Industrial unit and method for establishing a collaboration of an industrial unit

Abstract

The disclosed embodiments relate to a method for establishing a collaboration of an industrial unit, the industrial unit communicatively coupled within a wireless campus network. The disclosed embodiments define using subnetworks in a way which enables future 5G networks for industrial collaboration purposes. The disclosed usage of the subnetwork may support industrial units or cyber physical systems being equipped with actors for enabling the industrial units to physically relocate. The disclosed embodiments suggest mapping a subnetwork to a task jointly executed by two or more industrial units using local connectivity to exchange task-related data among the industrial units in order to conserve global communication resources in the umbrella network. The disclosed embodiments suggest anchoring task-related data to a subnetwork in a distributed or locally centralized fashion and / or anchoring task-related data to a location in physical space, with regard to the possibility that the node(s) or participants holding task-related data and / or other data may also leave that location, whereby task-related data is handed over to other nodes, industrial units or participants in vicinity.

Description

[0001] Description

[0002] Industrial unit and method for establishing a collaboration of an industrial unit

[0003] TECHNICAL FIELD

[0004] The disclosed embodiments generally relate to the field of industrial units or cyber-physical devices wirelessly communicating in an industrial environment . Speci fically, the disclosed embodiments relate to a method of establishing a collaboration of an industrial unit .

[0005] BACKGROUND

[0006] In the fields of industrial automation and process control , computer systems are used for modeling and controlling physical systems . Computer modeling or control of physical systems and devices such as industrial automation hardware has become increasingly desirable in view of the increasing complexity and variety industrial devices available for use .

[0007] Many industrial applications involve computer-based components - e . g . , control systems - coupled to physical devices or systems - e . g . , power systems - and may be considered cyberphysical systems . As used herein, the term cyber-physical system refers to a system in which sensing, computation control and networking components are integrated with physical processes . More speci fically, a cyber-physical system may be understood as system in which networked computational resources interact with multi-physics systems , wherein multi-physics systems may include mechanical , chemical , or electrical processing or simulation steps . In other words , cyber-physical systems may include multiple computer-executed components and physical components executing in parallel with complex dynamic interactions , e . g . , a power system ( as an exemplary physical component ) coupled to a controller that executes software ( as an exemplary cyber component ) to control , simulate or otherwise influence the power system . Accordingly, as used herein, the term »cyber-physical control system« refers to embedded hardware and software for sensing, actuation, control , etc . , which may be synchroni zed in time with other units , and that interacts with the physical world through physical sensors and actuators , and interacts with the cyber world - e . g . , computer systems - through time-sensitive and / or best ef fort network communication links .

[0008] For the sake of simplicity, each component in industrial cyberphysical systems may hereinafter be referred to as an industrial unit , since it has long been established in contemporary industrial production that manufacturing machines , autonomous robots , processing stations and even hand tools are communicating with each other or with a control system for the purpose of control , diagnosis , and data collection .

[0009] According to a current practice of distributing work and supplying data to industrial units , data is usually managed and distributed amongst industrial units by a central instance such as a manufacturing execution system or the like .

[0010] As industrial units increasingly evolve from a wired data transmission to communicative coupling within a wireless campus network, a focus is increasingly on organi zing data flow more effectively and moving task-related data closer to the actual workspace where physical industrial work steps of collaborating industrial units are executed .

[0011] Accordingly, there is a need in the art for establishing a collaboration of an industrial unit - i . e . establishing a collaboration of an industrial unit with further participants - communicatively coupled within a wireless campus network which alleviates the current central data organi zation towards a more decentrali zed data organi zation .

[0012] SUMMARY AND DESCRIPTION The present invention relates to a computer-implemented method for establishing a collaboration of an industrial unit , the industrial unit communicatively coupled within a wireless campus network, the method including the steps of . The method includes the steps of : a ) receiving, by the industrial unit , a task assignment including a noti fication of a commonly shared subnetwork to be j oined with collaborating participants ; b ) receiving, by the industrial unit , task-related data for processing the task assignment and caching the task-related data within the industrial unit ; c ) processing at least one task according to the task assignment by carrying out physical industrial work steps in collaboration with collaborating participants ; and; d) communicating amongst the collaborating participants using local communication resources of the commonly shared subnetwork .

[0013] For the purpose of this description, the collaborating participants as claimed are themselves industrial units , but they are given a di fferent term in order to support a speci fic reference to the speci fic industrial unit as claimed .

[0014] The present embodiments further relate to an industrial unit or industrial unit comprising a processor and a data storage device having stored thereon computer executable program code , which, when executed by the processor, causes the processor to perform the above method .

[0015] Further possible embodiments are - by no means exhaustive - the subj ect of dependent claims .

