A network control method, a user plane function network element and a network management server
By obtaining reliability and topic parameters from DDS messages through UPF network elements and dynamically adjusting network slices, the problem of mismatched network resource allocation in robot communication is solved, and the resource utilization and communication efficiency of 5G networks are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHENZHEN AI LINK CO LTD
- Filing Date
- 2026-04-27
- Publication Date
- 2026-07-17
Smart Images
Figure CN122420007A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of communication technology, and more specifically, to a network control method, a user plane function network element, and a network management server. Background Technology
[0002] With the development of artificial intelligence, robots have been widely used in intelligent manufacturing, smart logistics, security inspection, medical delivery, unmanned warehousing and other scenarios. Robots can autonomously navigate, avoid obstacles, and perform tasks such as handling, sorting and inspection, thereby improving production efficiency and reducing labor costs.
[0003] In many applications, a single robot often struggles to complete complex tasks, necessitating collaboration among multiple robots. This multi-robot collaborative approach relies on efficient and reliable communication mechanisms between robots to enable real-time exchange of control commands, status information, sensor data, and other information.
[0004] However, in related technologies, when mobile robots communicate through 5G networks, there is a problem that the network slice cannot be dynamically adjusted according to the actual needs of DDS messages, which leads to a mismatch between network resource allocation and robot communication needs. Summary of the Invention
[0005] The purpose of this application is to address the shortcomings of the prior art by providing a network control method, a user plane function network element, and a network management server that can dynamically adjust network slices based on reliability parameters and topic parameters in DDS messages.
[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, one embodiment of this application provides a network control method for robots, applied to a User Plane Function (UPF) network element, the method comprising: Obtain the Data Distribution Service (DDS) message sent by the robot via multicast; wherein the DDS message is sent by the robot through a Protocol Data Unit (PDU) session attached to the first network slice; Obtain reliability parameters and topic parameters from the DDS message; The corresponding target network slice identifier is determined by searching the first database based on the reliability parameters and the topic parameters; the first database is the local database of the UPF network element. When the target network slice identifier is retrieved, an adjustment request is sent to the network management server. The adjustment request includes the PDU session identifier and the target network slice identifier, so that the network management server adjusts the PDU session from the first network slice to the target network slice corresponding to the target network slice identifier.
[0007] In some embodiments, the method further includes: Obtain the Simple Endpoint Discovery (SEDP) message sent by the robot; Obtain the reliability parameter and the topic parameter from the SEDP message; The reliability parameter and the topic parameter are sent to the network management server to obtain the network management server to retrieve the corresponding target network slice identifier in the second database based on the reliability parameter and the topic parameter; the second database is the local database corresponding to the network management server. Obtain the target network slice identifier returned by the network management server; Data records are generated based on the reliability parameters, the topic parameters, and the target network slice identifier, and stored in the first database.
[0008] In some embodiments, the method further includes: Obtain the Simple Participant Discovery SPDP message sent by the robot; Obtain the communication domain identifier from the SPDP message; The relevant information of the robot is sent to the network management server. The relevant information includes: robot address, data network name, network slice identifier, and communication domain identifier, so that the network management server requests the Network Open Function (NEF) to add the robot to the target virtual network group corresponding to the communication domain identifier based on the relevant information; wherein, the target virtual network group is established based on the data network name and the network slice identifier.
[0009] In some embodiments, the method further includes: If the target network slice identifier is not found, a query request is sent to the network management server. The query request includes the reliability parameter and the topic parameter. The query request is used to enable the network management server to retrieve the corresponding target network slice identifier in the second database based on the reliability parameter and the topic parameter. Obtain the target network slice identifier returned by the network management server; Data records are generated based on the reliability parameters, the topic parameters, and the target network slice identifier, and stored in the first database.
[0010] Secondly, another embodiment of this application provides a network control method for robots, applied to a network management server, the method comprising: Obtain the adjustment request sent by the UPF network element, wherein the adjustment request includes the PDU session identifier and the target network slice identifier; The adjustment request is sent to the NEF so that the NEF notifies the Policy Control Function (PCF) to adjust the network slice of the PDU session to the network slice corresponding to the target network slice identifier.
[0011] In some embodiments, the method further includes: Obtain the Data Distribution Service (DDS) message configuration information; the message configuration information includes: reliability parameters, topic parameters, and network slice identifier; Configuration data is generated based on the message configuration message, and the configuration data is stored in the second database; the second database is the local database corresponding to the network management server.
[0012] In some embodiments, the method further includes: Obtain the reliability parameters and topic parameters sent by the UPF network element; Based on the reliability parameters and the topic parameters, retrieve the corresponding target network slice identifier in the second database; The target network slice identifier is sent to the UPF network element, so that the UPF network element generates a data record based on the target network slice identifier and stores it in the first database.
