JP6385261B2 - Control device, wireless master device, wireless control system, and wireless control method - Google Patents

Description

  The present invention relates to a radio control system for controlling production facilities and the like, a control device and radio master unit in the radio control system, and a radio control method.

  In recent years, in production facilities such as factories, a control device such as a PLC (Programmable Logic Controller) and a plurality of controlled devices such as remote I / O (Input / Output) are connected by a local area network, and the control device and the controlled device are controlled. There is a control network that controls the entire production facility by cyclically transmitting / receiving control request commands and response commands between apparatuses. A cycle in which the control device and all controlled devices send and receive a set of request commands and response commands is called a cyclic transmission cycle. Since the cyclic transmission cycle is closely related to the production efficiency of equipment, that is, the tact time, a control network that performs cyclic transmission at high speed is required.

  On the other hand, in the control network as described above, utilization of a wireless local area network (LAN) is being studied for convenience such as wiring saving and layout free. However, in a wireless LAN, the transmission speed is slower than that of wired communication, and retransmission time due to a wireless transmission error, overhead time of wireless communication, and the like occur. Therefore, the cyclic transmission cycle becomes long, that is, the productivity of production equipment is low. There is a problem of becoming.

  Therefore, Patent Document 1 discloses a technique of collecting request commands transmitted from a control device to each controlled device, that is, aggregating them, and then wirelessly transmitting them to each controlled device by multicast in order to reduce overhead. ing.

Special table 2008-512927

  However, in the technique described in Patent Document 1, the controlled device that has received the multicast frame in which the request command is aggregated transmits BlockAck that is a response confirmation to the control device, and the control device responds to the received response confirmation. The request command is re-aggregated to retransmit the multicast frame. For this reason, as the number of controlled devices increases, there is a problem that a probability that a request command retransmitted from the control device and a response command transmitted from each controlled device increases.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a control device that can prevent congestion of a request command and a response command.

In order to solve the above-described problems and achieve the object, the present invention transmits a request command that is a command for requesting execution of an operation to a controlled device, and based on the execution result of the operation according to the request command. the generated response command to a said control device which receives from the controlled device, the delay time caused in the time der Ri the controlled device to send a response command from the reception of the controlled device requesting command A storage unit that holds a response time for each controlled device, a request command generation unit that generates a request command, and a storage unit that stores the response time corresponding to the controlled device that is the destination of the generated request command A wireless transmission control unit that continuously broadcasts the request command with the same sequence number added during the acquired response time. And wherein the Rukoto.

  According to the present invention, there is an effect that congestion of a request command and a response command can be prevented.

The figure which shows the structural example of the radio | wireless control system concerning Embodiment 1. FIG. The figure which shows the structural example of the control apparatus of Embodiment 1. The figure which shows the structural example of the controlled apparatus of Embodiment 1. FIG. FIG. 3 is a chart showing an example of operation of the first embodiment The figure which shows the structural example of the control apparatus of Embodiment 2. The figure which shows the structural example of the to-be-controlled device of Embodiment 2. A chart showing an example of operation of Embodiment 2 The figure which shows the structural example of the control apparatus of Embodiment 3. The figure which shows the structural example of the to-be-controlled device of Embodiment 3. A chart showing an example of operation of Embodiment 3 The figure which shows the structural example of the radio | wireless control system concerning Embodiment 4. The figure which shows the structural example of the control apparatus of Embodiment 4. FIG. 6 illustrates a configuration example of a wireless master device according to a fourth embodiment. FIG. 10 is a diagram illustrating a configuration example of a wireless slave device according to a fourth embodiment. The figure which shows the structural example of the to-be-controlled device of Embodiment 4. Chart showing an example of operation of the fourth embodiment

  Hereinafter, a control device, a wireless master device, a wireless control system, and a wireless control method according to embodiments of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram of a configuration example of a radio control system according to the first embodiment of the present invention. As shown in FIG. 1, the wireless control system of the present embodiment has a tree structure, and the control device 101 can be wirelessly connected to the controlled devices 102 to 104. The control device 101 transmits a request command, which is a command for requesting the execution of the operation, to the controlled devices 102 to 104 as a radio signal, and the controlled devices 102 to 104 execute and execute the operation according to the request command. A response command is generated based on the result, and the generated response command is transmitted to the control apparatus 101 as a radio signal. In FIG. 1, three controlled devices are illustrated, but the number of controlled devices is not limited to three and may be plural.

