Control device, control system, and control method

Abstract

Provided are a control device, a control system, and a control method capable of more stably performing control via a virtual network. According to the present embodiment, the control device periodically executes control using a plurality of virtual networks, and is provided with a storage unit, a selection unit, and a communication unit. The storage unit stores control data used in control. The selection unit selects a virtual network to be used in control from among a plurality of virtual networks on the basis of attributes of the control data. The communication unit transmits the control data using the virtual network selected by the selection unit.

Description

Technical Field

[0001] The embodiments of the present invention relate to a control device, a control system, and a control method. Background Technology

[0002] It is commonly known to generate multiple virtual networks through network slicing. Additionally, it is known that control devices periodically perform various control processes on devices via a network.

[0003] Existing technical documents: Patent documents: Patent Document 1: Japanese Patent Application No. 2021-539647 Summary of the Invention

[0004] The problem that the invention aims to solve However, sometimes such multiple virtual networks are generated with communication characteristics. Therefore, if the control device performs device control through multiple virtual networks and various control processes, it may not be possible to complete the control process within the target cycle via the selected virtual network, or the processing capacity of the virtual network may be excessive.

[0005] To address this issue, the objective of this embodiment is to provide a control device, control system, and control method that can perform control via a virtual network more stably.

[0006] Methods for solving problems According to this embodiment, the control device is a control device that periodically performs control using multiple virtual networks, and includes a storage unit, a selection unit, and a communication unit. The storage unit stores control data used in the control. The selection unit selects a virtual network to be used in the control from among the multiple virtual networks based on the attributes of the control data. The communication unit uses the virtual network selected by the selection unit to transmit the control data.

[0007] Invention Effects It enables more stable control via virtual networks. Attached Figure Description

[0008] Figure 1 This is an overall system diagram of the control system in this embodiment.

[0009] Figure 2 This is a block diagram illustrating an example of the configuration of a control device.

[0010] Figure 3 This is a control management table representing a control processing example.

[0011] Figure 4 This is a flowchart representing a control processing example from the control management department.

[0012] Figure 5 This is a table mapping virtual networks.

[0013] Figure 6 This is a block diagram illustrating an example of the configuration of the control device in the second embodiment.

[0014] Figure 7 This is a flowchart representing a processing example of the network slice resource management department. Detailed Implementation

[0015] Hereinafter, the control device and control system according to embodiments of the present invention will be described in detail with reference to the accompanying drawings. Furthermore, the embodiments shown below are examples of embodiments of the present invention, and the present invention is not limited to these embodiments. Additionally, in the drawings referenced in these embodiments, the same reference numerals or similar reference numerals are used to label the same parts or parts having the same function, and sometimes repeated descriptions are omitted. Furthermore, for ease of explanation, sometimes the scale of the drawings differs from the actual scale, and sometimes a part of a component is omitted from the drawings.

[0016] (First Implementation) Figure 1 This is an overall system diagram of the control system 100 according to this embodiment. The control system 100 is a system that controls multiple controlled devices 25 via multiple virtual networks based on network slicing. The control system 100 includes a control device 10, a control device 21, a base station 22, multiple terminals 23, multiple remote I / O 24, and multiple controlled devices 25. In this embodiment, for the sake of simplicity, an example of two controlled devices 25 is used, but it is not limited to this. For example, there may be three or more controlled devices 25, and there may be multiple control devices 21.

[0017] The control device 10 includes, for example, a CPU (Central Processing Unit) and memory. This control device 10 is located near the edge of the controlled device 25 and is a device that controls multiple controlled devices 25 through various control processes. Furthermore, the control device 10 performs short-cycle control on the multiple controlled devices 25, for example.

[0018] Furthermore, the control device 10 is capable of performing all control processing of the 5G core network, including relay control in 5G communication, and the generation, allocation (selection), and deletion of virtual networks based on network slicing. The 5G core network of the control device 10 is constructed through the collaboration of multiple devices such as the MME (Mobility Management Entity), SGW (Serving Gateway), and PGW (Packet Data Network Gateway). Therefore, the term "control device 10" sometimes refers to the collective name of these multiple devices. Further details about the control device 10 will be described later.