[0013] In some embodiments, the method further includes: Obtain relevant information about the robot sent by the UPF network element, including: robot address, data network name, network slice identifier, and communication domain identifier; Based on the relevant information, a join request is sent to the NEF to request the NEF to add the robot to the target virtual network group corresponding to the communication domain identifier; wherein, the target virtual network group is established based on the data network name and the network slice identifier.
[0014] Thirdly, another embodiment of this application provides a User Plane Function (UPF) network element, including: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the UPF network element is running, the processor executes the machine-readable instructions to perform the steps of the network control method as described in any of the first aspects above.
[0015] Fourthly, another embodiment of this application provides a network management server, including: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the network management server is running, the processor executes the machine-readable instructions to perform the steps of the network control method as described in any of the second aspects above.
[0016] Fifthly, another embodiment of this application provides a storage medium storing a computer program, which, when executed by a processor, performs the steps of any of the methods described in the first aspect above.
[0017] The beneficial effects of this application are as follows: By acquiring Data Distribution Service (DDS) messages sent by the robot via multicast through the User Plane Function (UPF) network element, reliability parameters and topic parameters are obtained from the DDS messages. Based on these parameters, a search is performed in a first database to determine the corresponding target network slice identifier, thus achieving a match between 5G network resources and robot communication needs. When the target network slice identifier is found, the UPF network element sends an adjustment request to the network management server, including the PDU session identifier and the target network slice identifier. This allows the network management server to adjust the PDU session from the first network slice to the target network slice corresponding to the target network slice identifier, thereby achieving dynamic adjustment of network slices based on the reliability and topic parameters of the DDS message itself. Attached Figure Description
[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 A schematic diagram of a communication architecture for a robot control scenario provided in an embodiment of this application is shown; Figure 2 A schematic flowchart of a network control method for robots according to an embodiment of this application is shown; Figure 3 A flowchart illustrating a network control method for robots according to another embodiment of this application is shown; Figure 4 A flowchart illustrating a network control method for robots according to another embodiment of this application is shown; Figure 5 A schematic diagram of a network control system for robots according to an embodiment of this application is shown; Figure 6 A schematic diagram of a network control system for robots according to another embodiment of this application is shown; Figure 7 This illustration shows a structural diagram of a user plane function network element provided in an embodiment of this application; Figure 8 A schematic diagram of the structure of a network management server provided in an embodiment of this application is shown. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.
[0021] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0022] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.
[0023] User Plane Function (UPF) network elements are used for packet routing and forwarding, or for quality of service (QoS) processing of user plane data. User data can access the data network (DN) through this network element.
[0024] Policy Control Function (PCF) entity: A unified policy framework used to guide network behavior, providing policy rule information to control plane functional network elements (such as AMF, SMF, etc.).
[0025] This application can be applied to multi-robot collaborative scenarios, in which multiple mobile robots access the network through a 5G network and use the Data Distribution Service (DDS) protocol as a communication middleware. The robots exchange control commands, status information and sensor data in real time through a publish / subscribe model to achieve collaborative functions such as collaborative handling, path planning and task scheduling.
[0026] In multi-robot collaborative scenarios, robots typically use the Data Distribution Service (DDS) protocol for network communication. Figure 1 This illustration shows a communication architecture diagram for a robot control scenario provided in an embodiment of this application. Figure 1 As shown, the robot control scenario includes: multiple robots, a robot control platform, a network management server, a 5G access network, a 5G core network user plane, and a 5G core network control plane.
[0027] like Figure 1 As shown, multiple robots can include, for example, Robot A and Robot B, and of course, more robots can be included. The robots have built-in 5G communication modules and communicate via the DDS protocol for publish / subscribe. The robots generate and consume business data such as control commands, status information, and sensor data.
[0028] The robot control platform is a centralized management platform used for task scheduling, status monitoring and remote control of multiple robots. It can send instructions to the robots or receive messages reported by the robots through the 5G network.
[0029] Continue as Figure 1 As shown, the 5G access network can include a 5G base station (NG-RAN) and an air interface (Uu). The Uu interface is the wireless communication interface between the robot and the 5G base station. The 5G base station provides wireless access services to the robot, and the robot connects to the NG-RAN through the Uu interface.
[0030] The 5G core network user plane includes: User Plane Function (UPF) network elements and multiple preset interfaces. The UPF network elements are responsible for data packet routing and forwarding. In this application, the UPF network elements are enhanced to possess DDS protocol detection capabilities, enabling the identification and extraction of key parameters. The multiple preset interfaces may include: N3 interface, N6 interface, and N4 interface. Specifically, the N3 interface is the interface between the NG-RAN and the UPF network elements, used for transmitting user plane data; the N6 interface is the interface between the UPF network elements and external data networks (e.g., robot control platforms); and the N4 interface is the interface between the Session Management Function (SMF) and the UPF, used for session management and policy distribution.