[0016] According to an embodiment , the commonly shared subnetwork is disbanded, terminated, or resolved upon completion of one or more task assignments . Advantageously, the subnetwork is disbanded in order to release communication resources in the wireless communication network . Disbanding, however, is only one of two possibilities after one or more task assignments have been completed . Alternatively, the shared subnetwork may be retained until a subsequent task assignment with essentially identical participants , for whom remaining in the subnetwork and re-using the subnetwork for the newly assigned task may be more beneficial .

[0017] According to an embodiment , the task assignment received by the industrial unit may be transmitted via a communication infrastructure provided by the campus network . This form of transmission corresponds to the usual form of communication, in which a central instance is issuing task assignments via a communication infrastructure provided by the campus network . This usual form of communication, however, is associated with high latencies and - in line with embodiments described hereinafter - is to be replaced as early as possible by direct transmission amongst industrial units within a subnetwork .

[0018] According to an embodiment , the task assignment received by the industrial unit may be sent by a master controller . In this embodiment , the master controller may usually assign a task to a speci fic industrial unit . The task may or may not comprise one or more subtasks , which may be assigned by the industrial unit to collaborating participant or, in other words , further industrial units .

[0019] According to an embodiment , the task assignment received by the industrial unit may be sent by a collaborating participant . In this embodiment , the collaborating participant - which may be itsel f an industrial unit - may assign a subtask to a speci fic industrial unit . The subtask may comprise a subordinate portion of a task as assigned by the master controller .

[0020] According to an embodiment , participants collaborating in the commonly shared subnetwork are selected to collaborate in a speci fic task or in a speci fic subtask of said speci fic task . Participants collaborating in the commonly shared subnetwork may be selected by a task assigning entity such as a master controller or a controller on a higher hierarchy level within the factory automation scheme . Participants collaborating in the commonly shared subnetwork may be alternatively selected by another industrial unit , or, more generally by another collaborating participant . In other words , the common subnet may be established for the purpose of supporting and enabling collaboration between participants in this subnetwork . This subnetwork advantageously creates an area in which task-related data, from both a logical and spatial perspective , is cached near the location where the sequence of physical industrial work steps as instructed by the task assignment are performed .

[0021] According to an embodiment , location and / or extent of the commonly shared subnetwork are determined by location and / or extent at which said physical industrial work steps of the speci fic task or subtask are carried out . This embodiment benefits from the inventors ’ recognition in the that an industrial task may usually be tied to a speci fic location ( e . g . , a speci fic machine or workpiece ) and / or a speci fic extent ( e . g . , a cell in a factory) whereby the tie being extended to data transmission and data caching using means of the embodiments .

[0022] According to an embodiment , the disclosed method further includes the steps of : al ) transmitting, by the industrial unit , a sub task assignment to a second industrial unit , the sub task assignment including a noti fication of the commonly shared subnetwork to be j oined with collaborating participants including the industrial unit and the second industrial unit ; and; bl ) transmitting, by the industrial unit , subtask-related data for processing the sub task assignment by the second industrial unit and caching the subtask-related data within the second industrial unit , wherein steps al ) and bl ) are preferably but not necessarily carried out following steps a ) and b ) respectively . This embodiment speci fies a possible advantageous sequence after having received a task by an industrial unit - of first industrial unit - and passing a subtask from this first industrial unit to a second industrial unit in connection with a transmission of subtask-related data for processing the sub task assignment .

[0023] According to an embodiment , the disclosed method further includes a step of reorgani zing the task-related data after caching the task-related data within the industrial unit , wherein reorgani zing includes the act of distributing said task-related data amongst one or more collaborating participants . This embodiment addresses a caching strategy with di f ferent obj ectives some of which are described in the following embodiments . The caching strategies may furtherly improve the obj ect of ef ficiently distributing task-related among collaborating industrial units in factories of the future .

[0024] According to an embodiment , distributing said task-related data amongst one or more collaborating participants is organi zed subnetwork-anchored . Task-related data may be cached or stored in a distributed fashion across a subset of industrial units or other nodes in the subnetwork . This subnetwork-anchored caching strategy may improve an ef ficient data exchange among industrial units to substantially happen locally, without the need to involve an infrastructure of a superordinate umbrella network . Thereby di fferent industrial units may hold redundant portions of task-related data . According to an embodiment , only a distinguishing portion or »delta« of respective cache contents of a first and a second industrial unit needs to be exchanged using local resource of the subnetwork, e . g . for the case that the first node is scheduled for an update of task-related data cached in a memory unit of the first industrial unit . When an industrial unit leaves the subnetwork, contents of its cache may need to be handed over to other industrial units . Thus , subnetwork-anchored organi zation may provide task-related data stationary organi zed within the particular subnetwork .

