Mobile station, time synchronization control device, cooperative operating control device, communication system, synchronization control procedure, control circuit and storage medium

Abstract

A mobile station (13) operates as a master mobile station, which, in a network comprising a plurality of mobile stations capable of terminal-to-terminal communication and implementing time synchronization communication, transmits control information through terminal-to-terminal communication, wherein the control information is generated by a cooperative operating control unit that controls a controlled device, taking into account a transmission delay time in an information transmission path to and from the controlled device, and comprises: a scheduler unit (132) that determines and modifies a radio resource to be used in terminal-to-terminal communication with a remote mobile station, which is a mobile station to which the controlled device, a destination of the control information, is connected;and a time synchronization unit (131) that checks whether a temporal position of the radio resource has been changed when the radio resource has been changed by the scheduler unit, and a time synchronization control unit (11) that calculates the transmission delay time and notifies of a change in the temporal position in a case where the temporal position has been changed.

Description

Area

[0001] The present disclosure relates to a mobile station, a time synchronization control device and a cooperative operating control device forming a communication system that performs time synchronization communication, a communication system, a synchronization control method, a control circuit and a storage medium. background

[0002] In recent years, a system has been developed in which a large number of industrial instruments are networked and operated collaboratively. A wide range of applications can be utilized within such a system. For example, a system has been implemented in a factory production line where several robot arms are networked and time-synchronized based on a command from a specific control unit, allowing them to perform manufacturing tasks collaboratively. Many options exist for such a network, and a variety of standards are available under names such as fieldbus, industrial Ethernet (registered trademark), and similar terms.The cooperation and interaction of numerous instruments via a network enables responses to emergency situations, the sharing and use of sensor information, and the establishment of a safe and efficient system. With regard to fieldbuses, industrial Ethernet, and similar technologies, strict time synchronization between instruments is essential. Therefore, their implementation is designed to minimize signal transmission delays, and a standard called Time-Sensitive Networking (TSN), which performs this time synchronization, is widely used.

[0003] In contrast, the development of time-synchronization communication using wireless communication technology, known as Time-Sensitive Communication (TSC), has begun to manage high-mix, low-volume manufacturing and to integrate not only a production line but also a moving object, such as an automated guided vehicle (AGV), into a network. An example of this is the fifth-generation (5GS) system, which is being investigated within the framework of the Third-Generation Partnership Project (3GPP (registered trademark)), which standardizes mobile communication systems.

[0004] For example, patent literature 1 describes a technology for a TSC network with a core device, a base station which is a radio access device, a mobile station which is a terminal device, and a TSN translator. Fig. 2 of patent literature 1 illustrates a configuration in which an end station, which is a network configuration instrument in a TSN working domain outside the core facility, and an end station connected to the terminal device are connected via the 5GS, and time synchronization communication is carried out between the two instruments. Reference list of patent literature

[0005] Patent literature 1: WO 2021 / 059538 A1 Summary of the technical problem

[0006] In a scenario where terminal stations are interconnected in synchronous operation via the 5GS and another wired network or similar, the 5GS, providing a time synchronization service, acts as a virtual TSN bridge from the perspective of the terminal stations. The virtual TSN bridge, which the 5GS serves as, is intended to maintain a constant delay time by equipping a TSN translator or similar device with a buffer capable of holding back a data signal.

[0007] Generally speaking, a planner functional unit in a base station belonging to the 5GS allocates the radio resources required for information transmission in such a way that the propagation delay between nodes forming a virtual TSN is as constant as possible.

[0008] One of the functions of a mobile communication system is a feature that allows terminal devices to communicate directly with each other without going through a base station (referred to in some cases below as terminal-to-terminal communication). This feature is standardized by 3GPP, and it may be applied to the synchronous operation described above. That is, it is possible for a segment where terminal devices communicate directly with each other to be included in a path for transmitting information to multiple terminal devices operating synchronously. However, the allocation of radio resources to be used for terminal-to-terminal communication typically occurs between the terminal devices themselves, and the scheduler function unit in the base station is not involved.Therefore, it is difficult for the planner functional unit in the base station to perform control in such a way that the runtime delay between the nodes that form the virtual TSN is as constant as possible.

[0009] The present disclosure was made in consideration of the above statements, and its purpose is to provide a mobile station capable of realizing synchronization control of a multitude of instruments connected via a network that includes a section in which terminal devices communicate directly with each other. Solution to the problem

[0010] To overcome the problems described above and solve the task, the present disclosure provides a mobile station that operates as a master mobile station, transmitting control information through end-to-end communication in a network comprising a multitude of mobile stations capable of end-to-end communication and implementing time-synchronization communication. The control information is generated by a cooperative operating control unit, which controls a controlled device, taking into account a transmission delay time in an information transmission path to and from the controlled device. The mobile station features: a planner unit to determine and change a radio resource to be used in terminal-to-terminal communication with a remote mobile station, which is a mobile station to which the controlled facility, a target of the control information, is connected; a time synchronization unit to check whether a temporal position of the radio resource has changed when the radio resource has been changed by the planner unit, and to notify a time synchronization control unit, which calculates the transmission delay time, of any change in the temporal position in a case where the temporal position has changed. Advantageous effects of the invention