[0031] Continue as Figure 1 As shown, the 5G core network control plane includes: Access and Mobility Management Function (AMF), responsible for robot registration, connection management, mobility management, and authorization authentication, serving as the first entry point for robots to access the 5G network; Session Management Function (SMF), responsible for establishing, modifying, and releasing PDU sessions, assigning Internet Protocol (IP) addresses to robots, and controlling UPF data forwarding; Policy Control Function (PCF), used to formulate Quality of Service (QoS) and billing policies, serving as the decision-making center for network policies; Unified Data Management Function (UDM), used to store user subscription data, including network slices allowed for robot use and virtual network (VN) group subscription information; Network Opening Function (NEF), serving as the 5G core network's external capability opening window, allowing external application servers (such as the network management server in this application) to securely access core network capabilities; Authentication Service Function (AUSF), responsible for robot authentication; and Network Slice Selection Function (NSSF), used to select appropriate network slices for robots.
[0032] The network management server is an intelligent scheduling center that can be deployed as an application function (AF) to store DDS message configuration parameters, corresponding UPF query requests, and send policy adjustment requests (such as network slice switching and VN group configuration) to the 5G core network through the NEF interface.
[0033] The above communication architecture enables 5G networks to perceive and adaptively configure DDS communication semantics, thereby solving the problems of communication quality assurance and multicast efficiency in robot writing scenarios.
[0034] Figure 2 The following is a flowchart illustrating a network control method for robots according to an embodiment of this application, as shown in the figure. Figure 2 As shown, the method includes: Step 201: The UPF network element obtains the Data Distribution Service (DDS) message sent by the robot via multicast.
[0035] The DDS message is sent by the robot through a Protocol Data Unit (PDU) session attached to the first network slice. In other words, the robot has already established a PDU session attached to the first network slice before sending the DDS message, and the DDS message is transmitted through this PDU session.
[0036] Robots are intelligent terminal devices with autonomous mobility and communication capabilities, including but not limited to: industrial mobile robots, service robots, special robots, driverless vehicles, drones, and composite robots.
[0037] The robot has a built-in 5G communication module, which can access the 5G network and run the robot operating system or other software systems that support the DDS protocol. Data interaction between robots or between robots and robot control platforms can be achieved through the DDS protocol.
[0038] DDS messages refer to messages that conform to the Data Distribution Service Protocol (DDS) specifications. DDS messages include, but are not limited to, discovery protocol messages, service data messages, QoS messages, and heartbeat acknowledgment messages. Based on QoS reliability policies, DDS messages can be divided into reliable mode (RELIABLE) messages and best-effort mode (BEST_EFFORT) messages. Reliable mode requires guaranteed message delivery and no command loss; best-effort mode allows for a small amount of packet loss. Furthermore, based on service content, DDS messages can be categorized into various types, such as motion control, emergency commands, location information, environmental awareness, image data, status reporting, and task scheduling.
[0039] Step 202: The UPF network element obtains reliability parameters and topic parameters from the DDS message.
[0040] UPF network elements read the Reliability and Topic information from the QoS reliability policy in the DDS message. Reliability is a reliability parameter in the QoS reliability policy, used to define the reliability requirements for message transmission. Topic is the subject of the DDS message subscription, used to identify the message type and purpose, such as control commands, status information, or sensor data.
[0041] As an example, the topic parameters can be: emergency braking topic ( / robot / emergency_stop), lidar scan data topic ( / sensor / lidar / scan), and speed control topic ( / robot / cmd_vel).
[0042] Step 203: The UPF network element searches the first database based on reliability parameters and topic parameters to determine the corresponding target network slice identifier.
[0043] The first database is the local database of the UPF network element. The local database pre-stores multiple data records, and each data record can be stored in the following formats:<Topic, Reliability, Slice_ID> Where Slice_ID is the network slice identifier.
[0044] UPF network elements can use reliability parameters and topic parameters as indexes to search the first database, and then determine the unique target network slice identifier based on these parameters. This method of directly searching the first database using reliability and topic parameters eliminates the need for interaction with the network management server each time, thus improving processing efficiency.
[0045] If no target network slice identifier corresponding to the reliability parameters and topic parameters is found in the first database, no further operations are required. In other words, if no corresponding target network slice identifier is found, the network slice does not need to be adjusted, and message transmission can still be carried out through the PDU session attached to the first network slice.
[0046] When a UPF network element retrieves the target network slice identifier, it executes step 204.
[0047] Step 204: The UPF network element sends an adjustment request to the network management server.
[0048] The adjustment request includes a PDU session identifier and a target network slice identifier, informing the network management server to adjust the slice to which the robot establishes the PDU session according to the adjustment request, so that the network management server adjusts the PDU session from the first network slice to the network slice corresponding to the target network slice identifier.