  FIG. 2 is a diagram illustrating a configuration example of the control device 101 according to the present embodiment. As illustrated in FIG. 2, the control device 101 according to the present embodiment includes a request command generation unit 204 that generates a request command to each controlled device 102 to 104, and a command response delay time of each controlled device 102 to 104. The command response delay time using the storage unit 203 that stores the command response delay time table in which the command is stored and the destination of the request command sent from the request command generation unit 204, that is, the identification information of the controlled device described as the destination The table is searched, the command response delay time of the controlled device that transmits the request command is acquired, and during the command response delay time, the wireless transmission control unit 201 that continuously transmits the request command with the same sequence number added thereto, The wireless reception control unit 202 that receives response commands from the control devices 102 to 104, and the response commands are analyzed and analyzed. The includes a response command processing unit 205 notifies the request command generating unit 204, a. The command response delay time is a time from when each of the controlled devices 102 to 104 receives a request command until it transmits a response command, that is, a response time. The command response delay time may be determined in advance based on the performance of each of the controlled devices 102 to 104, or the control device 101 may determine based on the transmission time of the request command and the reception time of the corresponding response command. The command response delay time table may be automatically generated.

  FIG. 3 is a diagram illustrating a configuration example of the controlled apparatus 102 according to the present embodiment. The controlled devices 103 and 104 have the same configuration as the controlled device 102. The controlled apparatus 102 receives the request command from the control apparatus 101, and when receiving the request command having the same sequence number as the received request command, the wireless reception control unit 302 that discards the request command, and the request command A request command processing unit 304 that generates a processing result, a response command generation unit 303 that generates a response command based on the processing result of the request command processing unit 304, and a response command to the controlled device 101. And a wireless transmission control unit 301 for transmitting to.

  Next, the operation of the present embodiment will be described. FIG. 4 is a chart showing an example of the operation of the present embodiment. The control device 101 generates a request command for the controlled device 102, and continuously transmits the generated request command by broadcast (step S1). Specifically, in step S1, the request command generation unit 204 of the control device 101 generates a request command, and the wireless transmission control unit 201 receives the request command destination from the command response delay time table of the storage unit 203. The command response delay time of the control device 102 is searched. The wireless transmission control unit 201 broadcasts the request command continuously during the command response delay time 401 obtained by the search. The wireless transmission control unit 201 assigns the same sequence number to the request commands that are continuously transmitted. The request command stores identification information indicating the destination controlled device, specifically the network address of the controlled device.

  The controlled apparatus 102 that has received the request command executes an operation according to the request command, creates a response command based on the execution result, and transmits the response command to the control apparatus 101 by unicast (step S2). Specifically, first, the request command processing unit 304 of the controlled apparatus 102 executes processing corresponding to the request command received via the wireless reception control unit 302. Then, the response command generation unit 303 of the controlled apparatus 102 acquires the processing result executed from the request command processing unit 304, generates a response command based on the processing result, and controls the response command via the wireless transmission control unit 301. Transmit to device 101 by unicast.

  The control device 101 that has received the response command from the controlled device 102 transmits and receives the request command and the response command in the same sequence as described above between the controlled device 103 and the controlled device 104 (step S3 to step S3). S6). The period during which continuous transmission is performed, that is, the command response delay time is determined for each controlled device based on the command response delay time table. As shown in FIG. 4, continuous transmission is performed for the controlled device 103 during the command response delay time 402, and continuous transmission is performed for the controlled device 104 during the command response delay time 403.

  The controlled devices 102 to 104 receive a plurality of request commands having the same sequence number by continuous transmission. However, when the request commands having the same sequence number as the already received request command are received, the request commands are discarded. Further, since the request command is transmitted by broadcast, a response confirmation to the request command, that is, Ack is not transmitted from the controlled devices 102 to 104. On the other hand, since the response command is transmitted by unicast, when the control apparatus 101 cannot receive the response command, a retransmission sequence based on a normal wireless LAN, that is, IEEE (The Institute of Electrical and Electronics Engineers) 802.11 is performed. .

  As described above, in the present embodiment, the control device 101 holds the command response delay time for each controlled device, and continuously sends the request command during the command response delay time corresponding to each controlled device. I made it. For this reason, congestion of the request command and the response command does not occur. Moreover, the effect that the arrival probability of a request command is improved by continuous transmission is also obtained.

Embodiment 2. FIG.
FIG. 5 is a diagram of a configuration example of the control device according to the second embodiment of the present invention. FIG. 6 is a diagram illustrating a configuration example of the controlled apparatus according to the present embodiment. The wireless control system of the present embodiment has a tree structure as in the first embodiment. The control device 101 in FIG. 1 is replaced with the control device 500 in the present embodiment, and the controlled devices 102 to 104 are controlled devices. It is replaced with 600, 610, 620. The control device 500 according to the present embodiment transmits a request command as a radio signal to the controlled devices 600, 610, and 620, and the controlled devices 600, 610, and 620 execute and execute operations according to the request command. A response command is generated based on the result, and the generated response command is transmitted to the control device 500 as a radio signal. Components having the same functions as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and redundant description is omitted.

  In the present embodiment, in order to further improve the communication efficiency, even when request commands for a plurality of controlled devices are aggregated, that is, aggregated into one frame, the request command and the response command are not congested. Indicates.