[0011] The mobile station according to the present disclosure achieves the effect that a synchronization control of a large number of instruments can be realized, which are connected via a network that includes a section in which terminal devices communicate directly with each other. Brief description of the drawings Fig. Figure 1 is a representation illustrating information used for packet control of time synchronization communication. Fig. Figure 2 is a representation illustrating an example of an application of a communication system according to a first embodiment. Fig. Figure 3 is a representation illustrating an exemplary configuration of a network assumed in the first embodiment. Fig. Figure 4 is a representation illustrating an exemplary configuration of the communication system according to the first embodiment. Fig. Figure 5 is a representation showing an example of a frame format used when a mobile station performs terminal-to-terminal communication in 5GS. Fig. Figure 6 is a representation illustrating an example of a control information transmission operation in the communication system according to the first embodiment. Fig. Figure 7 is a representation illustrating a first example operation of the communication system according to the first embodiment. Fig. Figure 8 is a representation illustrating a second example operation of the communication system according to the first embodiment. Fig. Figure 9 is a flowchart illustrating an example of the operation of the communication system according to the first embodiment. Fig. Figure 10 is a representation illustrating an example of a processing circuit in a case where a processing circuit realizing mobile stations forming the communication system according to the first embodiment is realized by a processor and a working memory. Fig. Figure 11 is a representation illustrating an example of a processing circuit in a case where a processing circuit realizing mobile stations forming the communication system according to the first embodiment is realized by dedicated hardware. Fig. Figure 12 is a representation illustrating an exemplary configuration of a communication system according to a second embodiment. Fig. Figure 13 is a representation illustrating an example of a sensor information transmission operation in the communication system according to the second embodiment. Description of embodiments

[0012] In the following, a mobile station, a time synchronization control device, a cooperative operating control device, a communication system, a synchronization control method, a control circuit and a storage medium according to each embodiment of the present disclosure are described in detail with reference to the drawings. First embodiment.

[0013] As a comparative example, a method is first described in which synchronization control is implemented via a network that does not contain a section in which end devices communicate directly with each other.

[0014] As described above, in a 5GS providing a time synchronization service, a scheduler functional unit in a base station allocates radio resources to keep the propagation delay between nodes as constant as possible. However, a problem arises: due to the influence of a frequency offset between a grandmaster clock on a TSN working domain to which an end station belongs and a clock source possessed only by the 5GS, traffic from another user to whom the 5GS is simultaneously offering service, or similar factors, the propagation delays may not align. For example, the arrival timing of an information packet from the end station and the allocation timing of a radio resource may not match. To address this issue, a timing error adjustment mechanism is also introduced. For example, Table 5.27.2-1 of 3GPP TS23.501 V17.2.0 (2021-09) lists the following: Fig. The time-critical communication support information (TSCAI) shown in Figure 1 is defined as information for controlling a TSC packet. In the system of the comparison example, which implements the time synchronization service, a transmission delay time is reduced by the TSCAI specifying a period for the information packet transmitted from the terminal station and its arrival timing in the 5GS. Some information from the TSCAI is transferred by an access and mobility management function (AMF), which is part of the core functions, to (R)AN and user equipment (UE) and used for scheduling wireless transmission. An example of the use of the TSCAI for scheduling (R)AN is also disclosed in paragraph 0058 of the patent literature described above. The UE is also referred to as a terminal or mobile station.

[0015] The method described above for reducing latency using TSCAI requires the presence of a 5GS core functional unit and therefore cannot be applied to a system that includes a section where end devices communicate directly with each other. Therefore, it is desirable to implement a method that does not require the 5GS core functional unit.

[0016] Next, a communication system according to the present embodiment will be described. Fig. Figure 2 is a representation illustrating an example of an application of a communication system according to a first embodiment. Fig. Figure 2 shows an example of a cooperative conveying device that moves a load 150 through a plurality of drive units. In this application, the respective end stations, controlled by four UEs, are connected to motors, each forming a drive unit, and control a speed and direction of movement. In this case, the speeds and directions of the four drive units must be precisely coordinated to move the load 150 efficiently, and low-latency communication is required. In other words, the wiring is replaced by a wireless connection in an application such as servo control, which is conventionally directly connected by wire and controlled with a fixed delay. In the present embodiment, the wireless connection that is to be replaced by wiring is implemented through end-to-end communication.

[0017] Fig. Figure 3 is a representation illustrating an exemplary configuration of a network assumed in the first embodiment. The network assumed in the present embodiment comprises a plurality of UEs and a direct communication path between the UEs, that is, a section in which the end-device-to-end-device communication takes place. This network is referred to as a local wireless inter-UE TSC network. In the Fig. In the use case shown in Figure 2, for example, one of the UEs serves as a master mobile station (Master UE) and transmits control information to controlled instruments (in some cases also referred to as controlled devices) 301 to 303, 311 to 313, and 321 to 323 under the control of the Master UE and other remote mobile stations (Remote UEs) to achieve the desired operation across the entire TSC network. In 3GPP, a connection in terminal-to-terminal communication is referred to as a Sidelink (SL). Fig. 3. The double arrows labeled "SL" indicate the connection in terminal-to-terminal communication.