[0019] The control device 21 includes, for example, a CPU (Central Processing Unit) and memory. This control device 21 is capable of independently controlling multiple controlled devices 25 together with the control device 10 via a network (NW) such as the Internet. That is, the control device 21 is equipped in the cloud, for example, to perform long-cycle control on multiple controlled devices 25. The control device 21 communicates with the shared storage unit 12 of the control device 10 (see below). Figure 2 It performs input and output of data to multiple controlled devices 25. This suppresses redundant access to remote I / O 24 from multiple control devices 10, 21.

[0020] Furthermore, the control device 10 uniformly manages the virtual network used by both the control device 10 and the control device 21. This prevents interference between the virtual networks used by the control device 10 and the control device 21, or deviations in the selection criteria for the virtual network in each of the control devices 10 and 21.

[0021] Network NW can be the Internet, but it is not limited to this. For example, it can also use local communication lines such as LAN (Local Area Network), wide area wired communication lines such as WAN (Wide Area Network), or wireless communication lines of communication standards such as 3G (Generation), 4G, and 5G.

[0022] Base station 22 functions as a Radio Access Network (RAN), forming a communication network for a 5G (5th Generation) network. In this embodiment, the 5G network is, for example, a local 5G network. Base station 22 outputs device-side data received from multiple controlled devices from multiple terminals 23 to control device 10. Additionally, base station 22 sends control data input from control device 10 and generated by control device 21 to multiple terminals 23. Furthermore, communication between base station 22 and control device 10 can utilize either wired or wireless communication.

[0023] Terminal 23 includes, for example, a CPU (Central Processing Unit), memory, and storage devices. Virtual networks selected by the control device 10 are assigned to these terminals 23. Multiple virtual networks are logical networks generated through network slicing, a function of 5G. Furthermore, in this embodiment, network segmentation is referred to as network slicing. Thus, network resources can be divided into multiple virtual networks with different communication characteristics, providing wireless communication suitable for control processing of multiple controlled devices 25.

[0024] In this embodiment, within the 5G network comprised of base station 22 and multiple terminals 23, there are two virtual networks: a wideband, low-latency virtual network (network slice) 1 and a narrowband, high-latency virtual network (network slice) 2. Furthermore, while this embodiment uses two virtual networks, it is not limited to this. For example, three or more virtual networks with different communication characteristics can also be used.

[0025] The remote I / O 24 has multiple physical communication ports. Different networks can be connected to each communication port. The remote I / O 24 is connected to the terminal 23 on one side and to the controlled device 25 on the other.

[0026] The controlled device 25 executes prescribed control processing based on control data received from the remote I / O 24. The controlled device 25 may be, for example, an industrial robotic arm, a drive motor, or a camera. Device-side data obtained from the controlled device 25 (e.g., position and angle of each joint in the case of a robotic arm, image data in the case of a camera, and rotational speed and rotational speed in the case of a drive motor) is transmitted to the shared storage unit 12 of the control device 10 (see reference 24) via the remote I / O 24, terminal 23, virtual network, and base station 22. Figure 2 ).

[0027] In the communication of data on the device side, for example, TCP (Transmission Control Protocol) using IP (Internet Protocol) packets can be used. Alternatively, it can be UDP (User Datagram Protocol) communication, or communication using the MAC (Medium Access Control) layer using RAW packets, but is not limited to these methods.

[0028] Furthermore, the virtual network and network NW use full-duplex, for example. This allows for simultaneous uplink and downlink communication. In addition, in this embodiment, network slice resources such as the bandwidth and latency of each virtual network, and the number of usable terminals 2, are predetermined.

[0029] Here, use Figure 2 , Figure 3 The details of the control device 10 are explained below. Figure 2 This is a block diagram illustrating an example of the configuration of the control device 10. For example... Figure 2 As shown, the control device 10 is configured to include a control management unit 11, a shared storage unit 12, a control calculation unit 13, a network slice selection unit 14, and a communication unit 15. The control device 10 uses the communication unit 15 to periodically communicate, for example, with other control devices 21 equipped in the cloud via a network NW, or with a controlled device 25 connected via a 5G network. Furthermore, in this embodiment, the shared storage unit 12 corresponds to the storage unit, and the network slice selection unit 14 corresponds to the selection unit.