  As shown in FIG. 5, control device 500 of the present embodiment is sent from storage unit 203, request command generation unit 204, response command processing unit 205, and request command generation unit 204, which are the same as in the first embodiment. Aggregate multiple request commands, search the command response delay time table using the identification information of the destination of the request command, that is, the destination controlled device, and the command response delay of the destination controlled device of the aggregated request command A request command aggregate unit 503 that is a request command aggregation unit that acquires the shortest command response delay time in time and sends the aggregated request command and the acquired shortest command response time to the wireless transmission control unit 501; The aggregated request command is sent to the same command during the notified shortest command response delay time. A wireless transmission control unit 501 that adds a sequence number and transmits continuously, a wireless reception control unit 502 that receives response commands from controlled devices 600, 610, and 620, and a response command separation that separates the aggregated response commands Unit 504. Hereinafter, the aggregated request command is referred to as an aggregate request command. The aggregate request command is an aggregation request command generated by aggregating a plurality of request commands into one frame.

  The controlled devices 600, 610, and 620 have the same configuration, but here, the configuration of the controlled device 600 will be described as a representative of the controlled devices 600, 610, and 620. As shown in FIG. 6, controlled device 600 receives an aggregate request command from response command generation unit 303 and request command processing unit 304, which are the same as in the first embodiment, and control device 500, and receives an aggregate request with the same sequence number. When receiving the gate request command, the wireless reception control unit 602 discards the aggregate request command, extracts the request command addressed to its own device from the received aggregate request command, and sends the extracted request command to the request command processing unit When there are a plurality of request commands addressed to the own device in the request command extraction unit 604 to be input to 304 and the aggregate request command, since a plurality of response commands are generated, a response that aggregates the generated response commands The response command aggregate unit 603, which is a command aggregation unit, and the response command Includes a radio transmission control section 601 transmits by unicast the aggregate response command to the control unit 500, a. Hereinafter, the aggregated response command is referred to as an aggregate response command. The aggregate response command is an aggregate response command generated by aggregating a plurality of response commands into one frame.

  Next, the operation of the present embodiment will be described. FIG. 7 is a chart showing an example of the operation of the present embodiment. The controlled device 500 aggregates request commands for the controlled device 600, the controlled device 610, and the controlled device 620 to generate an aggregate request command. Then, the control device 500 transmits the request command from the command response delay time table, the shortest command response delay time among the command response delay times of the controlled device 600, the controlled device 610, and the controlled device 620, that is, the shortest command response delay. The time 701 is searched, and during the shortest command response delay time 701, the aggregate request command is continuously transmitted by broadcasting (step S11). It should be noted that the same sequence number is assigned to the request commands that are sent continuously.

  The controlled devices 600 and 610 that have received the aggregate request command extract a request command addressed to the own device from the aggregate request command, execute an operation according to the request command, create a response command based on the execution result, A response command is transmitted by unicast to the control device 500 (step S12, step S13). The controlled device 620 that has received the aggregate request command extracts the request command addressed to itself from the aggregate request command. Assume that this aggregate request command includes a plurality of request commands for the controlled device 620. The controlled device 620 executes an operation according to each request command, creates a plurality of response commands based on the execution results, aggregates the plurality of response commands, and transmits the response commands to the control device 500 by unicast. (Step S14). In addition, when controlled devices 600, 610, and 620 receive an aggregate request command having the same sequence number by continuous transmission, the requested commands are discarded.

  The control device 500 that has received the aggregate response command separates the response commands and performs processing for each response command. Since the aggregate request command is transmitted by broadcast, the response confirmation is not transmitted from the controlled devices 600, 610, and 620 as in the first embodiment. On the other hand, since the response command is unicast, when the control device 500 cannot receive the response command, a normal wireless LAN retransmission sequence is performed.

  As described above, even when the request command is aggregated, in order to continuously send the request command during the shortest command response delay time of the command response delay time of the controlled device that is the destination of the aggregated request command, Request command and response command congestion does not occur. Further, since the request command is simultaneously delivered to all the controlled devices to which the request command is transmitted by the aggregate and the controlled devices operate in parallel, an effect of reducing the cyclic period is also obtained.

  In the above example, the control device 500 uses the shortest command response delay time among the command response delay times of the destination controlled device as the continuous transmission time that is a period for continuously transmitting the aggregated request command. However, the present invention is not limited to this, and a continuous transmission time other than the shortest command response delay time may be used. For example, the control device 500 may use the second shortest command response delay time of the controlled device that is the destination of the aggregated request command as the continuous transmission time, or the destination of the aggregated request command An average value of command response delay times of the controlled devices may be obtained, and the average value may be used as the continuous transmission time. In other words, the control device 500 may determine the continuous transmission time based on the command response delay time of the controlled device that is the destination of the aggregated request command.