[0018] Fig. Figure 4 is a representation showing an example configuration of a communication system 100 according to the first embodiment. Fig. 4. Each mobile station is referred to as "UE". The same applies to the figures to be used in the following description.

[0019] The communication system 100 according to the present embodiment comprises a master mobile station 13 and a plurality of remote mobile stations 23 (the remote mobile stations 23-1 and 23-2 are in Fig. (Figure 4). A network comprising the master mobile station 13 and the numerous remote mobile stations 23 implements time synchronization communication. The master mobile station 13 and the remote mobile stations 23 each have end-to-end communication capabilities and can communicate directly with other mobile stations without going through the base station. In communication system 100, the master mobile station 13 communicates directly with each of the remote mobile stations 23-1 and 23-2.

[0020] The master mobile station 13 is connected to an application control unit 10 via a facility-side Tsn translator (DS-TT) 12. The application control unit 10 controls an application that is implemented via a time synchronization network formed by the master mobile station 13 and the remote mobile stations 23-1 and 23-2. The DS-TT is defined in the document "3GPP TS23.501 V17.2.0 (2021-09)" described above and performs a process to implement a time synchronization function. A controllable facility 15 is connected to the application control unit 10 and can be controlled without being connected via a wireless link.

[0021] The master mobile station 13 comprises a time synchronization unit 131, which controls a TSC function as a mobile station; a planner unit 132, which determines a radio resource to be used in terminal-to-terminal communication; and a wireless functional unit 133, which performs a transmission / receive process of a wireless signal. A grand master clock (GM) 14, which provides a reference clock for the time synchronization network, is connected to the master mobile station 13. It should be noted that the reference clock is not necessarily an independent functional block, and that time information reproduced by a GPS receiver or time information generated by an oscillator built into the mobile station can be used.

[0022] A time synchronization control unit 11, which controls the TSC function of the entire system including the master mobile station 13 and the multitude of remote mobile stations 23, is provided between the master mobile station 13 and the application control unit 10.

[0023] The remote mobile stations 23-1 and 23-2 also have the same configuration as the master mobile station 13, but in Fig. The corresponding components are designated with different reference numbers. The remote mobile stations 23-1 and 23-2 each contain a time synchronization unit 231, which has a similar function to the time synchronization unit 131 of the master mobile station 13, a scheduler unit 232, which has a similar function to the scheduler unit 132 of the master mobile station 13, and a wireless function unit 233, which has a similar function to the wireless function unit 133 of the master mobile station 13. The remote mobile stations 23 are each connected to a control device 25 via a DS-TT 22, which performs a similar process to the DS-TT 12 described above. In 3GPP, a wireless interface on the SL is referred to as a PC5.

[0024] The application control unit 10 and the time synchronization control unit 11 are, for example, provided in a control device which controls the operation of the devices 15 and 25 to be controlled.

[0025] It should be noted that Fig. Figure 4 shows an example where the device to be controlled is not connected to the master mobile station 13, but similarly to the one in Fig. In the example shown, a configuration can be used in which the facility to be controlled is connected to the master mobile station 13.

[0026] Next, the operation of the communication system 100 according to the first embodiment is described. The application control unit 10 generates control information for the operation of a desired application. The in Fig. The cooperative transport system shown in Figure 2 serves as an example. In this example, the application control unit 10 generates control information such as speed, direction, and torque for the control unit 15, which is under its control, and for the control units 25, each of which is under the control of one of the multiple remote mobile stations 23. This control information can be expressed in various ways; for example, it is also possible to send a notification about the angle information of each motor at a specific time, and the content of the control information is not limited.In the present embodiment, one objective is to define a delay time for the control information, which is the time required for the control information to arrive at the controlled devices 15 and 25 after the application control unit 10 has issued the control information. The application control unit 10 therefore generates and issues the control information taking this delay time into account. To transmit the control information from the application control unit 10 to the controlled devices 25 under the control of the remote mobile stations 23, a specific communication session is established, radio resources are allocated, and the control information is transmitted.

[0027] Fig. Figure 5 is a representation showing an example of a frame format used when a mobile station performs terminal-to-terminal communication in 5GS. A portion of the uplink (UL) resources, which are reserved for transmission from a mobile station to a base station during communication between the mobile station and the base station, is allocated to the SL. A resource that can be allocated to the SL is a region (or area) specified in a time and frequency domain, referred to as an SL resource pool. This region can be positioned very discretely with respect to time.