[0025] According to an embodiment , distributing said task-related data amongst one or more collaborating participants is organi zed location-anchored, e . g . tied to a physical location or a workplace such as a speci fic machine , workpiece , or manufacturing cell . This location-anchored caching strategy may improve an ef ficient data exchange among industrial units to substantially happen close to where the task - eventually the physical industrial work steps - is performed, from both, logical and spatial perspectives .

[0026] Both caching strategies , subnetwork-anchored and location-anchored, for distributing task-related data amongst one or more collaborating industrial units or participants , are advantageous in that they may conserve communication resources , e . g . in terms of time , frequency, energy, and / or may increase a number of industrial units per area - also referred to as scalability - that can be served on the a shop floor and / or may help ensuring given quality of service- or QoS-requirements for the connected industrial units .

[0027] Further caching strategies may furtherly improve the obj ect of ef ficiently distributing task-related among collaborating industrial units . The task-related data may be distributed across all industrial units or further collaborating participants being part of the subnetwork in uneven portions , e . g . , based on agent capabilities , load, etc . Further on, a hierarchical cascade of caching may be advantageous .

[0028] According to a further caching strategy, even the existence of the master controller may be optional and / or dispensable .

[0029] DESCRIPTION OF THE DRAWING

[0030] The obj ects as well as further advantages of the present invention will become more apparent and readily appreciated from the following description of the preferred embodiments , taken in conj unction with the accompanying drawing accompanying drawing of which :

[0031] FIG . 1 : is a schematic block diagram representing an exemplary collaboration between industrial units providing logistical operations such as transporting a workpiece or machining operations such as assembling an industrial product ;

[0032] FIG . 2 : is a schematic block diagram representing a number of industrial units acting in a manufacturing facility wherein a maj ority of industrial units are organi zed for collaboration within a respective manufacturing cell ;

[0033] FIG . 3 : is a schematic diagram illustrating a layered architecture of current and future cellular networks ;

[0034] FIG . 4 : is a schematic block diagram representing a logical view of connection assignments within current or future cellular networks ;

[0035] FIG . 5 : is a schematic block diagram of an exemplary industrial device according to one embodiment ; and;

[0036] FIG . 6 : is a flowchart illustrating exemplary operations performed in accordance with an embodiment of the present disclosure .

[0037] DETAILED DESCRIPTION

[0038] Two exemplary industrial machine collaboration between industrial units IU1 , IU2 , . . . , IU6 are shown in FIG . 1 . In an upper hal f of the illustration a number of autonomous industrial units IU1 , IU2 , IU3 are shown to provide logistical operations such as transporting a workpiece WP . In a lower hal f of the illustration a number of industrial units IU4 , IU5 are shown to provide machining operations such as assembling a workpiece WP or industrial product . The industrial units IU4 , IU5 may be embodied as a mobile robot equipped with a combined gripping and processing tool , for example for welding body parts of a vehicle . A further kind of industrial unit IU6 is shown to provide components for assembly, for example in the form of an additive manufacturing process , in which the industrial unit IU6 may be embodied as a so-called three-dimensional printer or, alternatively, as a complex production line for additive manufacturing of components .

[0039] Each industrial unit IU1 , IU12 , ... IU5 , IU6 may be referred to as a cyber-physical unit , or alternatively as cyber-physical system to express that each cyber-physical unit has such a high degree of complexity that it may be referred to as a system, which interacts with further cyber-physical systems .

[0040] In current industrial environments , large or heavy workpieces WP are collaboratively and autonomously carried from one place to another by a plurality of industrial units IU1 , IU2 , IU3 with transportation capabilities or mobile material handling robots , particularly automated guided vehicles . Autonomously moving material handling robots IU1 , IU2 , IU3 of this kind need to collaborate with each other in order to safely transport large and / or heavy workpieces WP . Balancing motion and forces imposed to the workpiece WP by the plurality of mobile material handling robots IU1 , IU2 , IU3 requires a high data rate in connection with a short latency time for timely exchanging control commands and control feedback between each of the mobile material handling robots IU1 , IU2 , IU3 .

[0041] Due to the required high data rate and low latency, communication along the mobile material handling robots IU1 , IU2 , IU3 usually takes place using a direct link connection DC between the IUS , thereby avoiding an otherwise usual upbound communication channel to a higher-level server or controller . The direct link connection DC between the mobile material handling robots IU1 , IU2 , IU3 is represented by a respective double arrow in the drawing . For reasons of clarity, however, only one of these double arrows connecting two mobile material handling robots IU1 , IU2 , IU3 by a direct link connection DC is explicitly referred to with a reference symbol for the direct link connection DC .

