slot 522 . For example, the communication monitor 131 may evaluate whether the magnitude of jitter exceeds a predetermined deterioration detection threshold, and detect deterioration of communication quality when the magnitude of jitter exceeds the deterioration detection threshold. .

The communication system 1 switches the normal mode radio communication to the irregular mode radio communication to cope with the deterioration of the communication quality when the deterioration of the communication quality in the second type communication slot 510 is detected. may be configured. The normal mode wireless communication is, for example, the cyclic communication exemplified above.

Switching the normal mode to the irregular mode compensates for the change of the second pattern to the first pattern and the reduction in the number of uplink slots 512 that accompanies the change of the second pattern to the first pattern. lengthening the control cycle to increase the number of time division duplex patterns corresponding to the control cycle.

For example, the communication control unit 112 changes the second pattern to the first pattern when the communication monitor 131 detects deterioration in communication quality in the asynchronous slot 522 . In addition, the communication control unit 112 lengthens the control cycle so as to compensate for the decrease in the number of uplink slots 512 accompanying the change from the second pattern to the first pattern. Increase the number of patterns.

Switching the normal mode to the irregular mode lengthens the communication cycle, increases the number of time division duplex patterns corresponding to one communication cycle, and transmits both the first attribute transmission data and the second attribute transmission data. It may include transmitting to the mobile station 400 in the first type communication slot 510 .

For example, when the communication monitor 131 detects a decrease in communication quality in the asynchronous slot 522, the communication control unit 112 lengthens the communication cycle of the cyclic communication and increases the number of time division duplex patterns corresponding to one communication cycle. is increased, and the radio communication unit 213 is controlled so that both the first attribute transmission data and the second attribute transmission data are transmitted to the mobile station 400 in the synchronization slot 521 . When the communication monitor 131 detects that the communication quality is degraded, the communication control unit 112 lengthens the control cycle to increase the number of time division duplex patterns corresponding to the control cycle. Less communication data may be sent by asynchronous slots 522 with more data. When the communication monitor 131 detects a decrease in communication quality in the asynchronous slot 522 of the asynchronous communication cycle, the communication control unit 112 lengthens the communication cycle of the cyclic communication so that each communication cycle becomes a synchronous communication cycle. Cyclic communication may be controlled.

Switching the normal mode to the irregular mode may include increasing the transmission data transmitted by the first type communication slot 510 by compressing the transmission data.

For example, when the communication monitor 131 detects a decrease in communication quality in the asynchronous slot 522, the communication control unit 112 compresses the transmission data of the first attribute and the transmission data of the second attribute, and compresses the transmission data of the first attribute and the transmission data of the second attribute. The wireless communication unit 213 is controlled so that both of the transmission data of the second attribute are transmitted by the synchronization slot 521. FIG.

Switching the normal mode to the irregular mode may include at least partially suspending transmission of the second attribute transmission data through the second type communication slot 510 . For example, when the communication monitor 131 detects a deterioration in communication quality in the asynchronous slot 522, the communication control unit 112 causes the transmission of the second attribute transmission data in the asynchronous slot 522 to be at least partially interrupted. It controls the wireless communication unit 213 .

Switching from normal mode to irregular mode may include increasing the signal strength of wireless communication. For example, when the communication monitor 131 detects deterioration in communication quality in the asynchronous slot 522, the communication control unit 112 requests the wireless communication unit 213 to increase the signal strength of wireless communication.

The communication system 1 may be configured to return the irregular mode to the normal mode when recovery of the communication quality that has been degraded is detected. In the irregular mode, if the transmission data of the second attribute is not transmitted in the asynchronous slot 522, the communication quality in the asynchronous slot 522 cannot be evaluated based on the transmission of the transmission data of the second attribute. Therefore, the communication system 1 is configured to evaluate the communication quality of the transmission data of the third attribute through the asynchronous slot 522 when the transmission data of the second attribute through the asynchronous slot 522 is not transmitted in the irregular mode. may be

For example, the communication control unit 112 controls the wireless communication unit 213 so that the transmission data of the third attribute is transmitted to the mobile station 400 using the asynchronous slot 522. In the irregular mode, the communication control unit 112 controls the transmission data of the third attribute to be transmitted to the mobile station 400 by the asynchronous slot 522 when the transmission data of the second attribute is not transmitted by the asynchronous slot 522. The wireless communication unit 213 may be controlled. The transmission data of the third attribute may be dummy data that is used only for communication quality evaluation.

The communication monitor 131 may evaluate the communication quality of the transmission data of the third attribute through the asynchronous slot 522 when the transmission data of the second attribute through the asynchronous slot 522 is not transmitted. The communication control unit 112 may control the wireless communication unit 213 to return the irregular mode to the normal mode when the communication monitor 131 detects that the communication quality has recovered.

When the communication monitor 131 detects the deterioration of the communication quality in the second type communication slot 510, the communication system 1 replaces the transmission data of the second attribute transmitted by the second type communication slot 510 at the next time. It may be configured to retransmit in the second type communication slot 510 of the division duplex pattern. For example, when the communication monitor 131 detects a decrease in communication quality in the asynchronous slot 522, the communication control unit 112 sets the transmission data of the second attribute transmitted in the asynchronous slot 522 to the asynchronous data of the next time division duplex pattern. The wireless communication unit 213 is controlled so as to retransmit using the slot 522 . For example, when the communication monitor 131 detects deterioration in communication quality in the asynchronous slot 522, the communication control unit 112 transmits the second attribute transmission data transmitted in the asynchronous slot 522 as a transmission target by the wireless communication unit 213. Leave in buffer 211 . The transmission data left in the transmission buffer 211 is transmitted again from the wireless communication section 213 to the mobile station 400 at the asynchronous slot 522 of the next time division duplex pattern.

The communication system 1 may be configured to further evaluate the communication quality in the communication slot 510 of the first type. For example, the communication system 1 may be configured to further perform communication quality evaluation in the synchronization slot 521 . The communication system 1 may be configured to stop the application 3 and reset the wireless communication when the communication monitor 131 detects deterioration of communication quality in the first type communication slot 510 .

For example, the communication monitor 131 further evaluates the communication quality in the synchronization slot 521. The communication quality evaluation method is the same as the communication quality evaluation method for the asynchronous slot 522 . The communication control unit 112 suspends the application 3 when the communication monitor 131 detects deterioration of communication quality in the synchronization slot 521 . For example, when the communication monitor 131 detects a decrease in communication quality in the synchronization slot 521, the communication control unit 112 interrupts the control of the machines 20 by the controllers 111 and stops the operation of the machines 20. .

The control server 100 further comprises a reset unit 132. The reset unit 132 requests the wireless communication unit 213 to reset wireless communication after the communication control unit 112 stops the application 3 . Radio communication section 213 resets radio communication with mobile station 400 in response to a request from reset section 132 . For example, the wireless communication unit 213 performs pairing (described later) with the mobile station 400 again.

[Configuration of local controller and mobile station]
FIG. 9 is a block diagram illustrating the configuration of local controller 300 and mobile station 400. As shown in FIG. As shown in FIG. 9, the local controller 300 has a machine drive section 311 and a communication control section 312 as functional blocks.