[0028] Fig. Figure 6 is a representation illustrating an example of a control information transmission operation in the communication system 100 according to the first embodiment. Fig. Figure 6 shows an example in which control information is transmitted from the application control unit 10 to the controlled device 25 under the control of the remote mobile station 23 with a control period of 5 ms. Vertically elongated rectangles on a top level each indicate a wireless communication resource. A reference symbol “U” represents a UL resource, and a reference symbol “D” represents a downlink (DL) resource. A filled circle symbol “•” also indicates that it is a resource allocated for end-to-end communication.

[0029] For an application that performs periodic control, as in Fig. As shown in Figure 6, a resource allocation process called semi-persistent scheduling is performed. The planner unit 132 of the master mobile station 13 continuously ensures radio resources with a period of 5 ms, as shown in Figure 6. Fig. Figure 6 illustrates this. In particular, the application control unit 10 issues an information transfer request with a period of 5 ms to the time synchronization control unit 11, and the time synchronization control unit 11 instructs the time synchronization unit 131 of the master mobile station 13 to secure a resource with a period of 5 ms for end-to-end communication with the remote mobile stations 23. The time synchronization unit 131 instructs the scheduler unit 132 to secure a suitable resource, taking into account any conflict with a communication resource that is to be used in another session. Fig. 6 corresponds to a master DS-TT as in Fig. 4 DS-TT 12 shown, and a remote DS-TT corresponds to the one in Fig. 4 DS-TT 22 shown.

[0030] In the case of the tax information transmission operation in which in Fig. In the example shown in Figure 6, the application control unit 10 generates control information at time Ts and transmits this information to the controlled facility 25 via the master DS-TT (DS-TT 12), the master UE (master mobile station 13), the remote UE (remote mobile station 23), and the remote DS-TT (DS-TT 22). It should be noted that time Ts is assumed to be relative to a master timing of a 5GS radio frame or relative to any timing corresponding to the 5GS radio frame, but it could also be an absolute time outside of 5GS, such as World Standard Time. Assuming a transmission delay time in 5GS of Td1, the application control unit generates and transmits control information to the controlled facility 25 at time Ts+Td1. In the example shown in Figure 6, the transmission delay time in 5GS is Td1. Fig. In the example shown, the next information transmission timing is Ts+5 ms. Since the transmission delay time Td1 in the 5GS is different for each session, the application control unit 10 generates and transmits control information for each session at different timings. In a case where there are multiple facilities 25 to be controlled under the control of a single remote mobile station 23, multiple sessions can be established between the master mobile station 13 and the remote mobile station 23. At that time, the control information for each of the facilities 25 to be controlled is generated and transmitted at different timings, even under the control of the same remote mobile station 23.

[0031] Here, according to a 5GS standard, it is necessary to periodically change the position where the SL resource for end-to-end communication is secured for a given session. This operation is called "resource reselection." At the time of resource reselection, there is no problem if a radio resource can be secured at a different frequency position in a slot at the same timing, but there is also the case where a radio resource is secured in a different slot. Fig. Figure 7 is a representation which depicts a first example operation of the communication system 100 according to the first embodiment. Fig. Figure 7 shows a control information transmission operation in a case where a resource reselection is performed during terminal-to-terminal communication. Fig. Figure 7 shows an example operation in a case where a slot is secured at a different timing than a previous timing during a resource reselection, specifically an operational example in a case where the position of a radio resource to be secured is shifted back by two slots. In this example, the timing for the radio resource to be secured for control information transmission is delayed by 1 ms relative to a transmission timing of the application control. Variations in the delay time are absorbed to some extent by the buffering of the DS-TT 22, but in a case where the buffer quantity is reduced to decrease the delay, the transmission delay time in the 5GS changes from Td1 to Td2. This leads to an inconsistency in the control information.

[0032] Processes to prevent the occurrence of such a problem are implemented in the communication system 100 according to the present embodiment. Specifically, the time synchronization unit 131 in the communication system 100 detects a change in the temporal position of the radio resource due to resource reselection and notifies the time synchronization control unit 11 of the difference, i.e., the amount of the change as a burst arrival time (BAT) offset. The time synchronization control unit 11 calculates a new transmission delay time Td2 in the 5GS based on the offset information, which is the BAT offset that the time synchronization unit 131 has notified the time synchronization control unit 11, and notifies the application control unit 10 of all or part of the information about the current BAT (=Ts), the transmission delay time in the 5GS, and the BAT offset.It should be noted that the transmission delay time Td2 can be calculated by the time synchronization unit 131. In this case, the time synchronization unit 131 notifies the time synchronization control unit 11 of the new transmission delay time Td2 together with the BAT offset.

[0033] Upon receiving notification of the information from the time synchronization control unit 11, which has calculated the new transmission delay time Td2 in the 5GS, the application control unit 10 performs one of the following two types of countermeasures.

[0034] One initial countermeasure is to change an assumed transmission delay time in the SGS. In the Fig. This countermeasure is implemented as illustrated in Example 7. Specifically, upon receiving a notification about the BAT offset and the transmission delay time Td2 from the time synchronization control unit 11, the application control unit 10 changes the transmission delay time in communication with the controlled device 25 under the control of the remote mobile station 23 to Td2. That is, the application control unit 10 changes the transmission delay time to the controlled device 25, which is to be used when generating the control information for the controlled device 25. Afterwards, the application control unit 10 generates control information at time Ts+Td2 and continues to control the system.