[0042] The wireless nature of the direct link connection DC between the mobile material handling robots IU1 , IU2 , IU3 is shown with a common representation of an electromagnetic propagation field symboli zed by quarter circle segments . In order to establish a direct link connections DC, mobile material handling robots IU1 , IU2 , IU3 of today are at least additionally equipped with a task-speci fic and spatially limited interface for establishing and operating a wireless device-to-de- vice connectivity in addition to a regular wireless interface for operating a communication with the handling robots IU1 , IU2 , IU3 with a - not depicted - central server or controller .

[0043] The above said accordingly applies to the application example as shown in the lower hal f of FIG . 1 , in which comparably precise cooperation and coordination between the handling robots IU4 , IU5 and the industrial unit IU6 may be required in order to collaborate in an execution and synchroni zation of complex processing steps applied to the workpiece WP .

[0044] FIG . 2 depicts a schematic block diagram representing a number of industrial units acting is in a manufacturing facility MAF, colloquially referred to as a shop floor . A maj ority of industrial units as depicted in FIG . 2 are organi zed for collaboration within a respective manufacturing cell MCI , MC2 , MC3 wherein the collaboration of industrial units inside the manufacturing cell MCI , MC2 , MC3 is shown in analogy to the representation in FIG . 1 . There is no need to emphasi ze that this analogy serves to provide a simpli fied view and does not necessarily reflect the real conditions in a manufacturing facility .

[0045] Mobile material handling robots as shown in FIG . 2 are not speci fically provided with reference numbers but may be regarded as a manufacturing cell . Manufacturing cells of this type may correspond to a constellation of moving material handling robots collaborating to safely transport a workpiece as shown in the upper hal f of FIG . 1 . Since their location within the manufacturing facility MAF may be perpetually changing or moving, a manufacturing cell of this type is also referred to as a nomadic manufacturing cell . A communicative connection of the industrial units and manufacturing cells MCI , MC2 , MC3 to a - not shown - manufacturing execution system is supported by a wireless communication network UNW, which is symboli zed by a dotted lines connecting communication partners with a symbolic transmission tower as shown in FIG . 2 .

[0046] A master controller MC is a central entity for controlling the individual manufacturing cells MCI , MC2 , MC3 being communicatively connected to the wireless communication network UNW using - like the manufacturing cells MCI , MC2 , MC3 - the resources or infrastructure of the wireless communication network UNW . The wireless communication network UNW is , for example , a private 5G network or campus network, also known as the umbrella network .

[0047] The central instance character of the master controller MC as shown in FIG . 2 somewhat reflects the storage and exchange of task-relevant data that as practiced today . In factories of today, task-speci fic data is distributed by the master controller MC disposing and orchestrating all manufacturing cells MCI , MC2 , MC3 and even all industrial units within the manufacturing cells MCI , MC2 , MC3 . While portions of task-speci fic data may be distributed by the master controller MC, the storage location of the task-speci fic data may be usually kept in a - not shown - factory data center .

[0048] This traditional approach in today ’ s factories for distributing task-speci fic data may have a detrimental impact on the communication resources and / or infrastructure of the umbrella campus network UNW which has to be used every time when task-related data is to be transmitted to an industrial unit . Such data exchange usage may ultimately lead to bottlenecks in the data exchange which are by no means acceptable in an industrial environment due to industrial requirements for real-time capability . Moreover, this traditional approach lacks robustness in cases when an industrial unit has lost a data connection with the master controller MC . This problem is currently being handled using a so-called »last will« mechanism . Although this mechanism may work to some extent in practice , it is very limited because it puts af fected industrial units in a non-working state .

[0049] FIG . 3 depicts a schematic diagram illustrating a layered architecture of current and future cellular networks . In the drawing, four layers PUN, PVN, SUN, S IL are represented in a layer sequence with a decreasing ranking from top to bottom, where the ranking corresponds to a number of participating devices or coverage CVG involved in the respective layers PUN, PVN, SUN, S IL . A number of participating devices decreasing from the top layer PUN to the bottom layer S IL is symboli zed by a triangular-shaped coverage ranking CVG symbol left to the layers PUN, PVN, SUN, S IL . The layers of the current and future cellular networks may include one of a public network PUN, a private network PVN, a subnetwork SUN and a sidelink S IL .

[0050] While the concept of a public network PUN has been commonly known since the advent of cellular communications , a concept of private networks PVN or campus networks has only been known since a fi fth generation - or 5G according to the 3GPP ( third generation partnership proj ect ) - standard of cellular networks or since an emerging sixth generation - or 6G according to the 3GPP ( third generation partnership proj ect ) - standard . The concept of subnetworks SUN will be introduced in an upcoming release of the fi fth generation or 5G standard, while the concept of a sidelink S IL was already implemented in the fourth generation or 4G standard of cellular networks .