Embodiment 3 FIG.
FIG. 8 is a diagram illustrating a configuration example of a control device according to the third embodiment of the present invention. FIG. 9 is a diagram illustrating a configuration example of the controlled apparatus according to the present embodiment. The wireless control system of the present embodiment has a tree structure as in the first embodiment. The control device 101 in FIG. 1 is replaced with the control device 800 in the present embodiment, and the controlled devices 102 to 104 are controlled devices. 900, 910, and 920. The control device 800 of the present embodiment transmits a request command as a radio signal to the controlled devices 900, 910, and 920, and the controlled devices 900, 910, and 920 execute and execute processing according to the request command. A response command is generated based on the result, and the generated response command is transmitted to the control device 800 as a radio signal. Components having the same functions as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and redundant description is omitted. Hereinafter, a different part from Embodiment 1 or Embodiment 2 is demonstrated.

  In the first and second embodiments, when a response command does not return from the controlled device, the control device retransmits the request frame after waiting for a preset timeout period as normal wireless LAN retransmission control. . For this reason, a fixed time retransmission wait time occurs. In the present embodiment, an example will be described in which the retransmission wait time is suppressed by dynamically changing the retransmission wait time.

  As shown in FIG. 8, the control device 800 of the present embodiment aggregates a plurality of request commands sent to the storage unit 203, the request command generation unit 204, and the response command processing unit 205 similar to those in the first embodiment. The request command corresponding to the response command sent from the radio reception control unit 802 when the request command is retransmitted is deleted from the aggregate request command, and the maximum directly proportional to the number of controlled devices at the destination of the aggregated request command A transmission wait time parameter is generated and added to the aggregate request command, and the command response delay time table is searched using the identification information of the destination, that is, the destination controlled device as a key, and the destination controlled device of the aggregated request command Request command aggregation that obtains the shortest command response delay time among command response delay times A transmission timing control unit 804 that determines a transmission timing at the time of retransmission, that is, a retransmission timing, based on the maximum transmission waiting time parameter generated by the transmission command unit 803 and the request command aggregate unit 803 and the carrier sense information from the wireless reception control unit 802 Radio transmission control for retransmitting the aggregated request command with the same sequence number added during the notified shortest command response delay time, and retransmitting according to the retransmission timing determined by the transmission timing control unit 804 Unit 801, a radio reception control unit 802 that receives a response command from controlled devices 900, 910, and 920, performs carrier sense and notifies carrier sense information to transmission timing control unit 804, and an aggregated response command A response command separation unit 805 for separating That. Note that the parameter that defines the maximum waiting time when the controlled apparatus performs transmission is a value called CWmin in the wireless LAN. Hereinafter, the maximum transmission waiting time parameter is described as CWmin.

  The controlled devices 900, 910, and 920 have the same configuration, but here, the configuration of the controlled device 900 will be described on behalf of the controlled devices 900, 910, and 920. As shown in FIG. 9, controlled device 900 includes response command generation section 303 and request command processing section 304 similar to those in the first embodiment, and response command aggregate section 603 and request command extraction similar to those in the second embodiment. Unit 604 and the aggregate request command from control device 800 are received, CWmin is extracted from the received aggregate request command and notified to radio transmission control unit 901, and the aggregate request command having the same sequence number is received Cancels the corresponding aggregate request command, selects a waiting time at random with the radio reception control unit 902 as the upper limit of the CWmin value, and broadcasts a response command or an aggregate response command to the control device 800 when the selected waiting time elapses. And a wireless transmission control unit 901 for transmitting by Control device. The wireless transmission control unit 901 selects a waiting time at random with the CWmin value as an upper limit, and transmits a response command when the selected waiting time elapses. The transmission of the response command or the aggregate response command performed by the wireless transmission control unit 901 selects a waiting time at random with the CWmin value as an upper limit, and congestion with communication of other controlled devices by CSMA (Carrier Sense Multiple Access) It is carried out while avoiding.

  Next, the operation will be described. FIG. 10 is a chart showing an example of the operation of the present embodiment. The controlled device 800 aggregates request commands for the controlled device 900, controlled device 910, and controlled device 920 to generate an aggregate request command, and controls the destination of the request command included in the aggregate request command. A CWmin value proportional to the number of devices is added to the aggregate request command. Then, the control device 800 transmits the request command from the command response delay time table, and the shortest command response delay, that is, the shortest command response delay among the command response delay times of the controlled device 900, the controlled device 910, and the controlled device 920. The time 1001 is searched, and during the shortest command response delay time 1001, the aggregate request command is continuously transmitted by broadcasting (step S21). It should be noted that the same sequence number is assigned to the request commands that are sent continuously.