[0030] Figure 3 This is a control management table representing control processing examples. For example... Figure 3 As shown, the control processes executed by control devices 10 and 21 are pre-associated with indices 1 to N and stored as a control management table in the shared storage unit 12. Indices 1 to N correspond to each control process. The control process for index m is, for example, the control process for the controlled device 25 being a robotic arm, such as the process of obtaining the current arm position and joint angle as device data and calculating the control data to change the arm position and joint angle for the next cycle. Thus, for example, the robotic arm changes its posture to the arm position and joint angle for the next cycle.

[0031] like Figure 3 As shown, the shared storage unit 12 has an area for I / O data processed by the control device 10 and an area for I / O data processed by the control device 21. Figure 3In this example, the starting addresses of the area used for I / O data and the area storing the processed control data are set as shared memory addresses. However, the setting of the shared memory unit 12's area is just one example and is not limited to this.

[0032] Furthermore, the area for I / O data processed by the control device 10 is divided into areas for each of the multiple controlled devices 25. Similarly, the area for I / O data processed by the control device 21 is divided into areas for each of the multiple controlled devices 25.

[0033] The control and management unit 11, for example, consists of multiple CPUs, and reads and executes the control program and control management table (see below) stored in the shared memory unit 12. Figure 3 The control management unit 11 controls the entire control device 10. It performs all control processing for the 5G core network, including relay control in 5G communication and the generation, allocation, and deletion of virtual networks based on network slices.

[0034] Furthermore, the control management unit 11 instructs the control calculation unit 13 to perform calculations on the control processing content of each of the multiple controlled devices 25. That is, under the control of the control management unit 11, the control calculation unit 13 generates and calculates the control data on the control device 10 at predetermined intervals determined for each control processing. In addition, the control management unit 11 has a control timer that is linked with multiple control cycles required for each control processing to generate timing control signals associated with each control processing.

[0035] For example, the control management unit 11 obtains the device-side data required for the calculation of the specified control data based on the timing control signal, and stores it in the shared storage unit 12 (see reference). Figure 2 Furthermore, the control management unit 11 instructs the control calculation unit 13 to use the device-side data to calculate control data corresponding to the control processing content. This control data is written to an area of ​​the shared storage unit 12 allocated to each control data (see reference). Figure 3 The control data includes, for example, the controlled device 25 as the destination, the control data capacity, the control cycle, and the association with the control source. This control source is identification information that identifies either the control device 10 on the edge side or the control device 21 on the cloud side.

[0036] On the other hand, the control device 21 performs each prescribed control cycle determined according to each control process (see reference). Figure 3The control management unit 11 reads I / O data stored separately for each of the multiple controlled devices 25 from the area used by the control device 21 in the shared storage unit 12, and calculates control data corresponding to the control processing content. At this time, the control management unit 11 obtains device-side data according to the request from the control device 21 and stores it in the shared storage unit 12. Furthermore, the control device 21 performs a process of writing the control data corresponding to the control processing content to the area of ​​the shared storage unit 12 allocated to each piece of control data via the control management unit 11. The control data includes, for example, the associated controlled device 25 as the destination, the control data capacity, the control cycle, and the control source. However, these control examples are just one example and are not limited to this. For example, the control management unit 11 can also autonomously and repeatedly write device-side data to the area of ​​the control device 21 in the shared storage unit 12 according to a predetermined cycle.

[0037] Under the control of the control management unit 11, the network slice selection unit 14 selects the virtual network to be used in communication according to the control processing content. The communication unit 15 has a 5G-side communication IF for communicating with the base station 22 and a wide area network-side communication IF such as a network NW. As described above, the communication unit 15 uses full-duplex communication, for example. Therefore, uplink and downlink communication can be performed simultaneously.

[0038] The network slice selection unit 14 has multiple selection algorithms for selecting virtual networks. The control management unit 11 can set the selection algorithm for the network slice selection unit 14 according to the control purpose. For example, selection algorithm a is an algorithm that emphasizes the control cycle, selection algorithm b is an algorithm that emphasizes the control data capacity, and selection algorithm c is an algorithm that emphasizes the control source.