The machine drive unit 311 drives the machine body 30 by repeating drive cycles including one or more communications from the controller 111 to the machine drive unit 311 and one or more communications from the machine drive unit 311 to the controller 111 . For example, the machine drive unit 311 receives the command data from the controller 111, outputs drive power to the machine body 30 according to the command data, and acquires response data representing the operation of the machine body 30 according to the drive power. and transmission of command data to the controller 111 are repeated. For example, the machine drive unit 311 outputs drive power to the machine body 30 for causing the machine body 30 to generate a target output according to the target output data. The operation of the machine body 30 in accordance with the drive power is an example of the operation realized by the machine 20 in accordance with the command data.

The drive cycle is synchronized with the control cycle and includes the communication cycle. The machine drive unit 311 causes the communication control unit 312 to receive reception data such as command data and transmit transmission data such as response data. For example, the machine drive unit 311 causes the communication control unit 312 to receive the received data, and acquires the received data received by the communication control unit 312 . Further, the machine drive unit 311 outputs transmission data to the communication control unit 312 and causes the communication control unit 312 to transmit the transmission data.

The communication control unit 312 receives received data and transmits transmitted data via the mobile station 400 . Mobile station 400 has transmission buffer 411 , reception buffer 412 , radio communication section 413 , and clock 414 . The radio communication unit 413 repeats the time division duplex pattern to perform radio communication with the base station 200 (counterpart radio communication unit). For example, the wireless communication unit 413 reads out transmission data from the transmission buffer 411 and transmits the transmission data to the base station 200 using the uplink slots of the time division duplex pattern. Also, the wireless communication unit 413 receives reception data from the base station 200 using the downlink slot of the time division duplex pattern, and stores the reception data in the reception buffer 412 .

The communication control unit 312 stores the transmission data acquired from the machine driving unit 311 in the transmission buffer 411. As described above, the transmission data stored in transmission buffer 411 is read by wireless communication section 413 . Therefore, storing the transmission data in the transmission buffer 411 is an example of handing over the transmission data to the wireless communication unit 413 . The data stored in transmission buffer 411 is transmitted to controller 111 via mobile station 400 and base station 200 .

The communication control unit 312 reads the reception data received by the wireless communication unit 413 from the base station 200 from the reception buffer 412 . Reading received data from the reception buffer 412 is an example of obtaining received data from the wireless communication unit 413 . The reception data is received from the controller 111 via the base station 200 and the mobile station 400 by reading the reception data from the reception buffer 412 .

A clock 414 repeatedly generates the time necessary for repeating the time division duplex pattern. Hereinafter, the time generated by the clock 414 will be referred to as "mobile station time". Radio communication section 413 repeats the time division duplex pattern based on the mobile station time.

For example, the wireless communication unit 413 executes a time-division duplex pattern each time a communication clock signal that notifies the passage of a certain repetition cycle is generated. In this case, the communication performed between the generation of the communication clock signal and the generation of the next communication clock signal is one time division duplex pattern.

The wireless communication unit 213 of the base station 200 performs pairing when starting wireless communication with the wireless communication unit 413 . Pairing includes synchronizing the start timing of the time division duplex pattern. Radio communication section 213 repeats the time division duplex pattern based on the base station time from the start timing synchronized by pairing. Radio communication section 413 repeats the time division duplex pattern based on the mobile station time from the start timing synchronized by pairing.

Pairing includes notification of the time division duplex pattern set by the communication pattern setting unit 114. Wireless communication section 213 repeats the time division duplex pattern notified in pairing.

As with the communication control unit 112, the communication control unit 312 transmits the transmission data from the wireless communication unit 413 to the base station through the first type communication slot 510 when the transmission data generated by the machine driving unit 311 has the first attribute. 200 , and when the transmission data generated by the machine driving section 311 has the second attribute, the transmission data may be transmitted from the wireless communication section 413 to the base station 200 using the second type communication slot 510 .

The first attribute may be the first priority, and the second attribute may be the second priority lower than the first priority. The communication control unit 312 performs radio communication so that transmission data having the first priority is transmitted to the base station 200 through the synchronous slot 521 and transmission data having the second priority is transmitted to the base station 200 through the asynchronous slot 522. 413 may be controlled.

The first attribute may be “the above control data”, and the communication control unit 312 controls the wireless communication unit so that the transmission data is transmitted in the synchronization slot 521 when the transmission data is the control data. 413 may be controlled. The second attribute may be "data of a predetermined type different from the control data". The wireless communication unit 413 may be controlled to transmit by 522.

The first attribute may be "abnormality notification data for notifying an abnormality of the machine 20". You may control the wireless communication part 413 so that it may transmit by . The second attribute may be "notification data of a predetermined type with less urgency than the abnormality notification data". If it is data, the wireless communication unit 413 may be controlled so that the transmission data is transmitted in the asynchronous slot 522 .

As exemplified above, the communication control unit 312 controls which communication slot 510 is used to transmit the transmission data based on the attributes of the transmission data. In order to perform such control, the communication control unit 312 acquires attribute information representing attributes of transmission data from the machine driving unit 311 together with the transmission data. Based on the acquired attribute information, the communication control unit 312 attaches a tag representing the attribute of the transmission data to the transmission data, and stores the tagged transmission data in the transmission buffer 411 . The wireless communication unit 413 controls which communication slot 510 is used to transmit the transmission data based on the tag attached to the transmission data.

For example, the communication control unit 312 attaches a first tag to the transmission data when it has a first attribute and stores the transmission data in the transmission buffer 411, and attaches a second tag to the transmission data when it has a second attribute. and stores the transmission data in the transmission buffer 411 . The wireless communication unit 413 transmits the transmission data to the base station 200 using the first type communication slot 510 when the transmission data is tagged with the first tag, and when the transmission data is tagged with the second tag. Transmission data is transmitted to the base station 200 using the second type communication slot 510 .

The method of controlling which communication slot 510 is used to transmit the transmission data based on the attributes of the transmission data is not limited to the method of tagging the transmission data. For example, the communication control unit 312 determines in which communication slot 510 the transmission data is to be transmitted based on the attributes of the transmission data, and controls the transmission data so that the transmission data is transmitted in the determined communication slot 510 . may be controlled in the timing of storing in the transmission buffer 411 .

In this case, the mobile station 400 further has a timing notification section 421. The timing notification unit 421 notifies the communication control unit 312 of the start timing of the time division duplex pattern. The communication control unit 312 recognizes the execution timing of each communication slot 510 based on the start timing of the time division duplex pattern, and adjusts the transmission data so that the transmission data is transmitted in the determined communication slot 510. It controls the timing of storing in the transmission buffer 411 .

As with the communication control unit 112, the communication control unit 312 is configured so that at least a part of each of two or more consecutive communication cycles of cyclic communication is performed within one time division duplex pattern of wireless communication. Cyclic communication may be controlled. For example, the communication control unit 312 cooperates with the communication control unit 112 to perform the cyclic communication. A specific example of cyclic communication realized by the communication control unit 312 in cooperation with the communication control unit 112 is as described in detail in the explanation of the communication control unit 112 .