  The controlled devices 900 and 910 that have received the aggregate request command extract the request command addressed to the own device and the CWmin from the aggregate request command, execute processing according to the request command, and create a response command based on the execution result Then, the back-off time is randomly selected with the extracted CWmin value as the maximum value, and a response command is broadcasted to the control device 800 while avoiding congestion with communication of other controlled devices by CSMA (step S22, step S22). S23).

  Further, the controlled device 920 that has received the aggregate request command extracts the request command addressed to itself from the aggregate request command. Assume that this aggregate request command includes a plurality of request commands for the controlled device 920. The controlled device 920 extracts the request command addressed to itself and the CWmin from the aggregate request command, executes processing according to each request command, creates a plurality of response commands based on the execution results, The response command is aggregated, the back-off time is randomly selected with the extracted CWmin value as the maximum value, and the response command aggregated to the control device 800 by CSMA is broadcast (step S24). Further, when controlled devices 900, 910, and 920 receive an aggregate request command having the same sequence number by continuous transmission, the requested commands are discarded. In this embodiment, since both the request command and the response command are transmitted by broadcast, the response confirmation and retransmission sequence used in a normal wireless LAN are not performed.

  Here, it is assumed that the response command from the controlled device 910 and the aggregated response command from the controlled device 920 have not been received by the control device 800. The transmission timing control unit 804 increments the number of non-communication time slots in the time slot determined to be non-communication based on the carrier sense information, that is, the time slot in which no carrier is detected, starting from the transmission completion time of the aggregate request command. To do. When it is determined that there is no communication, that is, a carrier is detected, the number of non-communication time slots is not incremented in the time slot. In this way, the control device 800 obtains the total number of non-communication time slots, that is, the non-communication time. The control device 800 did not receive a response command by a period 1002 until the cumulative number of non-communication time slots after the completion of transmission of the aggregate request command coincides with the CWmin value added to the transmitted aggregate request command. The request commands for the controlled devices 910 and 920 are re-aggregated, a CWmin value proportional to the number of controlled devices that have not received a response command is added, and the aggregate request command is retransmitted (step S25). Retransmission is also performed by continuous transmission by broadcast. Specifically, the control device 800 broadcasts continuously for the shortest command response delay time 1003 among the command response delay times of the controlled device that is the destination of the re-aggregated aggregate request command.

  Also, the request command aggregate unit 803 deletes the request command for the controlled device that has received the response command from the aggregate request command to be retransmitted, generates a retransmission aggregate request command, and inputs it to the radio transmission control unit 801. Since the maximum transmission waiting time of the controlled devices 900, 910, and 920 is defined by the CWmin value, as described above, when the non-communication time after the transmission of the aggregate request command becomes the CWmin value, the control device 800 It is determined that the response command cannot be received, and retransmission is performed.

  The controlled device 910 that has received the aggregate request command extracts the request command addressed to itself and CWmin from the aggregate request command, executes processing according to the request command, creates a response command based on the execution result, A back-off time is randomly selected with the extracted CWmin value as a maximum value, and a response command is broadcasted to the control device 800 while avoiding congestion with communication of other controlled devices by CSMA (step S26).

  Further, the controlled device 920 that has received the aggregate request command extracts the request command addressed to itself from the aggregate request command. The controlled device 920 extracts the request command addressed to itself and the CWmin from the aggregate request command, executes processing according to each request command, creates a plurality of response commands based on the execution results, The response command is aggregated, the back-off time is randomly selected with the extracted CWmin value as the maximum value, and the response command aggregated to the control device 800 by CSMA is broadcast (step S27).

  In this embodiment, since the aggregate request command and the response command are both transmitted by broadcast, the response confirmation is not transmitted, and the retransmission sequence in the wireless LAN is not performed.

  As described above, in the present embodiment, control device 800 calculates the retransmission timing of the request command from CWmin determined by the number of controlled devices in the aggregate request command. For this reason, the effect that useless retransmission waiting time does not occur is obtained.

Embodiment 4 FIG.
FIG. 11 is a diagram of a configuration example of a radio control system according to the fourth embodiment of the present invention. In the first embodiment, the second embodiment, and the third embodiment, the control device and the controlled device perform the operation according to the present invention. In the present embodiment, the control device 1101 and the controlled devices 1102 to 1104 are These are so-called legacy devices having a function for transmitting and receiving general request commands and response commands. By connecting the wireless master device 1105 and the wireless slave devices 1106 to 1108 to these devices, the operation according to the present invention is realized.

  As shown in FIG. 11, the wireless master device 1105 is wired to the control device 1101, the controlled device 1102 is wired to the wireless slave device 1106, and the controlled device 1103 is wired to the wireless slave device 1107 to be controlled. The device 1104 is connected to the wireless slave device 1108 by wire. A wireless master device 1105 and a control device 1101 constitute a parent station system. A controlled device 1102 and a wireless slave device 1106, a controlled device 1103 and a wireless slave device 1107, and a controlled device 1104 and a wireless slave device 1108 are slave stations. When the system is configured, the master station system and the slave station system of this embodiment have a tree structure. In the present embodiment, the master station system realizes the operation of the control device 800 of the third embodiment, and the slave station system realizes the operation of the control device 800 of the third embodiment. In FIG. 11, three controlled devices and three wireless slave devices are shown, but the number of controlled devices and slave station devices is not limited to three and may be plural.