[0039] More specifically, when the control management unit 11 selects selection algorithm a, it only outputs the control cycle associated with the control data to the network slice selection unit 14. The network slice selection unit 14 performs a threshold judgment on the control cycle and selects the virtual network to be used. For example, in the case of short control cycles, the network slice selection unit 14 selects a wide-bandwidth, low-latency virtual network 1; in the case of long control cycles, it selects a narrow-bandwidth, high-latency virtual network 2. Using the selection information from the network slice selection unit 14, the control management unit 11 transmits the control data to the terminal 23 of the controlled device 25 via the communication unit 15 and the base station 22 through the selected virtual network. Thus, a virtual network with communication characteristics corresponding to the control cycle is selected, and control data is transmitted within the control cycle.

[0040] When the control management unit 11 selects selection algorithm b, it only outputs the control data capacity associated with the control data to the network slice selection unit 14. The network slice selection unit 14 performs a threshold judgment on the control data capacity and selects the virtual network to be used. For example, if the control data size is long, the network slice selection unit 14 selects a wide-bandwidth, low-latency virtual network 1; if the control data size is short, it selects a narrow-bandwidth, high-latency virtual network 2. Using the selection information from the network slice selection unit 14, the control management unit 11 transmits the control data to the terminal 23 of the controlled device 25 via the communication unit 15 and the base station 22 through the selected virtual network. Thus, a virtual network with communication characteristics corresponding to the control data size is selected, and control data is transmitted within the control cycle.

[0041] When the control management unit 11 selects selection algorithm c, it only outputs information about the control source associated with the control data to the network slice selection unit 14. The network slice selection unit 14 selects the virtual network to use based on whether the control source is in the cloud or at the edge. For example, if the control originates from the edge, the network slice selection unit 14 selects a wideband, low-latency virtual network 1; if the control originates from the cloud, it selects a narrowband, high-latency virtual network 2. Thus, a virtual network with communication characteristics corresponding to the control source is selected, and control data is transmitted within the control cycle.

[0042] Furthermore, the selection of a virtual network can also be made by comprehensively considering the control cycle, the data size of the control data (control data length), and the information of the control source. That is, the network slice selection unit 14 uses at least one of the following information to select a virtual network: the control cycle, the control data length, and the information of the control source.

[0043] The above is a configuration example of the control system 100 according to the first embodiment. The control processing example of the control management unit 11 will be described below. Figure 4 This is a flowchart illustrating a control processing example of the control management unit 11. Here, an example of transmitting control data on the control device 10 side for one control processing is described.

[0044] First, the Control Management Department 11 uses Figure 3 The information in the control management table is used to set a control timer associated with the control process (step S301). In this way, the duration of the control timer is predetermined based on the type of control process. For example, according to... Figure 3 The control management table shown sets the control timer to a specific memory address supplied to the storage unit 12 according to each control process.

[0045] Next, the control management unit 11 outputs a timing control signal associated with the control processing to the control calculation unit 13 and the communication unit 15 according to the control timer, and enters the control processing (step S302).

[0046] Next, the control management unit 11, in accordance with the timing control signal associated with the control processing, enables the communication unit 15 to obtain the device-side data required by the control processing and store it in the shared storage unit 12 (step S303).

[0047] Next, the control management unit 11 issues a control calculation instruction to the control calculation unit 13. The control calculation unit 13 calculates the control data corresponding to the control processing and stores it in the shared storage unit 12 (step S304). As described above, the control data includes, for example, the controlled device 25 as the transmission destination, the control data capacity, the control cycle, and the control source established.

[0048] Next, the control management unit 11 obtains information data following the selection algorithm from the control data and outputs it to the network slice selection unit 14 to select a virtual network (step S305). Here, information representing the edge is output to the network slice selection unit 14 as transmission source information. As a result, the network slice selection unit 14 selects a wideband and low-latency virtual network 1 and outputs it to the control management unit 11.

[0049] Next, the control management unit 11 enables communication using the virtual network 1 between the base station 22 and the terminal 23 of the controlled device 25, which is the transmission destination (step S306). As a result, control data is output to the controlled device 25 via the remote I / O 24. Furthermore, the controlled device 25 performs control corresponding to the control data.

[0050] Next, the control management unit 11 determines whether to end the control process (step S307). If it determines that the process should not end ("No" in step S307), the process from step S302 onwards is repeated. On the other hand, if it determines that the process should end ("Yes" in step S307), the control management unit 11 ends the control process.