The communication control unit 112 of the control server 100 performs pairing when starting cyclic communication with the communication control unit 312 . Pairing involves signaling the relationship between the time division duplex pattern and the communication cycle. The communication control unit 312 repeats the communication cycle in cooperation with the communication control unit 112 so as to maintain the relationship between the notified time division duplex pattern and the communication cycle.

For example, if the repetition cycle and the communication cycle are equal, the pairing includes notification of the cycle start slot. The communication control unit 312 recognizes the execution timing of the cycle start slot based on the start timing of the time division duplex pattern acquired from the timing notification unit 421 . Based on the execution timing of the cycle start slot, the communication control unit 312 stores the transmission data in the transmission buffer 411 in each communication cycle equal to the repetition cycle so that the one communication cycle is started at the cycle start slot. control when to

For example, if the communication cycle is 1/the above multiple number of repetition cycles, the pairing includes notification of the cycle start slot and the multiple number. The communication control unit 312 recognizes the execution timing of the cycle start slot based on the start timing of the time division duplex pattern acquired from the timing notification unit 421 . Based on the execution timing of the cycle start slot, the communication control unit 312 controls the transmission data in each communication cycle, which is 1/multiple of the repetition cycle, so that the one communication cycle is started in the cycle start slot. is stored in the transmission buffer 411.

The local controller 300 may further have a communication monitor 331 similar to the communication monitor 131 of the control server 100 . Communication monitor 331 evaluates communication quality in asynchronous slot 522 .

For example, the communication monitor 331 may evaluate the communication quality in the asynchronous slot 522 based on the communication packet loss rate in the asynchronous slot 522 . For example, the communication monitor 331 may evaluate whether the packet loss rate exceeds a predetermined degradation detection threshold, and detect degradation of communication quality when the packet loss rate exceeds the degradation detection threshold.

The communication monitor 331 may evaluate communication quality in the asynchronous slot 522 based on the magnitude of communication jitter in the asynchronous slot 522 . For example, the communication monitor 331 may evaluate whether or not the magnitude of jitter exceeds a predetermined deterioration detection threshold, and detect deterioration of communication quality when the magnitude of jitter exceeds the deterioration detection threshold. .

The communication control unit 312 may transmit a request for switching from the normal mode to the irregular mode to the communication control unit 112 when the communication monitor 331 detects that the communication quality has deteriorated in the asynchronous slot 522 . When receiving the switching request, the communication control unit 112 may switch from the normal mode to the irregular mode in the same manner as when the communication monitor 131 detects the deterioration of the communication quality in the asynchronous slot 522. good.

When the communication control unit 112 increases the number of time division duplex patterns corresponding to one communication cycle by lengthening the communication cycle of cyclic communication, the communication control unit 312 controls the transmission data of the first attribute and the transmission data of the second attribute. The wireless communication unit 413 may be controlled so that both attribute transmission data are transmitted to the base station 200 in the synchronization slot 521 . The communication control section 312 may increase the communication data transmitted by the synchronous slot 521 and reduce the communication data transmitted by the asynchronous slot 522 .

When the communication monitor 331 detects a decrease in communication quality in the asynchronous slot 522, the communication control unit 312 compresses the transmission data of the first attribute and the transmission data of the second attribute, and compresses the transmission data of the first attribute and the transmission data of the second attribute. The wireless communication unit 413 may be controlled so that both transmission data of two attributes are transmitted using the synchronization slot 521 . When the communication monitor 331 detects a deterioration of the communication quality in the asynchronous slot 522, the communication control unit 312 controls the wireless communication so that the transmission of the second attribute transmission data in the asynchronous slot 522 is at least partially interrupted. The communication unit 413 may be controlled. The communication control unit 312 may request the wireless communication unit 413 to increase the signal strength of the wireless communication when the communication monitor 331 detects the deterioration of the communication quality in the asynchronous slot 522 .

The communication control unit 312 may control the wireless communication unit 413 so that the transmission data of the third attribute is transmitted to the base station 200 through the asynchronous slot 522. In the irregular mode, the communication control unit 312 controls the transmission data of the third attribute to be transmitted to the base station 200 by the asynchronous slot 522 when the transmission data of the second attribute is not transmitted by the asynchronous slot 522. The wireless communication unit 413 may be controlled. The transmission data of the third attribute may be dummy data that is used only for communication quality evaluation.

The communication monitor 331 may evaluate the communication quality of the transmission data of the third attribute through the asynchronous slot 522 when the transmission data of the second attribute through the asynchronous slot 522 is not transmitted. The communication control unit 312 may transmit a recovery request from the irregular mode to the normal mode to the communication control unit 112 when the communication monitor 331 detects that the communication quality has been restored. When the recovery request is received, the communication control unit 112 may switch from the normal mode to the irregular mode in the same manner as when the communication monitor 131 detects recovery of communication quality.

The communication control unit 312 may control the wireless communication unit 413 to return the irregular mode to the normal mode when the communication monitor 331 detects recovery of the degraded communication quality.

When the communication monitor 331 detects the deterioration of the communication quality in the second type communication slot 510, the communication system 1 changes the transmission data of the second attribute transmitted by the second type communication slot 510 at the next time. It may be configured to retransmit in the second type communication slot 510 of the division duplex pattern. For example, when the communication monitor 331 detects a decrease in communication quality in the asynchronous slot 522, the communication control unit 312 sets the transmission data of the second attribute transmitted in the asynchronous slot 522 to the asynchronous data of the next time division duplex pattern. The wireless communication unit 413 is controlled so as to retransmit using the slot 522 . For example, when the communication monitor 331 detects a decrease in communication quality in the asynchronous slot 522, the communication control unit 312 transmits the second attribute transmission data transmitted in the asynchronous slot 522 as a transmission target by the wireless communication unit 413. Leave in buffer 411 . The transmission data left in the transmission buffer 411 is transmitted again from the radio communication section 413 to the mobile station 400 by the asynchronous slot 522 of the next time division duplex pattern.

The communication monitor 331 may further evaluate the communication quality in the synchronization slot 521. The communication quality evaluation method is the same as the communication quality evaluation method for the asynchronous slot 522 . The communication control unit 312 suspends the application 3 when the communication monitor 331 detects deterioration of communication quality in the synchronization slot 521 . For example, the communication control unit 312 transmits a request to stop the plurality of machines 20 to the communication control unit 112 when the communication monitor 331 detects deterioration of communication quality in the synchronization slot 521 . The communication control unit 112 that has received the stop request interrupts the control of the machines 20 by the controllers 111 to stop the machines 20 .

The local controller 300 further comprises a reset section 332. The reset unit 332 requests the wireless communication unit 413 to reset wireless communication after the communication control unit 312 stops the application 3 . Radio communication section 413 resets radio communication with base station 200 in response to a request from reset section 332 . For example, the wireless communication unit 413 requests the wireless communication unit 213 to perform the pairing again.