  Hereinafter, an example in which the same operation as that of the third embodiment is realized using a legacy device will be described. Components having the same functions as those of the third embodiment are denoted by the same reference numerals as those of the third embodiment, and redundant description is omitted.

  FIG. 12 is a diagram illustrating a configuration example of the control device 1101 of the present embodiment. The control device 1101 of the present embodiment includes a request command generation unit 204 and a response command processing unit 205 similar to those of the first embodiment, and a request command generated by the request command generation unit 204 via a wired line. A wired transmission unit 1201 for transmitting to 1105; and a wired reception unit 1202 for receiving a response command from the wireless master device 1105 via a wired line and inputting the response command to the response command processing unit 205.

  FIG. 13 is a diagram illustrating a configuration example of the wireless master device 1105 according to the present embodiment. The wireless master device 1105 includes a wireless transmission control unit 801, a wireless reception control unit 802, a transmission timing control unit 804, and a response command separation unit 805 included in the control device 800 according to the third embodiment, and a wired connection from the control device 1101. A wired receiver 1301 that receives a request command, a command response delay time table that stores a command response delay time of each controlled device, and a wireless slave device correspondence table that stores a correspondence relationship between the wireless slave device and the controlled device The request command received by the storage unit 1303 and the wire receiving unit 1301 is aggregated, and the request command corresponding to the response command received by the wireless reception control unit 802 at the time of retransmission is deleted from the aggregate request command. The maximum transmission latency parameter that is directly proportional to the number of wireless slaves that are the destination of the gated request command. The command CWmin is generated, the command response delay time table is searched using the identification information of the destination of the request command, that is, the destination controlled device as a key, and the command response delay time of the controlled device that sends the request command is the shortest command A request command aggregate unit 1304 that acquires a response delay time, and a wired transmission unit 1302 that transmits the response command separated by the response command separation unit 805 to the control device 1101 via a wired line.

  When receiving a response command, the request command aggregate unit 1304 refers to the wireless slave device correspondence table and obtains a controlled device corresponding to the wireless slave device that is the transmission source of the response command. As a result, the request command aggregate unit 1304 can grasp to which controlled device the retransmission is performed when the aggregate request command needs to be retransmitted. The wireless slave unit correspondence table may be stored in the storage unit 1303 in advance, or the correspondence table between the wireless slave unit and the controlled device is monitored by the wireless master unit 1105 monitoring the address of the response command received wirelessly. That is, correspondence information may be automatically generated.

  FIG. 14 is a diagram illustrating a configuration example of the wireless slave device 1106 according to the present embodiment. The configuration of the wireless slave devices 1107 and 1108 is the same as that of the wireless slave device 1106. As illustrated in FIG. 14, the wireless slave device 1106 includes a response command aggregate unit 603, a request command extraction unit 604, a wireless transmission control unit 901, and a wireless reception control unit 902 included in the controlled apparatus 900 according to the third embodiment. A wired reception unit 1401 that receives a response command from the controlled device 1102 via a wired line, and a wired transmission unit 1402 that transmits the request command extracted by the request command extraction unit 1405 to the controlled device 1102 via the wired line. Prepare. In the second and third embodiments, the request command extraction unit 604 extracts a request command addressed to the own device. However, in this embodiment, the controlled device 900 to which the wireless slave device 1106 is connected is the destination. Request command is extracted.

  FIG. 15 is a diagram illustrating a configuration example of the controlled apparatus 1102 according to the present embodiment. The configuration of the controlled devices 1103 and 1104 is the same as that of the controlled device 1102. As illustrated in FIG. 15, the controlled device 1102 receives the request command from the wireless slave device 1106 via the wired line, and the response command generation unit 303 and the request command processing unit 304 similar to those in the third embodiment. Unit 1502 and a wired transmission unit 1501 that transmits the response command generated by the response command generation unit 303 to the wireless slave device 1106 via a wired line.

  Next, the operation of the present embodiment will be described. FIG. 16 is a chart showing an example of the operation of the present embodiment. The control device 1101 generates a request command for the controlled devices 1102, 1103, and 1104, and transmits the request command to the wireless master device 1105 via a wired line (step S30). In the example of FIG. 16, the control device 1101 includes a total of four request commands # 1 for the controlled device 1102, request command # 2 for the controlled device 1103, and request commands # 3 and # 4 for the controlled device 1104. Assume that a request command is generated and sent.