[0035] A second countermeasure is to change Ts, which is the timing at which the control information is transmitted from the application control unit 10 to the DS-TT 12. It is, of course, desirable that the transmission delay time from the application control unit 10 to the controlled device 25 be short. The second countermeasure is described with reference to Fig. 8 described.

[0036] Fig. Figure 8 is a representation depicting a second example operation of the communication system 100 according to the first embodiment. Similar to Fig. 7 shows Fig. Figure 8 shows a control information transfer operation in a case where a resource reselection is performed during terminal-to-terminal communication. Similar to Fig. 7 shows Fig. 8 is an example of a case in which the position of a radio resource, which must be ensured during a resource reselection, is moved backward by two slots compared to a previous position.

[0037] If a transmission timing on a wireless link is delayed by 1 ms due to resource reselection, the application control unit 10 delays BAT (=Ts) by 1 ms to minimize the transmission delay time. Assuming that the new transmission delay time in the 5GS is Td3, the application control unit 10 generates and transmits the control information at time Ts+Td3. Generally, Td1 and Td3 are assumed to have similar time intervals, but these intervals are not necessarily the same.

[0038] It should be noted that all functional units, including the application control unit 10 and the time synchronization control unit 11, which constitute the system, receive clock information synchronized with the GM 14 and are time-synchronized. This is not necessarily limited to being driven by the same clock, and a configuration can be used in which a frequency difference between a local clock and a GM clock is managed and corrected to achieve time synchronization. The clock information is transmitted via the Precision Time Protocol (PTP), an Access Stratum Timing Distribution (ASTI) system, or the like.

[0039] Fig. Figure 9 is a flowchart which presents an example of the operation of the communication system 100 according to the first embodiment. The flowchart in Fig. Figure 9 illustrates an operation in a case where a resource reselection is performed during end-to-end communication.

[0040] In communication system 100, the planner unit 132 of the master mobile station 13 first performs a resource reselection (step S11). Next, the time synchronization unit 131 checks whether a slot position has changed, that is, whether a temporal position of a radio resource was changed during the resource reselection (step S12). If the slot position has not changed (step S12: No), operation is terminated. If the slot position has changed (step S12: Yes), the application control unit 10 adjusts the transmission timing of the control information (step S13). In step S13, the transmission timing is adjusted using the procedure described above, in which the transmission delay time Td assumed in 5GS is changed (which is described in Fig. 7 procedures shown), or the procedure in which the BAT is amended (the one in Fig. 8 procedures shown), adapted.

[0041] As described above, in the communication system 100 according to the present embodiment, the master mobile station 13 checks whether the slot position has changed in a case where a resource reselection for terminal-to-terminal communication has been performed, and changes the transmission delay time assumed in the 5GS or the BAT if the slot position has changed. Consequently, even in a case where the slot position has changed due to a resource reselection for terminal-to-terminal communication in a network with a configuration that includes a segment to which terminal-to-terminal communication is applied, it is possible to implement synchronization control of a plurality of controlled devices.

[0042] It should be noted that the application control unit 10 and the time synchronization control unit 11 can be located in a single device that controls a multitude of devices using time synchronization communication, or they can be located in different devices. For example, the application control unit 10 can be located in a cooperative operating control device, and the time synchronization control unit 11 can be located in a time synchronization control device. Alternatively, a configuration can be used in which the time synchronization unit 131 of the master mobile station 13 performs the function of the time synchronization control unit 11; that is, the time synchronization unit 131 also functions as the time synchronization control unit 11.

[0043] Next, a hardware configuration of each component of Communication System 100 is described. For example, the wireless functional unit 133 of the master mobile station 13 and the wireless functional units 233 of the remote mobile stations 23-1 and 23-2 are each implemented by a transceiver. The time synchronization unit 131 and the scheduler unit 132 of the master mobile station 13, as well as the time synchronization units 231 and the scheduler units 232 of the remote mobile stations 23-1 and 23-2, are each implemented by a processing circuit. The processing circuit can be a processor that executes a program stored in working memory, or it can be dedicated hardware. The processing circuit is also referred to as a control circuit.

[0044] Fig. Figure 10 is a representation illustrating an example of a processing circuit 90 in a case where a processing circuit implementing the mobile stations (the master mobile station 13 and the remote mobile stations 23-1 and 23-2) that constitute the communication system 100 according to the first embodiment is implemented by a processor 91 and a working memory 92. The Fig. The processing circuit 90 shown in Figure 10 comprises the processor 91 and the main memory 92. Each function of the processing circuit 90 is implemented by software, firmware, or a combination of both. The software or firmware is described as a program and stored in the main memory 92. In the processing circuit 90, the processor 91 reads the program stored in the main memory 92 and executes it, thereby realizing the functions. That is, the processing circuit 90 contains the main memory 92 for storing a program that, as a result, executes a process of each mobile station that forms the communication system 100. It can also be said that this program is a program that causes the mobile station to execute the functions implemented by the processing circuit 90.This program can be provided through a storage medium on which the program is stored, or in other ways, such as through a communication medium.