[0051] Subnetworks SUN are network topologies that form for a certain period of time at a certain location . In industrial environments , these subnetworks SUN may be used by agents of cyberphysical systems for the purpose of exchanging information necessary to perform a j oint task . Subnetworks SUN may be particularly suitable for implementing embodiments according to this disclosure .

[0052] Sidelink communications S IL generally include messaging between wireless nodes such as vehicles , sensors , and other devices . In 5G and 6G, sidelink communications S IL may be generally managed according to rigid protocols and schedules , either by a base station intermediary or by one of the user devices acting as a temporary base station .

[0053] The reader will appreciate however, that communication environments or prerequisites of the embodiments are in no way limited to the types and / or generations of communications networks as mentioned above . Speci fically, the embodiments are neither limited to 5G, nor the use of private networks , nor sidelink communications . Although these types and / or generations of communication networks may be of course an environment of choice , the embodiments may be equally reali zed with wireless communication standards such as WiFi and / or ad-hoc communication links .

[0054] FIG . 4 depicts a schematic block diagram representing a logical view of connection assignments in a cellular network showing some architectural principles of the embodiments . The cellular network UNW symboli zed by transmission tower as shown in FIG . 4 may connect two subnetworks SN1 , SN2 and a master controller MG with respective global communication links symboli zed by dash- dotted lines . The master controller MG itsel f is not part of any of the two subnetworks SN1 , SN2 .

[0055] The cellular network UNW or umbrella network may preferably be configured as a private cellular network or campus network in order to maintain industrial confidentiality requirements in contrast to a public cellular network .

[0056] A first group of industrial units IU1 , IU2 , IU3 may be assigned to a first subnetwork SN1 whereby the industrial units IU1 , IU2 , IU3 in this first subnetwork SN1 are interconnected by local communications links , which are shown in the drawing as thin solid lines between the industrial units IU1 , IU2 , IU3 . A second group of industrial units IU4 , IU5 , IU6 , IU7 may be assigned to a second subnetwork SN2 , the industrial units IU4 , IU5 , IU6 , IU7 in this second subnetwork SN2 also being interconnected by local communications links . Dependent on a speci fic functional focus , these industrial units IU1 , IU12 , ... IU5 , IU7 may also be referred to as a cyber-physical units or as cyber-physical systems .

[0057] According to embodiments of the disclosure , some or more subnetworks SN1 , SN2 may be formed in a way to gather task- and / or location-similarities of respectively involved communication partners , e . g . , as shown in a first group of industrial units IU1 , IU2 , IU3 gathered in the first subnetwork SN1 and the second group of industrial units IU4 , IU5 , IU6 , IU7 gathered in the second subnetwork SN2 .

[0058] According to embodiments of the disclosure , some or more subnetworks SN1 , SN2 may include one or more location-bound subnetworks and / or one or more nomadic subnetworks . A location-bound subnetwork is understood as a subnetwork permanently bound - or at least bound for a longer period of time - to a speci fic location, e . g . bound to a manufacturing cell . A nomadic subnetwork is understood as a subnetwork being capable of moving over time . A nomadic subnetwork may e . g . consist of a swarm of industrial units transporting a work piece across the factory .

[0059] In both cases , industrial units that participate in the subnetwork may be physically co-located, similar to what is shown in FIG . 2 .

[0060] The present embodiments improve caching of task-related data for collaborating industrial units where some possible principles can be outlined as follows : A task or a subtask may be tied to a location . A subnetwork may be tied to an execution of a task or a subtask . Cached data can be tied to a subnetwork or a location, either of which can serve as part of a caching strategy .

[0061] FIG . 5 depicts a schematic block diagram of an exemplary industrial unit of industrial device according to one embodiment . The industrial unit IU may include one or more processing units CPU including central processing units and / or graphical processing units and a volatile and / or non-volatile memory storage MEM . The processors CPU and the memory MEM may provide means for receiving task assignments and for processing one or more tasks according to the task assignment either alone or in collaboration with collaborating participants , e . g . collaborating industrial units , cache devices CD, master controllers or other central entities or servers .

[0062] The industrial unit IU may further include one or more sensors SEN - such as visual sensors , temperature sensors , positioning sensors , inertial sensors , gyro sensors , acceleration sensor, magnetometer, etc . - and / or one or more actuators ACT such as motors , racks , pinions , gears , servos , rails , valves , compressors , reservoirs , tubes etc .

[0063] The industrial unit IU may further include a connectivity interface CON such as a network interface component for wired or wireless data exchange in order to connect the industrial unit IU with an industrial wired or wireless network and / or further industrial units .

[0064] A cache device CD as shown in the right of FIG . 5 is itsel f an industrial unit or another type of industrial unit having a reduced range of functions and / or hardware . The cache device CD may include one or processing units CPU, a volatile and / or nonvolatile memory storage MEM and a connectivity interface CON . The cache device CD may be used as an industrial unit IU designed and used solely for the purpose of caching the task-related data according to the embodiments being suitable for general industrial units IU .