[0049] After the network management server obtains the adjustment request sent by the UPF network element, which includes the PDU session identifier and the target network slice identifier, it executes step 205.
[0050] Step 205: The network management server sends an adjustment request to NEF.
[0051] After receiving the adjustment request, the network management server forwards the adjustment request to the NEF. As the entry point for the 5G core network to open its capabilities to external applications, the NEF is responsible for authenticating and forwarding the adjustment request.
[0052] Step 206: NEF sends the adjustment request to the Policy Control Function (PCF).
[0053] After receiving an adjustment request from the network management server, the NEF verifies the validity of the request (e.g., whether the network management server has the authority to perform the operation). If the verification is successful, the NEF forwards the adjustment request to the policy control function (PCF). The NEF then instructs the PCF to adjust the network slice of the PDU session to the network slice corresponding to the target network slice identifier.
[0054] Specifically, NEF sends adjustment requests by calling the policy control service interface (Npcf) provided by PCF. PCF, as the policy decision-making center of the 5G core network, is responsible for formulating and issuing QoS policies, slice selection policies, etc.
[0055] Step 207: PCF adjusts the network slice of the PDU session to the network slice corresponding to the target network slice identifier.
[0056] After receiving the adjustment request from NEF, PCF triggers the PDU session modification process to modify the QoS reliability policy of the PDU session, so as to adjust the network slice used by the current PDU session to the target network slice corresponding to Slice_ID.
[0057] In some embodiments, the PCF generates a corresponding slice adjustment policy based on the target network slice identifier in the adjustment request. The PCF then distributes the generated slice adjustment policy to the Session Management Function (SMF). The SMF distributes new packet detection rules and forwarding action rules to the UPF network element through the N4 interface, triggering the PDU session modification process to adjust the network slice to which the PDU session is attached from the current first network slice to the target network slice corresponding to the target network slice identifier.
[0058] After the adjustment is completed, the PDU session will receive network resource guarantees (such as low latency, high reliability, or high bandwidth) provided by the target network slice, and subsequent DDS messages transmitted through this PDU session will be processed through the target network slice.
[0059] The robot-oriented network control method provided in this application acquires Data Distribution Service (DDS) messages sent by the robot via multicast through the User Plane Function (UPF) network element. Reliability parameters and topic parameters are extracted from the DDS messages, and a search is performed in the first database based on these parameters to determine the corresponding target network slice identifier. This achieves matching between 5G network resources and robot communication needs. When the target network slice identifier is found, the UPF network element sends an adjustment request, including the PDU session identifier and the target network slice identifier, to the network management server. This prompts the network management server to adjust the PDU session from the first network slice to the target network slice corresponding to the target network slice identifier, thereby achieving dynamic adjustment of network slices based on the reliability and topic parameters of the DDS message itself.
[0060] In some embodiments, when the UPF network element performs step 203 and no target network slice is found, the UPF network element sends a query request to the network management server. The query request includes the reliability parameter and the topic parameter. The query request is used to enable the network management server to retrieve the corresponding target network slice identifier in the second database based on the reliability parameter and the topic parameter; obtain the target network slice identifier returned by the network management server; generate a data record based on the reliability parameter, the topic parameter and the target network slice identifier, and store it in the first database.
[0061] When a UPF network element fails to find the target network slice, it can actively query the second database to obtain the target network slice identifier, thus enabling dynamic learning and self-improvement of the first database. Subsequent DDS messages with the same reliability and topic parameters can be directly retrieved from the first database without repeatedly querying the network management server, improving processing efficiency and ensuring that even new message types appearing for the first time can obtain the correct network slice configuration.
[0062] In some embodiments, the UPF network element may not set up a local database (first database), but only configure a local database (second database) on the network management server side. Each time the UPF network element receives a DDS message sent by the robot, it directly sends a query request to the network management server based on the reliability parameters and topic parameters in the DDS message. The network management server then queries and matches the second database according to the query request to find and determine the target network slice identifier used to transmit the DDS message.
[0063] The above configuration simplifies the implementation complexity of UPF network elements, eliminating the need to deploy additional storage and synchronization mechanisms on the UPF network element side. This eliminates the need for UPF network elements to maintain a local database, reducing the deployment cost and maintenance difficulty of UPF network elements.
[0064] In other embodiments, the determination of the target network slice can be performed without using UPF network elements, but can be determined directly through communication between the robot and the network management server. Specifically, before sending the DDS message, the robot can first send a query request directly to the network management server, so that the network management server can retrieve the second database based on the topic parameters and reliability parameters in the query request. If configuration data matching the topic parameters and reliability parameters exists in the second database, the target network slice identifier in the configuration data is returned to the robot.