[0045] Here, the processor 91, for example, is a central processing unit (CPU), a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a digital signal processor (DSP). The main memory 92, for example, is a non-volatile or volatile semiconductor memory, such as random access memory (RAM), read-only memory (ROM), flash memory, erasable programmable ROM (EPROM), or electrical EPROM (EEPROM) (registered trademark).

[0046] Fig. Figure 11 is a representation illustrating an example of a processing circuit 93 in a case where a processing circuit implementing the mobile stations that constitute the communication system 100 according to the first embodiment is formed by dedicated hardware. The in Fig. The processing circuit illustrated in Figure 93 corresponds, for example, to a single circuit, a compound circuit, a programmed processor, a parallel programmed processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination thereof. Part of the processing circuit may be implemented by dedicated hardware, and another part may be implemented by software or firmware. Thus, the processing circuit can implement any of the functions described above by dedicated hardware, software, firmware, or a combination thereof. Second embodiment.

[0047] In a tax system application, such as that found in Fig. As shown in Figure 2, it is generally necessary not only to transmit control information unilaterally, but also to acquire the state of a controlled device via a sensor and report this state back to the control device. Therefore, the present embodiment discloses a communication system that implements feedback from a controlled device.

[0048] Fig. Figure 12 is a representation showing an exemplary configuration of a communication system 100a according to a second embodiment. Fig. 12 are the components that correspond to those of the communication system 100 according to the in Fig. The components shown in Figure 4 of the first embodiment are identical and are identified by the same reference numerals as those in the communication system 100. Explanations of the components identified by the same reference numerals as in the communication system 100 are omitted.

[0049] Communication system 100 comprises the master mobile station 13 and a multitude of remote mobile stations 23a (remote mobile stations 23a-1 and 23a-2 are in Fig. 12). The remote mobile stations 23a each comprise a time synchronization unit 231a, the planner unit 232, and the wireless function unit 233. In addition, the communication system 100a comprises an application control unit 10a and a time synchronization control unit 11a.

[0050] Each of the controlled devices 25 is equipped with a sensor 26. The sensor information output by each sensor 26 is transmitted via the DS-TT 22, the remote mobile station 23a, the master mobile station 13, and the DS-TT 12 to the application control unit 10a.

[0051] Next, the operation of communication system 100a according to the second embodiment is described. The operation of transmitting control information from the master mobile station 13 to each remote mobile station 23a in communication system 100a is similar to that in communication system 100 according to the first embodiment and is therefore not described here.

[0052] Each sensor 26 has the task of measuring the state of the controlled device 25 and communicating this state to the application control unit 10a. In this case, where sensor 26 is a sophisticated sensor, it creates sensor information by adding a timestamp of a measurement time to the measurement data and transmitting this information. In this case, the application control unit 10a can adjust processing timing and the like based on the timestamp contained in the sensor information. On the other hand, with many conventional sensors, all information transmission paths are connected by a single wire, and the process is carried out assuming a fixed delay time. Furthermore, it is also assumed that a timestamp cannot be added again due to a transmission format.Therefore, in the present embodiment, the communication system 100a is described which does not require a timestamp, that is, the communication system 100a which makes it possible to use information transmitted from the sensor 26 to the application control unit 10a for synchronization control of the device 25 to be controlled without using a timestamp.

[0053] Fig. Figure 13 is a representation illustrating an example of a sensor information transmission operation in the communication system 100a according to the second embodiment. Fig. Figure 13 illustrates an example of timing in a case where information is transmitted from sensor 26 to application control unit 10a. Sensor 26 generates information every 5 ms.

[0054] In the Fig.In the example shown, sensor information is generated at a relative time Ts based on a reference timing of a radio frame, and this information is transmitted via the DS-TT 22, the remote mobile station 23a, the master mobile station 13, and the DS-TT 12 to the application control unit 10a. The arrival time of the sensor information at the application control unit 10a is the sum of an assumed transmission delay time in the 5GS and the relative time Ts of the sensor information. If the transmission delay time in the 5GS is Td4 at this time, the application control unit 10a can use the information about the transmission delay time Td4 provided by the time synchronization control unit 11a to determine that the received sensor information is sensor information at a time Ts.In a case where a radio resource to be secured by the remote mobile station 23a is shifted backward by two slots (=1 ms) during resource reselection, the time synchronization unit 231a detects the shift in slot position and notifies the time synchronization control unit 11a of any difference, for example, the BAT offset. The time synchronization control unit 11a calculates a new transmission delay time Td5 in the 5GS from this information and notifies the application control unit 10a of all or part of the information about the current BAT (=Ts), the transmission delay time in the 5GS, and the BAT offset. It should be noted that the transmission delay time Td5 can be calculated by the time synchronization unit 231a. In this case, the time synchronization control unit 11a is notified of the new transmission delay time Td5 along with the BAT offset.