[0065] A cache device CD may be operated as a designated backup local master or BLM .

[0066] FIG . 6 is a schematic process chart depicting an exemplary and chronologically ordered exchange of control and data trans fer amongst various functional units collaborating to initiate a collaboration amongst industrial units . The functional units involved in the exemplary exchange of control and data trans fer include the master controller MC known from the description of FIG . 4 and four industrial unit IU1 , IU2 , IU3 , IU4 .

[0067] A timeline T is shown on the left side of FIG . 6 in which consecutive points in time are chronologically ordered such that later points in time are further down than earlier points in time . For each of the functional units a respective vertical dashed line is plotted in order to illustrate a message exchange of the respective functional unit in relation to the point in time .

[0068] In a first step of the exemplary method, the industrial unit IU1 may be assigned a task or subtask A by the master controller MC . Organi zational di f ferences between assigning a task or a subtask - which may be a subordinate portion of a task - are minimal for the purposes of the following simpli fied representation . The further description will assume assigning a subtask hereinafter captioned »subtask A« without limiting the generality that the general process could be also used for assigning a task .

[0069] In a first data trans fer S I , the industrial unit IU1 receives an assignment noti fication for this subtask A, including task-related data, from the master controller MC . The first data transfer S I may be trans ferred from the master controller MC to the industrial unit IU1 using wireless resources of the campus network or umbrella network . The transmission using wireless resources of the campus network may speci fically mean that the direct connection arrow as sketched in the drawing may actually - or contrary to the pictorial representation - indirectly proceed over several instances or resources of the campus network, for example wireless access points , servers , etc .

[0070] In a second step of the exemplary method, the first industrial unit IU1 may request assistance of further industrial units in order to accomplish the assigned subtask A. This request for assistance of further industrial units may have been triggered or commanded by the master controller MC and / or by the first industrial unit IU1 . In the exemplary embodiment as shown in FIG . 6 , it is assumed that the second industrial IU2 is to be included in addition to the first industrial unit 1 . In a second data trans fer S2 , the first industrial unit IU1 sends a collaboration request to the second industrial unit IU2 . This collaboration request may include a request from the first industrial unit IU1 to j oin a subnetwork that is to be established or has already been established with at least one participant , namely the first industrial unit IU1 . The second data trans fer S2 may be transferred from the first industrial unit IU1 to the second industrial unit IU2 using wireless resources of the campus network or umbrella network or, in other words , may be transmitted via a communication infrastructure provided by the campus network . Alternatively, a direct connection within the common subnetwork is used for the case that the first and the second industrial unit lul , IU2 already share a common subnetwork . The direct communication may be a device-to-device communication wherein the first and the second industrial unit lul , IU2 may directly exchange messages without a need to necessarily use wireless resources of the campus network or umbrella network .

[0071] In a third step, the second industrial unit IU2 sends a data trans fer S3 including a confirmation noti fication to the first industrial unit IU1 . The confirmation noti fication informs the first industrial unit IU1 that the second industrial unit IU2 has now success fully j oined the common subnetwork . Depending on an appropriate implementation suitable for the particular use case , the third data trans fer S3 may be transmitted either via wireless resources of the campus network or via direct connection within the recently established common subnetwork .

[0072] In a fourth step, the second industrial unit IU2 receives a data trans fer S4 from the first industrial unit IU1 , wherein task-related data is provided to the second industrial unit IU2 . The fourth data trans fer S4 may take place via a direct connection within the common subnetwork shared at least by the first and the second industrial unit IU1 , IU2 . From now on, a j oint execution JEA of industrial work steps - including, for example , a j oint transport of a workpiece , an assembly of several production parts during the transport of a load-bearing workpiece , etc . - may be collaboratively carried out by the first and the second industrial unit IU1 , IU2 .

[0073] During the li fetime of subtask A, task-related data for the subtask A may be changed, added, altered or amended may be changed - e . g . do to new experience , new measurements , etc . - and the cache needs to be updated amongst the industrial unit IU1 , IU2 involved in this sub task A. An amendment task-related data for the subtask A may be executed incrementally .

[0074] After all operations for the j oint execution JEA of subtask A have been completed, the first industrial unit IA1 may transmit a fi fth data trans fer S5 to the master controller MC whereby the master controller MC is informed, that the subtask A has been success fully completed .

[0075] The following section describes a possible use case in which the second industrial unit IU2 is assigned a new subtask B by the master controller MC whereupon this second industrial unit IU2 may request a collaboration with the third industrial unit IU3 by sending a task assignment or request to the third industrial unit IU3 to request this additional collaboration . The additional collaboration may be itsel f called a subtask being subor- dinately executed under the currently executed subtask B .