[0065] After receiving the target network slice identifier from the network management server, the robot sends a PDU session establishment request to the UPF network element using the network slice corresponding to the target network slice.
[0066] If no matching data exists in the second database, a matching failure instruction is returned to the robot, so that the robot can send DDS messages for the current topic parameters and reliability parameters based on the default network slice.
[0067] The above method allows the robot to predetermine the corresponding target network slice configuration before sending DDS messages, without triggering network slice switching during the DDS message sending process. This avoids the signaling overhead and brief delays caused by network slice switching during DDS message sending.
[0068] Furthermore, the robot can proactively select to establish multiple PDU sessions attached to different network slices based on different topic parameters, so that DDS messages with different topics and different reliability requirements can be transmitted in parallel through their respective PDU sessions without interference, further improving communication efficiency and network resource utilization.
[0069] Figure 3 A flowchart illustrating a network control method for robots according to another embodiment of this application is shown, as follows: Figure 3 As shown, the method also includes: Step 211: The UPF network element obtains the Simple Endpoint Discovery (SEDP) message sent by the robot.
[0070] When the robot first creates a DDS publisher and declares a topic, it automatically sends a Simple Endpoint Discovery Protocol (SEDP) message via broadcast or multicast over the 5G network through a PDU session. The SEDP message is used to exchange endpoint information among participants and contains parameters for the topic published by the robot, as well as reliability parameters.
[0071] Step 212: The UPF network element obtains reliability parameters and topic parameters from the SEDP message.
[0072] UPF network elements detect SEDP messages sent by robots from PDU sessions using deep packet inspection, and then read and extract the topic parameters and reliability parameters from the SEDP messages.
[0073] Step 213: The UPF network element sends reliability parameters and topic parameters to the network management server.
[0074] The UPF network element encapsulates the extracted topic parameters and reliability parameters into a query request and sends it to the network management server. The query request is used to ask the network management server: for a DDS message with current topic parameters and current reliability parameter requirements, which network slice should be assigned for message transmission?
[0075] After the network management server obtains the reliability parameters and topic parameters sent by the UPF network element, it executes step 214.
[0076] Step 214: The network management server retrieves the corresponding target network slice identifier from the second database based on the reliability parameters and topic parameters.
[0077] The network management server uses reliability parameters and topic parameters as a combined index to search the second database to determine if matching configuration data exists. The second database is the local database corresponding to the network management server, which pre-stores configuration data pre-entered by the network administrator, in the following format:<Reliability, Topic, Slice_ID> .
[0078] When the network management server finds matching configuration data, it obtains and determines the target network slice identifier (Slice_ID).
[0079] When the network management server finds that no matching configuration data exists, it returns a query failure response or a default network slice identifier to the UPF network element.
[0080] Step 215: The network management server sends the target network slice identifier to the UPF network element.
[0081] After the network management server successfully retrieves configuration data matching the reliability and topic parameters from the second database, it encapsulates the target network slice identifier (Slice_ID) from the configuration data into a response message and sends it to the UPF network element that initiated the query request. The target network slice identifier is used to indicate that subsequent DDS service messages with the same reliability and topic parameters should be transmitted through the PDU session attached to the target network slice to obtain network resource guarantees (such as low latency, high reliability, or high bandwidth) that match the capabilities of the target network slice.
[0082] If the network management server does not find matching configuration data, it returns a query failure response to the UPF network element. At this time, the UPF network element can handle it according to the default policy, such as keeping the first network slice to which the current PDU session is attached unchanged, or using the preset default network slice identifier.
[0083] Step 216: The UPF network element generates data records based on reliability parameters, topic parameters, and target network slice identifiers, and stores them in the first database.
[0084] After receiving the target network slice identifier returned by the network management server, the UPF network element combines the reliability parameters, topic parameters, and the received target network slice identifier involved in this query into a data record, and stores this data record in the first database corresponding to the UPF network element. The format of the data record is as follows:<Topic, Reliability,Slice_ID> .
[0085] Figure 4 A flowchart illustrating a network control method for robots according to another embodiment of this application is shown, as follows: Figure 4 As shown, the method also includes: Step 221: The UPF network element obtains the Simple Participant Discovery SPDP message sent by the robot.
[0086] After the robot completes 5G network registration and establishes a PDU session, it creates a DDS communication domain locally and sends SPDP messages via multicast in the 5G network. The SPDP messages are used to announce the participant's presence within the DDS domain and contain a communication domain identifier to identify the DDS communication domain the robot belongs to or wants to join. The UPF network element uses deep packet inspection technology to obtain the SPDP messages sent by the robot from the PDU session.
[0087] Step 222: The UPF network element obtains the communication domain identifier from the SPDP message.