  The wireless master device 1105 that has received the request commands # 1 to # 4 generates the aggregate request command by aggregating the request commands # 1 to # 4, and transmits the request command by the aggregate request command. The CWmin value proportional to is added to the aggregate request command. Then, the wireless master device 1105 searches the command response delay time table for the shortest command response delay time 1601 among the command response delay times of the controlled device that transmits the request command from the command response delay time table. The aggregate request command is continuously transmitted by broadcasting (step S31). It should be noted that the same sequence number is assigned to the request commands that are sent continuously.

  The wireless slave units 1106, 1107, and 1108 that have received the aggregate request command extract the request command addressed to the local station and the CWmin value from the aggregate request command, respectively, and send the extracted request command to the controlled device through the wired line. (Steps S32, S33, S34). Further, the wireless slave devices 1106, 1107, and 1108 hold the extracted CWmin value for transmission of response commands. In addition, when the wireless slave devices 1106, 1107, and 1108 receive the aggregate request command having the same sequence number by continuous transmission, the received wireless commands are discarded.

  The controlled devices 1102, 1103, and 1104 that have received the request command execute processing corresponding to the request command, create a response command based on the execution result, and transmit the response command to the wireless slave unit via a wired line (step S35, 36, 37). In the example of FIG. 16, the controlled device 1102 sends a response command # 1, the controlled device 1103 sends a response command # 2, and the controlled device 1104 sends a response command # 3 and # 4 to the wireless slave units connected to each. Send. The wireless slave units 1106, 1107, and 1108 that have received the response command randomly select a backoff time with the CWmin value held as the maximum value, and avoid congestion with other controlled devices using CSMA. A response command is transmitted by broadcast to the wireless master device 1105 (steps S38, S39, S40). Since the wireless slave device 1108 receives a plurality of response commands from the controlled device 1104, the wireless slave device 1108 aggregates the plurality of response commands and broadcasts them to the wireless master device 1105. In the example of FIG. 16, it is assumed that the response commands transmitted from the wireless slave devices 1107 and 1108 do not arrive at the wireless master device 1105, and the response commands transmitted from the wireless slave device 1106 arrive at the wireless master device 1105.

  The wireless master device 1105 transmits the received response command to the control device 1101 via a wired line (step S41).

  Wireless master device 1105 obtains the total number of non-communication time slots in the carrier sense information using the transmission completion time of the aggregate request command as the start time, similarly to control device 800 in the third embodiment. The wireless master device 1105 does not receive a response command by the period 1602 until the cumulative number of non-communication time slots from the completion of transmission of the aggregate request command matches the CWmin value added to the transmitted aggregate request command. The request commands for the wireless slave devices 1107 and 1108 are re-aggregated, a CWmin value proportional to the number of wireless slave devices that did not receive the response command is added, and the aggregate request command is retransmitted (step S42). . Retransmission is also performed by continuous transmission by broadcast. Specifically, the wireless master device 1105 broadcasts continuously for the shortest command response delay time 1603 among the command response delay times of the destination controlled device of the reaggregated aggregate request command.

  Receiving the aggregate request command, the wireless slave units 1107 and 1108 respectively extract the request command addressed to the local station and the CWmin value from the aggregate request command, and send the extracted request command to the controlled devices 1103 and 1103 through the wired line. 1104 (steps S43 and S44). The controlled devices 1103 and 1104 that have received the request command execute processing corresponding to the request command, create a response command based on the execution result, and transmit the response command to the wireless slave devices 1107 and 1108 via the wired line ( Steps S45 and S46). The wireless slave devices 1107 and 1108 that have received the response command randomly select a back-off time with the CWmin value held as the maximum value, and avoid congestion with other controlled devices using CSMA. A response command is transmitted by broadcast to the machine 1105 (steps S47 and S48). The wireless master device 1105 transmits the response command received from the wireless slave devices 1106 and 1108 to the control device 1101 via a wired line (steps S49 and S50). When receiving the aggregated response command, the wireless master device 1105 separates the response command and transmits the response command to the control device 1101 for each response command.

  In the present embodiment, as in the third embodiment, since the aggregate request command and the response command are both transmitted by broadcast, the response confirmation is not transmitted and the retransmission sequence in the wireless LAN is not performed.

  In the above example, operations other than the normal request command and response command transmission / reception functions of the control device and controlled device of the third embodiment are performed by the wireless master device and the wireless slave device. Without being limited thereto, the wireless master unit and the wireless slave unit perform operations other than the normal request command and response command transmission / reception function of the control device of the first or second embodiment and the controlled device, Similarly, when using a control device and a controlled device which are legacy devices, the same effects as those of the first embodiment or the second embodiment can be obtained.