[Hardware configuration]
FIG. 10 is a block diagram illustrating the hardware configuration of the control server 100 and base station 200. As shown in FIG. As shown in FIG. 10, the control server 100 has circuitry 190 . Circuit 190 includes a communication control circuit that controls the cyclic communication described above. Circuit 190 has processor 191 , memory 192 , storage 193 and communication port 194 .

The storage 193 is a non-volatile storage medium. Specific examples of the storage 193 include a hard disk, flash memory, and the like. The storage 193 may be a portable storage medium such as an optical disc. The storage 193 acquires configuration information indicating the configuration of the device system 10, and according to the configuration of the device system 10, a time division duplex downlink slot and a time division duplex uplink slot. setting a time division duplex pattern that defines the arrangement of and repeating the set time division duplex pattern to perform wireless communication. good.

When the transmission data has the first attribute, the storage 193 causes the base station 200 (wireless communication section) to transmit the transmission data to the mobile station 400 (counterpart wireless communication section) using the first type communication slot; causing the control server 100 to transmit the transmission data from the base station 200 (wireless communication unit) to the mobile station 400 (counterpart wireless communication unit) using the second type communication slot when the data has the second attribute. You may store a program to make it work.

The storage 193 uses the wireless communication system 2 to perform cyclic communication, and at least part of each of two or more consecutive communication cycles of the cyclic communication is a time division duplex pattern of 1 for wireless communication. A program may be stored that causes the control server 100 to control cyclic communication, as is done within the control server 100 .

For example, the storage 193 stores a program for causing the control server 100 to configure each functional block described above.

The memory 192 is a temporary storage medium such as random access memory, and temporarily stores programs loaded from the storage 193 . The processor 191 is composed of one or more arithmetic elements, and executes a program loaded in the memory 192 to cause the control server 100 to configure each of the above functional blocks. Communication port 194 communicates with time server 101 and base station 200 in response to requests from processor 191 .

The base station 200 has a circuit 290. Circuit 290 has processor 291 , memory 292 , storage 293 and communication port 294 .

The storage 293 is a non-volatile storage medium. Specific examples of the storage 193 include a hard disk, flash memory, and the like. The storage 193 may be a portable storage medium such as an optical disc. Storage 293 stores a program for configuring each functional block described above in base station 200 .

The memory 292 is a temporary storage medium such as random access memory, and temporarily stores programs loaded from the storage 293 . The processor 291 is composed of one or more arithmetic elements, and executes a program loaded in the memory 292 to cause the base station 200 to configure each of the above functional blocks. Communication port 294 communicates with communication port 194 in response to requests from processor 291 . Antenna 295 transmits and receives a signal for wireless communication according to a request from processor 291 .

11 is a block diagram illustrating the hardware configuration of the local controller 300 and the mobile station 400. FIG. As shown in FIG. 11, local controller 300 includes circuitry 390 . Circuitry 390 includes a communication control circuit that controls the cyclic communication described above. Circuitry 390 includes processor 391 , memory 392 , storage 393 , communication port 394 and drive circuitry 395 .

The storage 393 is a non-volatile storage medium. Specific examples of the storage 393 include a hard disk, flash memory, and the like. The storage 393 may be a portable storage medium such as an optical disc. When the transmission data has the first attribute, the storage 393 causes the mobile station 400 (radio communication section) to transmit the transmission data to the base station 200 (opponent radio communication section) using the first type communication slot; causing the local controller 300 to transmit the transmission data from the mobile station 400 (wireless communication unit) to the base station 200 (counterpart wireless communication unit) using the second type communication slot when the data has the second attribute. You may store a program to make it work.

The storage 393 uses the wireless communication system 2 to perform cyclic communication, and at least a part of each of two or more consecutive communication cycles of the cyclic communication is a time division duplex pattern of 1 for wireless communication. A program may be stored that causes the local controller 300 to control cyclic communication, as occurs within.

For example, the storage 393 stores a program for causing the local controller 300 to configure each functional block described above.

The memory 392 is a temporary storage medium such as random access memory, and temporarily stores programs loaded from the storage 393 . The processor 391 is composed of one or more arithmetic elements, and executes a program loaded in the memory 392 to cause the local controller 300 to configure each of the above functional blocks. Communications port 394 communicates with mobile station 400 in response to requests from processor 391 .

The drive circuit 395 outputs drive power to the machine body 30 and acquires response data from the machine body 30 in response to a request from the processor 391 .

The mobile station 400 has a circuit 490. Circuit 490 has processor 491 , memory 492 , storage 493 and communication port 494 .

The storage 493 is a non-volatile storage medium. Specific examples of the storage 493 include a hard disk, flash memory, and the like. The storage 193 may be a portable storage medium such as an optical disc. Storage 493 stores a program for configuring each functional block described above in mobile station 400 .

The memory 492 is a temporary storage medium such as random access memory, and temporarily stores programs loaded from the storage 493 . The processor 491 is composed of one or more arithmetic elements, and executes a program loaded in the memory 492 to make the mobile station 400 configure each of the above functional blocks. Communication port 494 communicates with communication port 494 in response to requests from processor 491 . Antenna 495 transmits and receives a signal for wireless communication according to a request from processor 491 .

[Communication procedure by control server and base station]
A communication procedure by the control server 100 and the base station 200 is illustrated as an example of the communication method. This procedure includes acquiring configuration information indicating the configuration of the device system 10, setting a time division duplex pattern according to the configuration of the device system 10, setting the already set time division duplex pattern and repeating wireless communication.

Also, this procedure is to transmit the transmission data from the radio communication unit 213 to the mobile station 400 using the first type communication slot 510 when the transmission data has the first attribute, and to transmit the transmission data to the mobile station 400, and causing the wireless communication unit 213 to transmit the transmission data to the mobile station 400 using the second type communication slot 510 in the case where the transmission data is transmitted.

In addition, this procedure uses the wireless communication system 2 to perform cyclic communication, and at least a part of each of two or more consecutive communication cycles of the cyclic communication is one time-division multiplexing of wireless communication. and controlling cyclic communication to occur within a communication pattern.

This procedure will be described in detail below by dividing it into a time division duplex pattern and cycle start slot setting procedure, a wireless communication procedure, a communication control procedure, and a communication mode changing procedure. (Procedure for Setting Time Division Duplex Pattern and Cycle Start Slot) As shown in FIG. 12, the control server 100 first executes steps S01 and S02 in order. In step S01 , the configuration information acquisition unit 113 acquires configuration information indicating the configuration of the device system 10 from the multiple controllers 111 . In step S02 , the communication pattern setting section 114 sets a time division duplex pattern according to the configuration of the device system 10 .

Next, the control server 100 executes steps S03, S04, and S05. In step S03, the target setting unit 122 sets the target arrangement of the downlink slots 511 and the uplink slots 512 in the communication cycle. In step S04, the communication control unit 112 sets the cycle start slot so that the arrangement of the downlink slots 511 and the uplink slots 512 in each communication cycle approximates the target arrangement. In step S05, the configuration information acquisition unit 113 waits for the configuration of the device system 10 to change. After that, the control server 100 returns the process to step S01. By the above procedure, the control server 100 sets the time division duplex pattern and the cycle slot each time the configuration of the device system 10 changes.