[0088] After receiving an SPDP message from a robot, the UPF network element parses the SPDP message and reads the communication domain identifier from it. The communication domain identifier is a parameter in the DDS protocol used to logically isolate different communication spaces. Robots within the same communication domain can discover and communicate with each other, while robots in different communication domains cannot interact directly.
[0089] Step 223: The UPF network element sends the robot's relevant information to the network management server.
[0090] The UPF network element encapsulates the robot's relevant information into a reporting message and sends it to the network management server.
[0091] The relevant information includes: robot address (terminal IP), data network name DNN, network slice identifier S-NSSAI, and communication domain identifier ID.
[0092] The relevant information can be in the form of: <Terminal IP, DNN, S-NSSAI, Domain ID>. Here, DNN is the data network name used by the PDU session transmitting SPDP messages, and S-NSSAI is the network slice identifier used by the PDU session transmitting SPDP messages. This information enables the network management server to add the robot to the target virtual network group (VN) corresponding to the communication domain identifier, and the target VN group corresponds to the PDU session established using the reported DNN and S-NSSAI.
[0093] Step 224: The network management server sends a join request to NEF based on the relevant information.
[0094] After receiving the relevant information reported by the UPF, the network management server sends a join request to the NEF, requesting the NEF to add the terminal device (robot) corresponding to the robot address to the target virtual network (VN) group corresponding to the communication domain identifier.
[0095] As an example, a request message sent by the network management server to NEF may include the following: Request type: VN group member addition Terminal Identifier: 192.168.1.100 (IP address of Robot A) Target VN group identifier: Communication domain ID=123 VN group context: DNN="internet", S-NSSAI="1" (eMBB slice) In this context, the communication domain identifier is the external identifier of the target virtual network group. A communication domain in the DDS protocol is a logical communication space where robots within the same domain can discover and communicate with each other. The method described above, mapping communication domains to VN groups in the 5G network, allows multicast communication within the DDS communication domain to leverage the native multicast capabilities of the 5G network.
[0096] In some embodiments, the relationship between the communication domain identifier and the VN group can be one-to-one, many-to-one, or one-to-many, depending on the configuration policy of the network management server.
[0097] The relevant information includes DNN and S-NSSAI, which are used to uniquely locate a VN group instance to ensure that the robot is added to the correct target virtual network group.
[0098] As an example, the same communication domain ID can correspond to different VN groups under different DNN and S-NSSAI combinations. For instance, communication domain ID=100 corresponds to one VN group under DNN="factory_a" and S-NSSAI="eMBB", while it corresponds to another VN group under DNN="factory_b" and S-NSSAI="URLLC".
[0099] The network management server associates the communication domain configuration of the DDS layer with the VN group configuration of the 5G network, realizing automatic mapping from the application layer logical domain to the network layer virtual network group. Subsequently, the robot only needs to send a multicast message once, and the 5G network can automatically copy and forward it to all members in the VN group using the VN group capability, eliminating the need for the robot to send it repeatedly.
[0100] Step 225: NEF adds the robot to the target virtual network group corresponding to the communication domain identifier.
[0101] The target virtual network group is established based on the data network name and network slice identifier.
[0102] After receiving the join request from the network management server, the NEF initiates a join request to the unified data management UDM, so that the UDM can modify the robot's VN group contract data according to the relevant information contained in the join request and add the robot to the specified target VN group.
[0103] UDM is a network element in the 5G core network that stores user subscription data. The subscription data of each robot UE includes the network service information that the UE is authorized to use, such as: the allowed data network name (DNN), the allowed network slice (S-NSSAI), the virtual network group (VN group) to which it belongs, and other QoS-related subscription parameters.
[0104] In some possible embodiments, the membership of VN groups is stored in the UDM as part of the contract data.
[0105] In some embodiments, after modifying the robot's VN group contract data, the UDM can also return a response to the NEF indicating whether the modification was successful or failed, based on the modification result.
[0106] After the contract data is modified, the updated target VN group membership will take effect immediately or when the next PDU session is established.
[0107] Using the robot-oriented network control method provided in this application, when a robot creates a publisher, it broadcasts reliability parameters and topic parameters within the DDS communication domain via Simple Endpoint Discovery Protocol (SEDP) messages. This allows other robots within the communication domain to discover the topic and establish communication relationships. After successful communication, robots can send DDS messages to each other or to the robot control platform through configured QoS policies. These DDS service messages contain data such as the robot's operating status, location information, and control commands, ensuring normal collaborative operation among multiple robots and normal network communication.
[0108] Based on the same inventive concept, this application also provides a robot-oriented network control device corresponding to the robot-oriented network control method. Since the principle of the device in this application is similar to that of the robot-oriented network control method described above, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.