[0051] As explained above, according to this embodiment, the network slicing selection unit 14 selects a virtual network based on the attributes of the control data used to control the controlled device 25. Therefore, even when multiple control data are periodically and repeatedly transmitted, a virtual network with communication characteristics corresponding to the attributes of the control data can be used, enabling efficient use of the segmented network resources.

[0052] Thus, based on the attributes of the control data, when the control data length is large and the control period is short, a wideband and low-latency network slice can be selected; when the control data length is short and the control period is long, a narrowband and high-latency network slice can be selected. Therefore, by selecting a virtual network with appropriate communication characteristics based on the control data length and control period, control of the control data's control period can be maintained.

[0053] Furthermore, the control device 10 uses the shared storage unit 12 to uniformly manage the virtual network used by the control device 10 and the control device 21. This suppresses interference between the virtual networks used by the control device 10 and the control device 21, or deviations in the selection criteria for the virtual network.

[0054] (Modification 1 of the first embodiment) The difference between the network slicing selection unit 14 of the first embodiment and the control system 100 of the first embodiment is that the virtual network to be used for each control process is predetermined. The differences from the control system 100 of the first embodiment will be explained below.

[0055] Figure 5 This is a mapping table for virtual networks. For example... Figure 5 As shown, the control processes performed by control device 10 and control device 21 are pre-associated with indices 1 to N and stored as a correspondence table in shared storage unit 12. Figure 5 For simplicity, only indices 1-4 are presented graphically. Furthermore, network slice resources such as bandwidth, latency, and the number of usable terminals 2 are predetermined. Additionally, if the network slice selection unit 14 has dedicated memory, it can also store a table of virtual network mappings (see [reference]). Figure 5 Additionally, updates can be made based on factors such as network latency during operation. Figure 5 The corresponding table is shown below.

[0056] As described above, an index is a number assigned to establish an association with the control process. The index is associated with the control data processed by the control device 10 and the control device 21 in this embodiment.

[0057] The control data capacity is the capacity [Byte] allocated to the control data. As mentioned above, the control cycle is the cycle in which the control processing corresponding to the index is executed. As mentioned above, the control source information represents information about one of the control devices 10 and 21. The edge represents information about control device 10, and the cloud represents information about control device 21. As mentioned above, the shared memory address represents the storage area for device-side data used to execute the control processing corresponding to the index, as well as the storage area for control data on the control device 10 and control device 21 sides.

[0058] For example, the control program corresponding to the index is stored in the shared storage unit 12. Thus, the control program is executed by the control management unit 11 to generate control data corresponding to the index. Similarly, in the control device 21, control data corresponding to the index is also generated by executing the control program used by the control device 21.

[0059] The network slice selection unit 14 can also be referenced. Figure 5 The virtual network is selected using the corresponding table shown. For example, the network slice selection unit 14 selects virtual network 1 when the index associated with the control data is 1, virtual network 1 when the index associated with the control data is 2, virtual network 3 when the index associated with the control data is 3, and virtual network 1 when the index associated with the control data is 4. Virtual network (network slice) 3 is, for example, a mid-frequency band and mid-latency virtual network. Furthermore, the control management unit 11 uses the virtual network selected by the network slice selection unit 14 to send control data, as the result of control calculation, from the communication unit 15 via the base station 22 to the terminal 23 of the controlled device 25, which is intended to receive control data.

[0060] As explained above, according to this embodiment, the network slice selection unit 14 selects a virtual network that has been pre-associated with the control process. Therefore, when storing control data for each control process in a shared memory address, the network slice selection unit 14 can select a virtual network that has been pre-associated with the control process. This enables faster control processing.

[0061] (Modification 2 of the first embodiment) The difference between the network slicing selection unit 14 of the first embodiment variation 2 and the control system 100 of the first embodiment variation 1 is that it selects a virtual network that has been pre-associated with a shared memory address. Hereinafter, the differences from the control system 100 of the first embodiment variation 1 will be explained.

[0062] The network slice selection unit 14 in the second variation of the first embodiment can also select a virtual network that has been pre-associated with the shared memory address used in the control processing. For example, by executing a control program by the control management unit 11, control data corresponding to the control processing is stored in the shared memory address of the shared memory unit 12. Similarly, in the control device 21, by executing a control program for the control device 21, control data corresponding to the control processing is stored in the shared memory address of the shared memory unit 12.