(Wireless communication procedure)
As shown in FIG. 13, the base station 200 sequentially executes steps S11 and S12. In step S11, the wireless communication unit 213 performs pairing with the wireless communication unit 413, and starts wireless communication according to the set time division duplex pattern. At step S12 , the wireless communication unit 213 checks whether the current communication slot 510 is the downlink slot 511 .

If it is determined in step S12 that the current communication slot 510 is the downlink slot 511, the base station 200 executes step S13. At step S13, the wireless communication unit 213 confirms whether the current communication slot 510 is the synchronization slot 521 or not.

If it is determined in step S13 that the current communication slot 510 is the synchronization slot 521, the base station 200 executes step S14. At step S14, the wireless communication unit 213 reads the transmission data for the synchronization slot 521 from the transmission buffer 211 based on the tag attached to the transmission data. For example, the wireless communication unit 213 reads the transmission data with the first attribute attached with the first tag from the transmission buffer 211 .

If it is determined in step S13 that the current communication slot is an asynchronous slot, the base station 200 executes step S15. In step S15, the wireless communication unit 213 reads the transmission data for the asynchronous slot 522 from the transmission buffer 211 based on the tag attached to the transmission data. For example, the wireless communication unit 213 reads the transmission data with the second attribute attached with the second tag from the transmission buffer 211 .

Next, the base station 200 executes steps S16 and S17. In step S16 , wireless communication section 213 transmits the transmission data read from transmission buffer 211 to wireless communication section 413 . In step S17 , wireless communication section 213 confirms whether there is an acknowledge from wireless communication section 413 .

If it is determined in step S17 that there is an acknowledgment, the base station 200 executes steps S21 and S22. In step S21 , the wireless communication unit 213 deletes the transmitted transmission data from the transmission buffer 211 . In step S22, the wireless communication unit 213 notifies the communication monitor 131 of the jitter size based on the reception timing of the acknowledge.

If it is determined in step S17 that there is no acknowledge, the base station 200 executes step S23. In step S23, the wireless communication unit 213 notifies the communication monitor 131 of the occurrence of packet loss. After that, the base station 200 returns the process to step S12.

When it is determined in step S12 that the current communication slot 510 is the uplink slot 512, the base station 200 executes steps S31 and S32 as shown in FIG. In step S31 , wireless communication section 213 receives reception data from wireless communication section 413 . In step S32, the wireless communication unit 213 confirms whether or not the received data has been successfully received.

If it is determined in step S32 that the reception data has been successfully received, the base station 200 executes steps S33 and S34. In step S33 , wireless communication section 213 transmits an acknowledge to wireless communication section 413 . In step S34 , wireless communication section 213 stores the received data in reception buffer 212 . After that, the base station 200 returns the process to step S12.

If it is determined in step S32 that the received data could not be received normally, the base station 200 returns the process to step S12 without executing steps S33 and S34. By repeating the above procedure, the base station 200 performs communication for each communication slot in a time division manner.

(Communication control procedure)
As shown in FIG. 15, the control server 100 first executes steps S41, S42, S43, and S44. In step S41, the communication control unit 112 waits for the wireless communication unit 213 to start wireless communication. In step S42 , the communication control unit 112 waits for acquisition of transmission data from the controller 111 . In step S43 , the communication control unit 112 acquires attribute information of transmission data from the controller 111 . At step S44, the communication control unit 112 adds a tag representing the attribute of the transmission data to the transmission data based on the attribute information.

Next, the control server 100 executes step S45. In step S45, the communication control unit 112 confirms whether or not the transmission data is the first transmission data in the communication cycle.

If it is determined in step S45 that the transmission data is the first transmission data in the communication cycle, the control server 100 executes step S46. At step S46, the communication control unit 112 waits for the start timing of the next communication cycle.

Next, the control server 100 executes step S47. If it is determined in step S45 that the transmission data is not the first transmission data in the communication cycle, the control server 100 executes step S47 without executing step S46. In step S47 , the communication control unit 112 stores the transmission data in the transmission buffer 211 . After that, the control server 100 returns the process to step S42.

After that, acquisition of transmission data, addition of a tag to the transmission data, adjustment of the storage timing of the transmission data, and storage of the transmission data in the transmission buffer 211 are repeated. The transmission data is transmitted from the wireless communication section 213 to the wireless communication section 413 through the communication slot 510 suitable for the attribute represented by the tag. By adjusting the storage timing of transmitted data, the relationship between the time division duplex pattern and the communication cycle is properly maintained.

(Procedure for switching communication modes)
As shown in FIG. 16, the control server 100 first executes steps S51 and S52. In step S51 , the communication monitor 131 evaluates communication quality in the asynchronous slot 522 . In step S52, the communication monitor 131 confirms whether or not the communication quality in the asynchronous slot 522 has deteriorated.

In step S52, if no deterioration in communication quality is detected, the control server 100 returns the process to step S51. In step S52, when the deterioration of communication quality is detected, the control server 100 executes step S53. In step S53, the communication control unit 112 switches the normal mode to the irregular mode.

Next, the control server 100 executes steps S54 and S55. In step S54 , the communication monitor 131 evaluates the communication quality in the asynchronous slot 522 and the communication quality in the synchronous slot 521 . In step S55, the communication monitor 131 confirms whether or not the communication quality in the asynchronous slot 522 has recovered.

In step S55, if recovery of communication quality is not detected, the control server 100 executes step S56. In step S56, the communication monitor 131 confirms whether or not the communication quality in the synchronization slot 521 has deteriorated. In step S56, if no deterioration in communication quality is detected, the control server 100 returns the process to step S54.

In step S55, when recovery of communication quality is detected, the control server 100 executes step S57. In step S57, the communication control unit 112 switches the irregular mode to the normal mode.

In step S56, if a decrease in communication quality is detected, the control server 100 executes steps S58 and S59. In step S58, when the communication monitor 131 detects that the communication quality in the synchronization slot 521 is degraded, the communication control unit 112 interrupts the control of the machines 20 by the controllers 111, and the operation of the machines 20 is stopped. to stop In step S59 , the reset unit 132 requests the wireless communication unit 213 to reset wireless communication after the communication control unit 112 stops the machines 20 . Radio communication section 213 resets radio communication with mobile station 400 in response to a request from reset section 132 .

After executing step S57 or step S59, the control server 100 returns the process to step S51. The control server 100 repeats the above procedure.

[Communication procedure by local controller and mobile station]
As an example of the communication method, a communication procedure by the local controller 300 and the mobile station 400 is further illustrated. This procedure is to transmit the transmission data from the wireless communication unit 413 to the base station 200 using the first type communication slot 510 when the transmission data has the first attribute, and to transmit the transmission data to the base station 200 when the transmission data has the second attribute. , causing transmission data to be transmitted from the wireless communication unit 413 to the base station 200 using the second type communication slot 510 .