[0109] Figure 5 The diagram illustrates a network control method for robots according to an embodiment of this application, as shown below. Figure 5 As shown, the device includes: a first acquisition module 310, a first determination module 320, and a first transmission module 330; wherein: The first acquisition module 310 is used to acquire Data Distribution Service (DDS) messages sent by the robot via multicast; wherein the DDS messages are sent by the robot through Protocol Data Unit (PDU) sessions attached to the first network slice; and to acquire reliability parameters and topic parameters from the DDS messages. The first determination module 320 is used to search the first database based on reliability parameters and topic parameters to determine the corresponding target network slice identifier; the first database is the local database of the UPF network element; The first sending module 330 is used to send an adjustment request to the network management server when the target network slice identifier is retrieved. The adjustment request includes a PDU session identifier and a target network slice identifier, so that the network management server adjusts the PDU session from the first network slice to the target network slice corresponding to the target network slice identifier.
[0110] In some embodiments, the first acquisition module 310 is specifically used to acquire the Simple Endpoint Discovery (SEDP) message sent by the robot; and to acquire reliability parameters and topic parameters from the SEDP message; The first sending module 330 is specifically used to send reliability parameters and topic parameters to the network management server, so that the network management server can retrieve the corresponding target network slice identifier in the second database based on the reliability parameters and topic parameters; the second database is the local database corresponding to the network management server. The first acquisition module 310 is specifically used to acquire the target network slice identifier returned by the network management server; The first determining module 320 is specifically used to generate data records based on reliability parameters, topic parameters, and target network slice identifiers, and store them in the first database.
[0111] In some embodiments, the first acquisition module 310 is specifically used to acquire a Simple Participant Discovery (SPDP) message sent by the robot; and to acquire a communication domain identifier from the SPDP message; The first sending module 330 is specifically used to send relevant information about the robot to the network management server. The relevant information includes: robot address, data network name, network slice identifier, and communication domain identifier, so that the network management server can request the Network Open Function (NEF) to add the robot to the target virtual network group corresponding to the communication domain identifier based on the relevant information. The target virtual network group is established based on the data network name and network slice identifier.
[0112] In some embodiments, the first sending module 330 is specifically used to send a query request to the network management server when the target network slice identifier is not found. The query request includes reliability parameters and topic parameters. The query request is used to enable the network management server to retrieve the corresponding target network slice identifier in the second database based on the reliability parameters and topic parameters. The first acquisition module 310 is specifically used to acquire the target network slice identifier returned by the network management server; The first determining module 320 is specifically used to generate data records based on reliability parameters, topic parameters, and target network slice identifiers, and store them in the first database.
[0113] Figure 6 A schematic diagram of a robot-oriented network control according to another embodiment of this application is shown, such as... Figure 6 As shown, the device includes: a second acquisition module 410 and a second transmission module 420; wherein: The second acquisition module 410 is used to acquire the adjustment request sent by the UPF network element. The adjustment request includes the PDU session identifier and the target network slice identifier. The second sending module 420 is used to send an adjustment request to NEF so that NEF notifies the policy control function PCF to adjust the network slice of the PDU session to the network slice corresponding to the target network slice identifier.
[0114] In some embodiments, the second acquisition module 410 is specifically used to acquire Data Distribution Service (DDS) message configuration information; the message configuration information includes: reliability parameters, topic parameters, and network slice identifier; generate configuration data according to the message configuration message, and store the configuration data in a second database; the second database is a local database corresponding to the network management server.
[0115] In some embodiments, the second acquisition module 410 is specifically used to acquire the reliability parameters and topic parameters sent by the UPF network element; retrieve the corresponding target network slice identifier in the second database according to the reliability parameters and topic parameters; and send the target network slice identifier to the UPF network element so that the UPF network element generates a data record based on the target network slice identifier and stores it in the first database.
[0116] In some embodiments, the second acquisition module 410 is specifically used to acquire relevant information about the robot sent by the UPF network element. The relevant information includes: robot address, data network name, network slice identifier, and communication domain identifier. The second sending module 420 is specifically used to send a join request to NEF based on relevant information, in order to request NEF to join the robot to the target virtual network group corresponding to the communication domain identifier; wherein, the target virtual network group is established based on the data network name and network slice identifier.
[0117] The processing flow of each module in the device and the interaction flow between each module can be referred to the relevant descriptions in the above method embodiments, and will not be detailed here.
[0118] Figure 7 This application provides a schematic diagram of the structure of a user plane function network element according to an embodiment of the present application. Figure 7 As shown, the User Plane Function (UPF) network element includes a processor 51 and a memory 52, and optionally, a bus 53. The memory 52 stores machine-readable instructions executable by the processor 51. When the UPF network element is running, the processor 51 and the memory 52 communicate via the bus 53. When the machine-readable instructions are executed by the processor 51, the steps of the network control method described above are performed.