[0055] The application control unit 10a receives the transmission delay time Td5 from the time synchronization control unit 11a and calculates the time Ts at which the sensor information is generated. That is, if the sensor information is transferred from the DS-TT 12 to the application control unit 10a at time Tr, the application control unit 10a can estimate a generation time of the sensor information with Ts = Tr - Td5. It should be noted that Ts can be transferred directly from the time synchronization control unit 11a to the application control unit 10a.

[0056] In general, it is also desirable that the sensor information received by the application control unit 10a be as recent as possible. That is, it is desirable to change the generation timing of the sensor information and minimize the BAT offset. Therefore, the application control unit 10a or the time synchronization control unit 11a notifies sensor 26 of a new transmission timing (BAT) of the sensor information, where the BAT offset can be minimized. Sensor 26 calculates and updates the transmission timing Ts from sensor 26 using the BAT as a reference. The time synchronization control unit 11a calculates a delay time in the 5GS from DS-TT 22 to DS-TT 12 with the new transmission timing Ts and notifies the application control unit 10a of the delay time.The application control unit 10a, which has received the notification, changes the delay time in the 5GS, which is to be used in a process of generating control information for the controlled facility 25, to the delay time in the SGS, about which the time synchronization control unit 11 has notified the application control unit 10.

[0057] As described above, in the communication system 100a according to the present embodiment, the application control unit 10a acquires the transmission delay time assumed in the SGS from the time synchronization control unit 11an and, based on the acquired transmission delay time, calculates a time at which the sensor information acquired from each of the sensors 26 connected to the remote mobile stations 23a was transmitted. In a case where the resource reselection for terminal-to-terminal communication has been performed, each remote mobile station 23a checks whether the slot position has changed. If the slot position has changed, the time synchronization control unit 11a modifies the transmission delay time assumed in the SGS, and the application control unit 10a calculates a time at which the sensor information was transmitted using the modified transmission delay time.Furthermore, the time synchronization control unit 11a determines a new transmission timing for the sensor information and notifies each sensor 26 of the new transmission timing. The sensor 26 then changes the transmission timing of the sensor information to the transmission timing of the notification. Consequently, even in a case where a slot position has changed due to a resource reselection for end-to-end communication in a network configured to include a segment to which end-to-end communication is applied, the application control unit 10a can know the time at which the sensor information was transmitted from each remote mobile station 23a to the application control unit 10a, and the synchronization control of the multitude of controlled devices can be implemented.

[0058] The configurations described above are merely examples and can be combined with other known technologies, the embodiments can be combined with each other, and some of the configurations can be omitted or modified without deviating from the core idea. Reference symbol list

[0059] 10, 10a Application control unit; 11, 11a Time synchronization control unit; 12, 22 DS-TT; 13 Master mobile station; 14 Grand master clock; 15, 25 Device to be controlled; 23-1, 23-2, 23a-1, 23a-2 Remote mobile station; 26 Sensor; 100, 100a Communication system; 131, 231, 231a Time synchronization unit; 132, 232 Scheduler unit; 133, 233 Wireless functional unit; 150 Load; 301 to 303, 311 to 313, 321 to 323 Instrument to be controlled. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 2021 / 059538 A1

[0005]