In the following, this procedure is divided into a wireless communication procedure, a communication control procedure, and a communication mode change procedure, and will be described in detail. (Radio Communication Procedure) As shown in FIG. 17, the mobile station 400 sequentially executes steps S111 and S112. In step S111 , wireless communication section 413 supports pairing by wireless communication section 213 and starts wireless communication according to the time division duplex pattern notified from wireless communication section 213 . In step S112 , the wireless communication unit 413 checks whether the current communication slot 510 is the uplink slot 512 .

If it is determined in step S112 that the current communication slot 510 is the uplink slot 512, the mobile station 400 executes step S113. At step S113, the wireless communication unit 413 confirms whether the current communication slot 510 is the synchronization slot 521 or not.

If it is determined in step S113 that the current communication slot 510 is the synchronization slot 521, the mobile station 400 executes step S114. In step S114, wireless communication section 413 reads transmission data for synchronous slot 521 from transmission buffer 411 based on the tag attached to the transmission data. For example, the wireless communication unit 413 reads the transmission data with the first attribute attached with the first tag from the transmission buffer 411 .

If it is determined in step S113 that the current communication slot is an asynchronous slot, the mobile station 400 executes step S115. In step S115, the wireless communication unit 413 reads the transmission data for the asynchronous slot 522 from the transmission buffer 411 based on the tag attached to the transmission data. For example, the wireless communication unit 413 reads the transmission data with the second attribute attached with the second tag from the transmission buffer 411 .

Next, the mobile station 400 executes steps S116 and S117. In step S116 , the wireless communication unit 413 transmits the transmission data read from the transmission buffer 411 to the wireless communication unit 213 . In step S117 , wireless communication section 413 confirms whether there is an acknowledge from wireless communication section 213 .

If it is determined in step S117 that there is an acknowledgment, the mobile station 400 executes steps S121 and S122. In step S121 , wireless communication section 413 deletes the transmitted transmission data from transmission buffer 411 . In step S122, the wireless communication unit 413 notifies the communication monitor 331 of the magnitude of jitter based on the reception timing of the acknowledgment.

If it is determined in step S117 that there is no acknowledge, the mobile station 400 executes step S123. In step S123, the wireless communication unit 413 notifies the communication monitor 331 of occurrence of packet loss. After that, the mobile station 400 returns the process to step S112.

When it is determined in step S112 that the current communication slot 510 is the uplink slot 512, the mobile station 400 executes steps S131 and S132 as shown in FIG. In step S131 , wireless communication section 413 receives reception data from wireless communication section 213 . In step S132, wireless communication section 413 confirms whether or not the received data has been successfully received.

If it is determined in step S132 that the received data has been successfully received, the mobile station 400 executes steps S133 and S134. In step S133 , wireless communication section 413 transmits an acknowledge to wireless communication section 213 . In step S134 , wireless communication section 413 stores the received data in reception buffer 412 . After that, the mobile station 400 returns the process to step S112.

If it is determined in step S132 that the received data could not be received normally, the mobile station 400 returns the process to step S112 without executing steps S133 and S134. Mobile station 400 performs communication for each communication slot in a time division manner by repeating the above procedure.

(Communication control procedure)
As shown in FIG. 19, the local controller 300 first executes steps S141, S142, S143 and S144. In step S141, the communication control unit 312 waits for the wireless communication unit 413 to start wireless communication. In step S142 , the communication control section 312 waits for acquisition of transmission data from the machine driving section 311 . In step S143 , the communication control section 312 acquires the attribute information of the transmission data from the machine driving section 311 . In step S144, communication control unit 312 adds a tag representing the attribute of the transmission data to the transmission data based on the attribute information.

Next, the local controller 300 executes step S145. In step S145, the communication control unit 312 confirms whether or not the transmission data is the first transmission data in the communication cycle.

If it is determined in step S145 that the transmission data is the first transmission data in the communication cycle, the local controller 300 executes step S146. In step S146, the communication control unit 312 waits for the start timing of the next communication cycle.

Next, the local controller 300 executes step S147. If it is determined in step S145 that the transmission data is not the first transmission data in the communication cycle, the local controller 300 executes step S147 without executing step S146. In step S147 , the communication control unit 312 stores the transmission data in the transmission buffer 411 . After that, the local controller 300 returns the process to step S142.

Thereafter, acquisition of transmission data, addition of a tag to transmission data, adjustment of the storage timing of transmission data, and storage of transmission data in transmission buffer 411 are repeated. The transmission data is transmitted from the wireless communication unit 413 to the wireless communication unit 213 through the communication slot 510 suitable for the attribute represented by the tag. By adjusting the storage timing of transmitted data, the relationship between the time division duplex pattern and the communication cycle is properly maintained.

(Procedure for switching communication modes)
As shown in FIG. 20, the control server 100 first executes steps S151 and S152. In step S151 , the communication monitor 331 evaluates communication quality in the asynchronous slot 522 . In step S152, the communication monitor 331 confirms whether or not the communication quality in the asynchronous slot 522 has deteriorated.

In step S152, if no deterioration in communication quality is detected, the local controller 300 returns the process to step S151. In step S152, when the deterioration of communication quality is detected, the local controller 300 performs step S153. In step S153, the communication control unit 312 switches the normal mode to the irregular mode. The communication control unit 312 may request the communication control unit 112 to switch the normal mode to the irregular mode.

Next, the local controller 300 executes steps S154 and S155. In step S154 , the communication monitor 331 evaluates the communication quality in the asynchronous slot 522 and the communication quality in the synchronous slot 521 . In step S155, the communication monitor 331 confirms whether or not the communication quality in the asynchronous slot 522 has recovered.

In step S155, if recovery of communication quality is not detected, the local controller 300 executes step S156. In step S156, the communication monitor 331 confirms whether or not the communication quality in the synchronization slot 521 has deteriorated. In step S156, if no deterioration in communication quality is detected, the local controller 300 returns the process to step S154.

In step S155, when recovery of communication quality is detected, the local controller 300 executes step S157. In step S157, the communication control unit 312 switches the irregular mode to the normal mode. The communication control section 312 may request the communication control section 112 to switch the irregular mode to the normal mode.

In step S156, when the deterioration of communication quality is detected, the control server 100 executes steps S158 and S159. In step S158, when the communication monitor 131 detects a decrease in communication quality in the synchronization slot 521, the communication control unit 312 suspends the control of the machines 20 by the controllers 111, and the operation of the machines 20 is stopped. to stop For example, the communication control unit 312 transmits a request to stop the plurality of machines 20 to the communication control unit 112 when the communication monitor 331 detects deterioration of communication quality in the synchronization slot 521 . The communication control unit 112 that has received the stop request interrupts the control of the machines 20 by the controllers 111 to stop the machines 20 . In step S159 , the reset unit 332 requests the wireless communication unit 413 to reset wireless communication after the communication control unit 312 stops the machines 20 . Radio communication section 413 resets radio communication with base station 200 in response to a request from reset section 332 . For example, the wireless communication unit 413 requests the wireless communication unit 213 to perform the pairing again.