[0063] like Figure 5 As shown, virtual networks 1 to 3 are pre-associated with the shared memory addresses. Since the shared memory addresses are mapped according to each control process, virtual networks can be divided based on the addresses. Therefore, the network slicing selection unit 14 can select the virtual networks associated with the shared memory addresses where control data is stored in the shared memory unit 12.

[0064] As explained above, according to this embodiment, the network slice selection unit 14 selects a virtual network that has been associated with a shared memory address where control data is stored in the shared memory unit 12. Therefore, when control data is stored at a shared memory address, the network slice selection unit 14 can select a virtual network that has been pre-associated with that shared memory address. This enables faster control processing.

[0065] (Second Implementation) The control system 100 of the second embodiment differs from the control system 100 of the first embodiment in that it determines the resources of the virtual network based on the length of the control data and the control cycle. The differences from the control system 100 of the first embodiment will be explained below.

[0066] Figure 6 This is a block diagram illustrating an example configuration of the control device 10a according to the second embodiment. For example... Figure 6 As shown, the control device 10a of the first embodiment variation 2 differs from the control system 100 of one embodiment in that it also includes a network slice resource management unit 51.

[0067] Network slice resource management unit 51 uses information on control cycles and control data capacity stored in shared storage unit 12 (see reference). Figure 5 Select network resources. Furthermore, the network slice resource management unit 51 may also have a dedicated memory, which stores information about the control cycle and control data length (see reference). Figure 4 ).

[0068] The network slice resource management unit 51 uses the control cycle and control data length of each periodically repeated control process to calculate the required bandwidth, latency, and number of usable terminals. In this case, for example, the bandwidth can be set as a margin compared to the data volume calculated based on the control cycle and control data length. Furthermore, the latency can be set to less than half the control cycle. Additionally, the number of usable terminals can be set as a margin compared to the envisioned number of terminals, but is not limited to these methods. Moreover, the control data length, for example, means the capacity to include the processing code required for the control process within the control data capacity.

[0069] More specifically, the network slice resource management unit 51 uses the control cycle and control data length of each control process to periodically repeat, segmenting network resources and generating multiple virtual networks, each with its own set frequency band and request delay time. For example, the network slice resource management unit 51 uses the control cycle and control data length of each control process to periodically repeat, in order to maximize transmission efficiency, to generate virtual networks selected from combinations of types A to D, for example.

[0070] Type A is, for example, a combination of a wideband, low-latency virtual network (network slice) 1 and a narrowband, high-latency virtual network (network slice) 2. Type B is, for example, a combination of a wideband, low-latency virtual network (network slice) 1, a narrowband, high-latency virtual network (network slice) 2, and a mid-band, mid-latency virtual network (network slice) 3. Type C is, for example, a combination of a wideband, low-latency virtual network (network slice) 1 and a mid-band, mid-latency virtual network (network slice) 3. Type D is, for example, a combination of a narrowband, high-latency virtual network (network slice) 2 and a mid-band, mid-latency virtual network (network slice) 3. Alternatively, more than four virtual networks can be generated.

[0071] As explained above, according to this embodiment, the network slice resource management unit 51 generates a virtual network by periodically repeating the control cycle and control data length of each control process to maximize transmission efficiency. Thus, even when multiple control data are periodically and repeatedly transmitted, the transmission efficiency of the segmented network resources is maximized. Therefore, by selecting an appropriate virtual network based on the control data length and control cycle, control of the control cycle for maintaining the control data can be achieved.

[0072] (Modification 1 of the second embodiment) The control system 100 of the second embodiment variation 1 differs from the control system 100 of the second embodiment in that it also determines the virtual network resources based on the communication speed of the network NW. The differences from the control system 100 of the second embodiment will be explained below.

[0073] Figure 7 This is a flowchart illustrating a processing example of the network slice resource management unit 51 in a variation of the second embodiment 1. Figure 7 As shown, the network slice resource management unit 51 measures the communication speed of the network NW between the control device 10 and the control device 21 (step S401). For example, the network slice resource management unit 51 uses the round-trip time of a measurement signal such as ping to measure the communication speed of the network NW.