Claims

[1] Mobile station operating as a master mobile station operating in a network comprising a plurality of mobile stations capable of terminal-to-terminal communication and implementing time synchronization communication, transmits control information through terminal-to-terminal communication, wherein the control information is generated by a cooperative operating control unit that controls a controlled device taking into account a transmission delay time in an information transmission path to and from the controlled device, wherein the mobile station comprises: a planner unit to determine and modify a radio resource to be used in terminal-to-terminal communication with a remote mobile station, which is a mobile station to which the controlled facility, which is a target of the control information, is connected; and a time synchronization unit to check whether a temporal position of the radio resource has changed when the radio resource has been changed by the scheduler unit, and to notify a time synchronization control unit, which calculates the transmission delay time, of a change amount in the temporal position in a case where the temporal position has changed. [2] Mobile station operating as a master mobile station, operating in a network comprising a plurality of mobile stations capable of terminal-to-terminal communication and implementing time synchronization communication, transmits control information through terminal-to-terminal communication, wherein the control information is generated by a cooperative operating control unit that controls a controlled device, taking into account a transmission delay time in an information transmission path to and from the controlled device, wherein the mobile station comprises: a planner unit to determine and modify a radio resource to be used in terminal-to-terminal communication with a remote mobile station, which is a mobile station to which the controlled facility, which is a target of the control information, is connected; and a time synchronization unit to check whether a temporal position of the radio resource has changed when the radio resource has been changed by the scheduler unit, and to calculate the transmission delay time based on a change amount of the temporal position and to notify the cooperative operating control unit of the transmission delay time in a case where the temporal position has changed. [3] Mobile station operating as a remote mobile station connected to a control device in a network comprising a plurality of mobile stations capable of terminal-to-terminal communication and implementing time synchronization communication, receiving control information through terminal-to-terminal communication, the control information being generated by a cooperative operating control device which controls the control device taking into account a transmission delay time in an information transmission path to and from the control device, the mobile station comprising: a planner unit to determine and modify a radio resource to be used in terminal-to-terminal communication when information is transmitted from the cooperative operating control unit; and a time synchronization unit to check whether a temporal position of the radio resource has changed when the radio resource has been changed by the scheduler unit, and to notify a time synchronization control unit, which calculates the transmission delay time, of a change amount in the temporal position in a case where the temporal position has changed. [4] Time synchronization control unit, which together with the mobile station according to claim 1 forms a communication system and operates as the time synchronization control unit, wherein in a case of receiving a notification of the change amount from the time synchronization unit, the time synchronization control unit calculates the transmission delay time on the basis of the change amount, and notifies the cooperative operating control unit of the calculated transmission delay time and the change amount. [5] Cooperative operating control device which together with the mobile station according to claim 3 forms a communication system, wherein in a case of receiving a notification about the transmission delay time calculated on the basis of the change amount from the time synchronization control unit, the cooperative operating control device modifies the transmission delay time in the notification in order to be used in a generation process of the control information. [6] Communication system forming a network comprising a large number of mobile stations capable of terminal-to-terminal communication and implementing time synchronization communication, wherein the communication system comprises: a master mobile station, which is one of the mobile stations that transmit control information for controlling a controlled facility via terminal-to-terminal communication; a multitude of remote mobile stations, each of which is a mobile station to which the facility to be controlled, which is a target of the control information, is connected; an application control unit to generate the control information and to transmit the control information to the facility to be controlled via the master mobile station and each of the remote mobile stations; and a time synchronization control unit to calculate a transmission delay time when the control information is transmitted from the application control unit to the equipment to be controlled, wherein The master mobile station determines and modifies a radio resource to be used in terminal-to-terminal communication with each of the remote mobile stations to which the controlled facility, which is a target of the control information, is connected, and in a case where a temporal position of the radio resource has been changed in a radio resource modification process, the master mobile station notifies the time synchronization control unit of the amount of the change in the temporal position. Upon receiving a notification of the change amount from the time synchronization unit, the time synchronization control unit recalculates the transmission delay time based on the change amount and notifies the application control unit of the recalculated transmission delay time. The application control unit changes a transmission delay time to be used when generating the control information into the transmission delay time about which the time synchronization control unit notifies, or changes the timing of the transmission of the control information based on the transmission delay time about which the time synchronization control unit notifies. [7] Communication system according to claim 6, wherein the network is a star topology network centered on the master mobile station. [8] Synchronization control method performed by a mobile station acting as a master mobile station operating in a network comprising a plurality of mobile stations capable of terminal-to-terminal communication and implementing time synchronization communication, transmits control information through terminal-to-terminal communication, wherein the control information is generated by a cooperative operating control unit that controls a controlled device taking into account a transmission delay time in an information transmission path to and from the controlled device, wherein the synchronization control method comprises: a first step in determining and modifying a radio resource to be used in terminal-to-terminal communication with a remote mobile station, which is a mobile station to which the controlled facility, which is a target of the control information, is connected; and a second step of checking whether a temporal position of the radio resource has changed, if the radio resource was changed in the first step, and notifying a time synchronization control unit, which calculates the transmission delay time, of a change amount in the temporal position in a case where the temporal position has changed. [9] Control circuit that controls a mobile station operating as a master mobile station in a network comprising a plurality of mobile stations capable of terminal-to-terminal communication and implementing time synchronization communication, transmits control information through terminal-to-terminal communication, wherein the control information is generated by a cooperative operating control unit that controls a controlled device taking into account a transmission delay time in an information transmission path to and from the controlled device, wherein the control circuit causes the mobile station to execute: a first step in determining and modifying a radio resource to be used in terminal-to-terminal communication with a remote mobile station, which is a mobile station to which the controlled facility, which is a target of the control information, is connected; and a second step of checking whether a temporal position of the radio resource has changed, if the radio resource was changed in the first step, and notifying a time synchronization control unit, which calculates the transmission delay time, of a change amount in the temporal position in a case where the temporal position has changed. [10] Storage medium in which a program is stored that controls a mobile station operating as a master mobile station, which in a network comprising a plurality of mobile stations capable of terminal-to-terminal communication and implementing time synchronization communication, transmits control information through terminal-to-terminal communication, wherein the control information is generated by a cooperative operating control unit that controls a controlled device taking into account a transmission delay time in an information transmission path to and from the controlled device, wherein the program causes the mobile station to execute: a first step in determining and modifying a radio resource to be used in terminal-to-terminal communication with a remote mobile station, which is a mobile station to which the controlled facility, which is a target of the control information, is connected; and a second step of checking whether a temporal position of the radio resource has changed, if the radio resource was changed in the first step, and notifying a time synchronization control unit, which calculates the transmission delay time, of a change amount in the temporal position in a case where the temporal position has changed.

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