After executing step S157 or step S159, the local controller 300 returns the process to step S151. The local controller 300 repeats the above procedure.

[Effect of Embodiment]
The wireless communication devices 5 and 6 repeat a time-division duplex pattern in which a plurality of communication slots 510 including a first-type communication slot 510 and a second-type communication slot 510 are arranged in a time-division manner to perform wireless communication with the other party. When the transmission data generated by the

wireless communication units

213 and 413 and the application 3 has the first attribute, the transmission data is wirelessly communicated through the first type communication slot 510. 213, 413 to the other party's

wireless communication section

213, 413, and when the transmission data has the second attribute, the transmission data is transmitted from the

wireless communication section

213, 413 to the other party's wireless communication section through the second type communication slot 510. and

communication control units

112 and 312 that cause 213 and 413 to transmit.

When repeating the time division duplex pattern, the communication reliability of the plurality of communication slots 510 may differ depending on their position in the time division duplex pattern. On the other hand, it is possible to control in which communication slot 510 the transmission data is transmitted according to the attribute of the transmission data. As a result, for example, transmission data that requires transmission with high reliability is transmitted in the communication slot 510 with high reliability, and transmission data that is allowed to be transmitted in low reliability is transmitted in the communication slot 510 with low reliability. can be sent by
Therefore, it is effective in achieving both reliability of communication and communication speed.

Each of the plurality of communication slots 510 is a time division duplex downlink slot 511 or an uplink slot 512, and the first type communication slot 510 is either the downlink slot 511 or the uplink slot 512. , is a synchronous slot 521 that matches the communication slot 510 of another wireless communication that is performed at the same timing, and the type 2 communication slot 510 is a downlink slot 511 or an uplink slot 512. It is an asynchronous slot 522 that does not match the communication slot 510 of wireless communication, and the

communication control units

112 and 312 control that the transmission data having the first priority is transmitted to the counterpart

wireless communication unit

213 and 413 through the first type communication slot 510. , the

wireless communication units

213 and 413 may be controlled so that transmission data having a second priority lower than the first priority is transmitted to the counterpart

wireless communication units

213 and 413 using the second type communication slot 510. . By transmitting high-priority transmission data in the synchronous slot 521 and low-priority transmission data in the asynchronous slot 522, both communication reliability and communication speed can be achieved.

The application 3 transmits and receives control data for controlling the industrial machine, and the

communication control units

112 and 312 control the transmission data so that the transmission data is transmitted in the first type communication slot 510 when the transmission data is the control data. Alternatively, the

wireless communication units

213 and 413 may be controlled. Control reliability can be improved.

The

communication control units

112 and 312 may control the

wireless communication units

213 and 413 so that the transmission data is transmitted in the second type communication slot 510 when the transmission data is not control data. It is possible to achieve both reliability of control and speeding up of control.

The

communication control units

112 and 312 control the

wireless communication units

213 and 413 so that the transmission data is transmitted in the first type communication slot 510 when the transmission data is abnormality notification data for notifying the abnormality of the industrial machine. may be controlled. Delays in coping with abnormalities in industrial machinery can be suppressed.

The

communication control units

112 and 312 control the wireless communication unit 213 so that the transmission data is transmitted in the second type communication slot 510 when the transmission data is less urgent notification data than the abnormality notification data. , 413 may be controlled. By allocating less urgent notification data to the second type communication slot 510, the first type communication slot 510 can be used more effectively.

Communication monitors 131 and 331 for evaluating communication quality in the second type communication slot 510 may be further provided. By evaluating the communication quality in the second type communication slot 510, which has lower communication reliability than the first type communication slot 510, it is possible to quickly detect the occurrence of deterioration in communication quality.

When the communication monitors 131 and 331 detect the deterioration of the communication quality in the second type communication slot 510, the

communication control sections

112 and 312 request the

wireless communication sections

213 and 413 to increase the signal strength of the wireless communication. may A decrease in communication quality can be easily eliminated.

The application 3 repeats a communication cycle including generation of transmission data based on the reception data received from the counterpart

wireless communication units

213 and 413 and transmission of the transmission data to the counterpart

wireless communication units

213 and 413. 312 lengthens the communication cycle and increases the number of time-division duplex patterns corresponding to one communication cycle when the communication monitors 131 and 331 detect deterioration in communication quality in the second type communication slot 510. , the

wireless communication units

213 and 413 may be controlled so that both the first attribute transmission data and the second attribute transmission data are transmitted to the counterpart

wireless communication units

213 and 413 through the first type communication slot 510. . A decrease in communication quality can be easily resolved.

When the communication monitors 131 and 331 detect deterioration of communication quality in the second type communication slot 510, the

communication control units

112 and 312 compress the transmission data of the first attribute and the transmission data of the second attribute, The

wireless communication units

213 and 413 may be controlled so that both the transmission data of the first attribute and the transmission data of the second attribute are transmitted by the communication slot 510 of the first type. A decrease in communication quality can be easily resolved.

The

communication control units

112 and 312 control the

wireless communication units

213 and 413 so that the transmission data of the third attribute is transmitted to the counterpart

wireless communication units

213 and 413 through the second type communication slot 510, and the communication monitors 131 and 413 331 may evaluate the communication quality of the transmission data of the third attribute through the second type communication slot 510 when the transmission data of the second attribute through the second type communication slot 510 is not transmitted. The evaluation of the communication quality in the second type communication slot 510 is continued, and the slot for transmitting the transmission data of the second attribute is changed from the second type communication slot 510 to the first type communication slot 510 according to the improvement of the communication quality. can be quickly returned to

When the communication monitors 131 and 331 detect that the communication quality in the second type communication slot 510 is degraded, the

communication control units

112 and 312 control the transmission data of the second attribute transmitted by the second type communication slot 510. However, the

radio communication units

213 and 413 may be controlled so as to be transmitted again by the second type communication slot 510 of the next time division duplex pattern. The second type communication slot 510 can be effectively used even when the communication quality is degraded.

When communication monitors 131 and 331 detect deterioration in communication quality in the second type communication slot 510, the

communication control units

112 and 312 transmit transmission data of the second attribute through the second type communication slot 510. The

wireless communication unit

213, 413 may be controlled such that the communication is at least partially interrupted. It is possible to easily suppress erroneous data transmission by the second type communication slot 510 with deteriorated communication quality.

The communication monitors 131, 331 further evaluate the communication quality in the first type communication slot 510, and the

communication control units

112, 312 detect the deterioration of the communication quality in the first type communication slot 510 by the communication monitors 131, 331. When the application 3 is stopped, the wireless communication devices 5 and 6 reset the wireless communication between the

wireless communication units

213 and 413 and the counterpart

wireless communication units

213 and 413 after the application 3 is stopped. A

portion

132, 332 may also be provided. The continuation of poor communication can be easily avoided.