[0074] Next, the network slice resource management unit 51 uses the control cycle and control data length of each control process that are repeated periodically to set the segmentation of network resources that reflects the communication speed of the network NW (step S402).

[0075] Next, the network slicing resource management unit 51 generates multiple virtual networks, each with its own set frequency band and latency (step S403). In this case, if the cloud is included in the control data attributes, a virtual network that can be transmitted more efficiently is selected.

[0076] As explained above, according to this embodiment, a virtual network is generated in a manner that maximizes transmission efficiency by using the control cycle and control data length of each control process that are periodically repeated, reflecting the communication speed of the network NW between the control device 10 and the control device 21. Therefore, even when the control device 21, which is controlled via the network NW, is included, transmission can be performed more efficiently, and control of the control data cycle can be maintained.

[0077] Several embodiments have been described above, but these embodiments are merely examples and are not intended to limit the scope of the invention. The new apparatus, method, and procedure described in this specification can be implemented in various other ways. Furthermore, various omissions, substitutions, and modifications can be made to the apparatus, method, and procedure described in this specification without departing from the spirit of the invention.

[0078] Explanation of reference numerals in the attached figures: 1: Virtual network, 2: Virtual network, 10: Control device, 11: Control management department, 12: Shared storage department, 13: Control and computing department, 14: Network slice selection department, 15: Communication department, 21: Control device, 23: Terminal, 25: Controlled device, 51: Network slice resource management department, 100: Control system.

Claims

1. A control device that periodically performs control using multiple virtual networks, wherein, have: Storage unit, storing the control data used in the control; The selection unit selects the virtual network to be used in the control from multiple virtual networks based on the attributes of the control data. as well as The communication unit transmits the control data using the virtual network selected by the selection unit.

2. The control device according to claim 1, wherein, It also has: A control management unit that controls the selection unit and the communication unit. The control management unit executes the control to send the control data based on the interval of the control cycle corresponding to the control data.

3. The control device according to claim 1, wherein, The selection unit selects the virtual network used in the control based on the control cycle of the control data.

4. The control device according to claim 1, wherein, A second control device, different from the aforementioned control device, can also perform the control via a network. The storage unit stores the control data generated by the second control device via the network. The selection unit selects the virtual network used in the control based on the control source of the control data.

5. The control device according to claim 1, wherein, The selection unit selects the virtual network used in the control based on the address of the storage unit that is associated with the control data.

6. The control device according to claim 1, wherein, The selection unit selects the virtual network to be used in the control based on the data capacity of the control data.

7. The control device according to claim 1, wherein, The control is performed on the controlled device based on device-side data. The storage unit stores the device-side data. The control device also includes a control calculation unit that uses the device-side data to calculate the control data.

8. The control device according to claim 7, wherein, A second control device, different from the aforementioned control device, can also perform the control via a network. The second control device, via the network, uses the device-side data stored in the storage unit to process the control data and stores it in the storage unit. The selection unit selects the virtual network to be used in the control based on the attributes of the control data.

9. The control device according to claim 8, wherein, The selection unit selects the virtual network used in the control based on at least one of the control cycle, data capacity, control source, and corresponding memory address of the control data.

10. The control device according to claim 1, wherein, It also has: The network slicing management unit manages the allocation of network resources to multiple virtual networks based on at least one of the control period, control data length, and control source of the periodically sent control data.

11. A control system, wherein, have: Controlled equipment; The terminal wirelessly communicates with the device-side data of the controlled device and the control data for controlling the controlled device. The base station uses the terminal and multiple virtual networks to perform the wireless communication; The first control device uses the multiple virtual networks to periodically control the controlled device; as well as A second control device is connected to the first control device via a network, and periodically controls the controlled device through the first control device. The first control device has: The storage unit stores the control data generated by the first control device used in the control and the control data generated by the second control device used in the control. The selection unit selects the virtual network to be used in the control from the plurality of virtual networks based on the attributes of the control data; as well as The communication unit transmits the control data using the virtual network selected by the selection unit.

12. A control method that uses multiple virtual networks to periodically perform control, wherein, It has the following processes: The process involves selecting a virtual network from multiple virtual networks based on the attributes of the control data used in the control; and In the communication process, the control data is sent using the selected virtual network.

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