[0076] In contrast to the previously described task assignment of subtask A - which was completed by the first and the second industrial units IU1 , IU2 - the task assignment of subtask B described hereinafter may trigger of f a further additional collaboration, which may be itsel f called a further subtask being sub- ordinately executed under the currently executed subtask B . The additional collaboration or additional subtask may further add the first industrial unit IU1 in the collaboration . To this end, the first industrial unit IU1 is requested for collaboration by the second industrial unit IU2 .

[0077] In further contrast to the previously described task assignment for subtask A, the additionally included first industrial unit IU1 requested for collaboration in the j oint execution JEB of task B may not require a trans fer of the full set of task-related data, since the previously included third industrial unit IU3 may have already completed parts of the task assignment of task B . The following section describes possible process steps in detail .

[0078] In a sixth step of the exemplary method, the industrial unit IU21 may be assigned a task or subtask B by the master controller MC . In a sixth data trans fer S 6 , the second industrial unit IU2 may receive an assignment noti fication for the task B including task-related data from the master controller MC . Since task B is possibly based on task A, said task-related data for processing the task B may only contain an update to the previously transmitted task-related data for processing the previous task A, whereby the task-related data for processing the previous task A has been already received from the second industrial unit IU2 via the fourth data trans fer S4 .

[0079] The sixth data trans fer S 6 may be trans ferred from the master controller MC to the industrial unit IU1 using wireless resources of the campus network or umbrella network or, in other words , may be transmitted via a communication infrastructure provided by the campus network .

[0080] In a seventh step of the exemplary method, the industrial unit IU2 may request assistance of further industrial units in order to accomplish the assigned task B . In the exemplary embodiment , it is assumed that the third industrial IU3 is to be included in addition to the second industrial unit IU2 . In a seventh data trans fer S2 , the second industrial unit IU2 sends a collaboration request to the third industrial unit IU3 . This collaboration request may include a request from the second industrial unit IU2 to j oin a subnetwork that is to be established or has already been established with at least one participant , namely the second industrial unit IU2 .

[0081] In an eighth step, the third industrial unit IU3 may send a data trans fer S 8 including a confirmation noti fication to the second industrial unit IU2 . The confirmation noti fication informs the second industrial unit IU2 that the third industrial unit IU3 has now success fully j oined the common subnetwork .

[0082] In a ninth step, the third industrial unit IU3 receives a data trans fer S 9 from the second industrial unit IU2 , wherein task- related data is provided to the third industrial unit IU3 . The ninth data trans fer S4 may take place via a direct connection within the common subnetwork which is now shared at least by the first , the second and the third industrial unit IU1 , IU2 , IU3 .

[0083] In a tenth step of the exemplary method, the second industrial unit IU2 may request assistance of further industrial units in order to accomplish the assigned subtask A. In the exemplary embodiment , it is assumed that the first industrial IU1 is to be included in addition to the collaborating second and third industrial unit IU2 , IU3 . In a tenth data trans fer 10 , the second industrial unit IU2 may send a collaboration request to the first industrial unit IU1 .

[0084] In contrast to the previous collaboration request in connection with the data trans fer S2 , the current collaboration request in connection with the tenth data trans fer S 10 does not require a request from the second industrial unit IU2 to j oin the common subnetwork, since the first industrial unit IU1 is already a member of the common subnetwork . As described above , the second industrial unit IU2 has been previously invited by the first industrial unit IU1 to collaborate on the previously completed task A using the data trans fer S2 . The common subnetwork is still established . The tenth data trans fer S 10 , accordingly, may be trans ferred from the second industrial unit IU2 to the first industrial unit IU2 using a direct connection within the common subnetwork . A confirmation message analogous to S3 is therefore not necessary .

[0085] In an eleventh step, the first industrial unit IU1 receives a data trans fer S i l from the second industrial unit IU2 , wherein task-related data is provided to the first industrial unit IU1 . The task-related data provided by the second industrial unit IU2 may merely comprise an update or an incremented delta of the task-related data provided by the master controller MC by the previous first data trans fer S I when preparing the j oint execution of task A.

[0086] Throughout the description, an incremented delta« of task-related data is understood as a modi fication within one or more areas of task-related data which occur after an event or a processing operation whereby only areas di f fering from a respective previous area are destined for further processing . The attribute »incremented« may express a proposed schedule in which the di ffering areas are determined in progress with occurring events or processing operations .

[0087] This may speci fically mean that an incremented delta of task-related data may be stored in a distributed fashion across at least one participant - or, in other words , a subset of participants or industrial units participating - in the subnetwork . Di f ferent industrial units may also hold redundant portions of the task-related data . When a first industrial unit needs to update its task-related data, only di f fering areas ( delta ) of the task-related data need to be transmitted using local resources of the subnetwork . In order to update its task-related data, only di f fering cache contents between the first and the second industrial unit need to be exchanged .