The

communication control units

112 and 312 attach the first tag to the transmission data when the transmission data has the first attribute, and deliver the transmission data to the

wireless communication units

213 and 413. When the transmission data has the second attribute, the

communication control units

112 and 312 attach the second tag to the transmission data. is attached to the transmission data to the

wireless communication units

213 and 413, and the

wireless communication units

213 and 413 transmit the transmission data to the other wireless communication unit using the first type communication slot 510 when the first tag is attached to the transmission data. The transmission data may be transmitted to the

communication units

213 and 413, and the transmission data may be transmitted to the counterpart

wireless communication units

213 and 413 using the second type communication slot 510 when the second tag is attached to the transmission data. It is possible to easily control in which communication slot 510 the transmission data is transmitted by the tag attached to the transmission data.

Although the embodiments have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications are possible without departing from the gist thereof.

DESCRIPTION OF SYMBOLS 1... Communication system 2... Wireless communication system 3... Application 10... Device system 20...

Machine

112, 312... Communication control unit 5, 6... Wireless communication apparatus 900... Another wireless communication system 111...

Controller

213, 413... Wireless communication unit 113... Configuration information acquisition unit 114... Communication pattern setting unit 511... Downlink slot 512... Uplink slot 510... Communication slot 521... Synchronous slot 522... Asynchronous Slot, 122 --- Target setting section, 131, 331 --- Communication monitor, 132, 332 --- Reset section.

Claims

Radio communication in which radio communication is performed with a counterpart radio communication unit by repeating a time division duplex pattern in which a plurality of communication slots including a first type communication slot and a second type communication slot are arranged in a time division manner. Department and
When the transmission data generated by the application has the first attribute, the transmission data is transmitted from the wireless communication unit to the counterpart wireless communication unit using the first type communication slot, and the transmission data has the second attribute. and a communication control unit for transmitting the transmission data from the wireless communication unit to the counterpart wireless communication unit using the second type communication slot, if the wireless communication device has the second type communication slot.
each of the plurality of communication slots is a time division duplex downlink slot or uplink slot;
The first type communication slot is a synchronous slot in which whether it is the downlink slot or the uplink slot matches a communication slot of another wireless communication performed at the same timing,
The second type communication slot is an asynchronous slot that does not match the communication slot of the other wireless communication in terms of whether it is the downlink slot or the uplink slot,
The communication control unit transmits the transmission data having a first priority to the counterpart wireless communication unit using the first type communication slot, and the transmission data having a second priority lower than the first priority. 2. The wireless communication device according to claim 1, wherein said wireless communication unit is controlled so that is transmitted to said counterpart wireless communication unit through said second type communication slot.
The application transmits and receives control data for controlling an industrial machine,
3. The wireless communication according to claim 2, wherein when the transmission data is the control data, the communication control section controls the wireless communication section so that the transmission data is transmitted in the first type communication slot. Device.
4. The radio according to claim 3, wherein when said transmission data is not said control data, said communication control section controls said wireless communication section so that said transmission data is transmitted in said second type communication slot. Communication device.
The communication control unit controls the wireless communication unit so that the transmission data is transmitted in the first type communication slot when the transmission data is abnormality notification data for notifying an abnormality of the industrial machine. 5. The radio communication device according to claim 3 or 4, wherein
The communication control unit controls the wireless communication so that the transmission data is transmitted in the second type communication slot when the transmission data is notification data with less urgency than the abnormality notification data. 6. The wireless communication device of claim 5, controlling a unit.
Further comprising a communication monitor that evaluates communication quality in the second type communication slot,
The radio communication device according to any one of claims 2-6.
8. The communication control unit according to claim 7, wherein, when the communication monitor detects a deterioration in communication quality in the second type communication slot, the communication control unit requests the wireless communication unit to increase the signal strength of the wireless communication. radio communication equipment.
The application repeats a communication cycle including generation of the transmission data based on the reception data received from the counterpart wireless communication unit and transmission of the transmission data to the counterpart wireless communication unit,
When the communication monitor detects a deterioration in communication quality in the second type communication slot, the communication control unit lengthens the communication cycle and performs the time division duplex pattern corresponding to one communication cycle. and controlling the wireless communication unit so that both the transmission data of the first attribute and the transmission data of the second attribute are transmitted to the counterpart wireless communication unit using the first type communication slot. 9. The radio communication device according to claim 7 or 8, wherein
The communication control unit compresses the transmission data of the first attribute and the transmission data of the second attribute when the communication monitor detects deterioration of communication quality in the second type communication slot, 9. The wireless communication according to claim 7, wherein said wireless communication unit is controlled such that both said transmission data of said first attribute and said transmission data of said second attribute are transmitted by said communication slot of said first type. Device.
The communication control unit controls the wireless communication unit so that the transmission data having a third attribute is transmitted to the counterpart wireless communication unit using the second type communication slot,
The communication monitor determines the communication quality of the transmission data with the third attribute in the second type communication slot when the transmission data with the second attribute is not transmitted in the second type communication slot. 11. The wireless communication device of claim 9 or 10, wherein evaluating.
When the communication monitor detects deterioration of communication quality in the second type communication slot, the communication control unit changes the transmission data of the second attribute transmitted in the second type communication slot to 9. The radio communication apparatus according to claim 7, wherein said radio communication unit is controlled to retransmit in said second type communication slot of said next time division duplex pattern.
The communication control unit may transmit the transmission data of the second attribute using the second type communication slot when the communication monitor detects a deterioration in communication quality in the second type communication slot. 9. A wireless communication device according to claim 7 or 8, controlling said wireless communication unit to be at least partially interrupted.
The communication monitor further evaluates communication quality in the first type communication slot,
The communication control unit suspends the application when the communication monitor detects deterioration of communication quality in the first type communication slot,
The wireless communication device according to any one of claims 7 to 13, further comprising a reset unit that resets wireless communication between the wireless communication unit and the counterpart wireless communication unit after the application stops. wireless communication device.
The wireless communication device according to any one of claims 7 to 14, wherein said communication monitor evaluates communication quality in said second type communication slot based on a packet loss rate.
The wireless communication device according to any one of claims 7 to 15, wherein said communication monitor evaluates communication quality in said second type communication slot based on the magnitude of jitter.
The communication control unit attaches a first tag to the transmission data when the transmission data has the first attribute and delivers the transmission data to the wireless communication unit, and when the transmission data has the second attribute, the second tag. Attaching a tag and handing over the transmission data to the wireless communication unit;
The wireless communication unit transmits the transmission data to the counterpart wireless communication unit using the first type communication slot when the transmission data is attached with the first tag, and transmits the transmission data with the second tag. The wireless communication device according to any one of claims 1 to 16, wherein the transmission data is transmitted to the partner wireless communication unit using the second type communication slot when is attached.
Radio communication between a radio communication unit and a counterpart radio communication unit by repeating a time division duplex pattern in which a plurality of communication slots including a first type communication slot and a second type communication slot are arranged in a time division manner. is being performed,
When transmission data generated by an application has a first attribute, transmitting the transmission data from the wireless communication unit to the counterpart wireless communication unit using the first type communication slot;
and causing the wireless communication unit to transmit the transmission data to the counterpart wireless communication unit using the second type communication slot when the transmission data has a second attribute.