[0119] Figure 8 This illustration shows a schematic diagram of the structure of a network management server provided in an embodiment of this application, as shown below. Figure 8 As shown, the network management server includes a processor 61 and a memory 62, and optionally, a bus 63. The memory 62 stores machine-readable instructions executable by the processor 61. When the network management server is running, the processor 61 and the memory 62 communicate via the bus 63. When the machine-readable instructions are executed by the processor 61, the steps of the network control method described above are performed.
[0120] This application also provides a computer-readable storage medium storing a computer program, which is executed by a processor. Figures 2-4 The steps of any method.
[0121] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.
[0122] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.
[0123] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.
Claims
1. A network control method for robots, characterized in that, The method, applied to User Plane Function (UPF) network elements, includes: Obtain the Data Distribution Service (DDS) message sent by the robot via multicast; wherein the DDS message is sent by the robot through a Protocol Data Unit (PDU) session attached to the first network slice; Obtain reliability parameters and topic parameters from the DDS message; The corresponding target network slice identifier is determined by searching the first database based on the reliability parameters and the topic parameters; the first database is the local database of the UPF network element. When the target network slice identifier is retrieved, an adjustment request is sent to the network management server. The adjustment request includes the PDU session identifier and the target network slice identifier, so that the network management server adjusts the PDU session from the first network slice to the target network slice corresponding to the target network slice identifier.
2. The method according to claim 1, characterized in that, The method further includes: Obtain the Simple Endpoint Discovery (SEDP) message sent by the robot; Obtain the reliability parameter and the topic parameter from the SEDP message; The reliability parameter and the topic parameter are sent to the network management server to obtain the network management server to retrieve the corresponding target network slice identifier in the second database based on the reliability parameter and the topic parameter; the second database is the local database corresponding to the network management server. Obtain the target network slice identifier returned by the network management server; Data records are generated based on the reliability parameters, the topic parameters, and the target network slice identifier, and stored in the first database.
3. The method according to claim 1, characterized in that, The method further includes: Obtain the Simple Participant Discovery SPDP message sent by the robot; Obtain the communication domain identifier from the SPDP message; The relevant information of the robot is sent to the network management server. The relevant information includes: robot address, data network name, network slice identifier, and communication domain identifier, so that the network management server requests the Network Open Function (NEF) to add the robot to the target virtual network group corresponding to the communication domain identifier based on the relevant information; wherein, the target virtual network group is established based on the data network name and the network slice identifier.
4. The method according to claim 1, characterized in that, The method further includes: If the target network slice identifier is not found, a query request is sent to the network management server. The query request includes the reliability parameter and the topic parameter. The query request is used to enable the network management server to retrieve the corresponding target network slice identifier in the second database based on the reliability parameter and the topic parameter. Obtain the target network slice identifier returned by the network management server; Data records are generated based on the reliability parameters, the topic parameters, and the target network slice identifier, and stored in the first database.
5. A network control method for robots, characterized in that, Applied to a network management server, the method includes: Obtain the adjustment request sent by the UPF network element, wherein the adjustment request includes the PDU session identifier and the target network slice identifier; The adjustment request is sent to the NEF so that the NEF notifies the Policy Control Function (PCF) to adjust the network slice of the PDU session to the network slice corresponding to the target network slice identifier.
6. The method according to claim 5, characterized in that, The method further includes: Obtain the Data Distribution Service (DDS) message configuration information; the message configuration information includes: reliability parameters, topic parameters, and network slice identifier; Configuration data is generated based on the message configuration message, and the configuration data is stored in the second database; the second database is the local database corresponding to the network management server.
7. The method according to claim 6, characterized in that, The method further includes: Obtain the reliability parameters and topic parameters sent by the UPF network element; Based on the reliability parameters and the topic parameters, retrieve the corresponding target network slice identifier in the second database; The target network slice identifier is sent to the UPF network element, so that the UPF network element generates a data record based on the target network slice identifier and stores it in the first database.
8. The method according to claim 5, characterized in that, The method further includes: Obtain relevant information about the robot sent by the UPF network element, including: robot address, data network name, network slice identifier, and communication domain identifier; Based on the relevant information, a join request is sent to the NEF to request the NEF to add the robot to the target virtual network group corresponding to the communication domain identifier; wherein, the target virtual network group is established based on the data network name and the network slice identifier.
9. A User Plane Function (UPF) network element, characterized in that, include: The processor and memory, wherein the memory stores machine-readable instructions executable by the processor, and when the UPF network element is running, the processor executes the machine-readable instructions to perform the steps of the network control method as described in any one of claims 1 to 4.
10. A network management server, characterized in that, include: A processor and a memory, the memory storing machine-readable instructions executable by the processor, which, when the network management server is running, are executed by the processor to perform the steps of the network control method as described in any one of claims 5 to 8.