[0088] From now on, a j oint execution JEB of industrial work steps may be collaboratively carried out by the first , the second and the third industrial unit IU1 , IU2 , IU3 . After all tasks have been completed, the first industrial unit IA1 transmits a twel fth data trans fer S 12 to the master controller MC whereby the master controller MC is informed, that the task B has been success fully completed .

[0089] After success ful completion of the task B, the common subnetwork of collaboratively connected industrial units IU1 , IU2 , IU3 may be disbanded at the request of the master controller MC or at the request of one of the participating industrial units IU1 , IU2 , IU3 . Each invited industrial unit IU1 , IU3 may exit the subnetwork and may send a noti fication to the inviting industrial unit IU2 that it has left the common subnetwork . In a thirteenth data trans fer S 13 , the third industrial unit IU3 may send a notification to the second industrial unit IU2 noti fying the second industrial unit IU2 that the common subnetwork has been exited by the second industrial unit IU2 . In a fourteenth data trans fer S 14 , the first industrial unit IU1 may send a noti fication to the second industrial unit IU2 noti fying the second industrial unit IU2 that the common subnetwork has been exited by the first industrial unit IU1 .

[0090] The disclosed embodiments define using subnetworks in a way which enables future 5G networks for industrial collaboration purposes . The proposed usage of the subnetwork may support industrial units or cyber physical systems being equipped with actors for enabling the industrial units to physically relocate .

[0091] The disclosed embodiments suggest mapping a subnetwork to a task j ointly executed by two or more industrial units using local connectivity to exchange task-related data among the industrial units in order to conserve global communication resources in the umbrella network .

[0092] The disclosed embodiments suggest anchoring task-related data to a subnetwork in a distributed or locally centrali zed fashion and / or anchoring task-related data to a location in physical space , with regard to the possibility that the node ( s ) or participants holding task-related data and / or other data may also leave that location, whereby task-related data is handed over to other nodes , industrial units or participants in vicinity .

Claims

Claims1 . A method for establishing a collaboration of an industrial unit , the industrial unit communicatively coupled within a wireless campus network, the method including the steps of : a ) receiving, by the industrial unit , a task assignment including a noti fication of a commonly shared subnetwork to be j oined with collaborating participants ; b ) receiving, by the industrial unit , task-related data for processing the task assignment and caching the task-related data within the industrial unit ; c ) processing at least one task according to the task assignment by carrying out physical industrial work steps in collaboration with collaborating participants ; and; d) communicating amongst the collaborating participants using local communication resources of the commonly shared subnetwork; and; e ) disbanding the commonly shared subnetwork upon completion of one or more task assignments or retaining the commonly shared subnetwork for re-using the commonly shared subnetwork for a subsequent task assignment .2 . A method according to claim 1 , the task assignment received by the industrial unit being transmitted via a communication infrastructure provided by the campus network .3 . A method according to one of the aforementioned claims , the task assignment being sent by a master controller .4 . A method according to one of the aforementioned claims 1 to 3 , the task assignment being sent by a collaborating participant .5 . A method according to one of the aforementioned claims , wherein participants collaborating in the commonly shared subnetwork are selected to collaborate in a speci fic task or in a speci fic subtask of said speci fic task .6 . A method according to claim 5 , wherein location and / or extent of the commonly shared subnetwork are determined by location and / or extent at which said physical industrial work steps of the speci fic task, or the speci fic subtask are carried out .7 . A method according to one of the aforementioned claims , including the steps of : al ) transmitting, by the industrial unit , a sub task assignment to a second industrial unit , the sub task assignment including a noti fication of the commonly shared subnetwork to be j oined with collaborating participants including the industrial unit and the second industrial unit ; and; bl ) transmitting, by the industrial unit , subtask-related data for processing the sub task assignment by the second industrial unit and caching the subtask-related data within the second industrial unit .8 . A method according to one of the aforementioned claims , further including a step of reorgani zing the task-related data after caching the task-related data within the industrial unit , wherein reorgani zing includes the act of distributing said task- related data amongst one or more collaborating participants .9 . A method according claim 8 , wherein distributing said task- related data amongst one or more collaborating participants is organi zed across a subset of industrial units or other nodes in the subnetwork .10 . A method according claim 8 , wherein distributing said task- related data amongst one or more collaborating participants is tied to a physical location or a workplace .11 . An industrial unit including cyber-physical means for carrying out physical industrial work steps and at least one processor having access to a data storage having stored thereon com-puter executable program code , which, when executed by the processor, causes the processor to perform a method according to one of the aforementioned claims .

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