  As described above, the control device and the controlled device having the conventional transmission / reception function of the normal request command and response command are connected to the wireless master device and the wireless slave device, respectively, and the wireless master device and the wireless slave device are the embodiments. Among the operations of the control device for operation 3 and the controlled device, operations other than the transmission / reception function of the normal request command and response command are performed. For this reason, the same effect as in the third embodiment can be obtained by using a conventional control device having a function of transmitting / receiving a normal request command and response command, and a controlled device, and the controlled device operates in parallel. The effect that the click cycle is reduced is obtained.

  The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

  101, 500, 800, 1101 Control device, 102-104, 600, 610, 620, 900, 910, 920, 1102-1104 Controlled device, 201, 301, 501, 601, 801, 901 Radio transmission control unit, 202 , 302, 502, 602, 802, 902 Wireless reception control unit, 203, 1303 storage unit, 204 request command generation unit, 205 response command processing unit, 303 response command generation unit, 304 request command processing unit, 503, 803, 1304 Request command aggregate unit, 504, 805 Response command separation unit, 603 Response command aggregate unit, 604 Request command extraction unit, 804 Transmission timing control unit, 1105 Wireless master unit, 1106-1108 Wireless slave units, 1201, 1302, 1402 , 150 Wired transmission unit, 1202,1301,1401,1502 wired receiver.

Claims (18)

A control device that transmits a request command that is a command for requesting execution of an operation to a controlled device, and that receives a response command generated based on an execution result of the operation according to the request command from the controlled device. ,
A storage unit that holds the response time is the delay time caused in the time der Ri the controlled device to send a response command from the reception of the controlled device requesting command for each of the controlled device,
A request command generator for generating a request command;
The response time corresponding to the controlled device that is the destination of the generated request command is acquired from the storage unit, and the request command to which the same sequence number is added is broadcasted during the acquired response time. A wireless transmission control unit;
A control device comprising: In a period in which an aggregation request command is generated by aggregating a plurality of request commands generated by the request command generation unit into one frame, and continuous transmission is performed based on the response time of the controlled device that is the destination of the aggregation request command Request command aggregator that determines a certain continuous transmission time,
With
The control apparatus according to claim 1, wherein the wireless transmission control unit continuously broadcasts the aggregation request command to which the same sequence number is added during the continuous transmission time.   The control device according to claim 2, wherein the continuous transmission time is the shortest response time among the response times of the control target device that is the destination of the aggregation request command. A transmission timing control unit for controlling retransmission timing,
With
The request command aggregating unit generates a maximum transmission waiting time parameter that is directly proportional to the number of controlled devices that are destinations of the aggregation request command, and notifies the transmission timing control unit. Generate a retransmission aggregation request command by deleting a request command for the controlled device that has received the corresponding response command from the aggregation device from the aggregation request command, and transmit the maximum transmission that is directly proportional to the number of controlled devices that are the destination of the retransmission aggregation request command Generate a parameter indicating a waiting time and notify the transmission timing control unit, determine the continuous transmission time of the retransmission aggregation request command based on the response time of the control target device of the retransmission aggregation request command,
Starting from the transmission end time of the aggregation request command, the total no-communication time that is a time during which no carrier is detected is calculated, and the total no-communication time corresponds to the parameter notified from the request command aggregation unit Is determined as the retransmission timing of the aggregation request command,
The radio transmission control unit transmits the retransmission aggregation request command by continuous transmission by broadcast for a continuous transmission time corresponding to the retransmission aggregation request command from the retransmission timing determined by the transmission timing control unit. The control device according to claim 2 or 3.   5. The response time for each of the controlled devices is obtained based on a transmission time of a request command and a reception time of a response command corresponding to the request command. Control device. A control device that transmits a request command that is a command for requesting execution of an operation to the controlled device, and a controlled device that generates a response command based on an execution result of the operation according to the request command and transmits the response command to the control device And in a wireless control system comprising a wireless slave connected to the controlled device via a wired line, a wireless master connected to the control device via a wired line,
A wired receiver for receiving a request command from the control device;
A storage unit that holds the response time is the delay time caused in the time der Ri the controlled device to send a response command from the reception of the controlled device requesting command for each of the controlled device,
The response time corresponding to the controlled device that is the destination of the request command received by the wired reception unit is acquired from the storage unit, and the request command with the same sequence number added during the acquired response time A wireless transmission control unit for continuous transmission by broadcast;
A wireless master device comprising: This is a period for generating an aggregation request command by aggregating a plurality of request commands received by the wired receiving unit into one frame, and performing continuous transmission based on the response time of the controlled device that is the destination of the aggregation request command. Request command aggregator that determines continuous transmission time,
With
The wireless master device according to claim 6, wherein the wireless transmission control unit broadcasts the aggregation request command to which the same sequence number is added during the continuous transmission time.   8. The wireless master device according to claim 7, wherein the continuous transmission time is the shortest response time among the response times of the control target device that is the destination of the aggregation request command. A transmission timing control unit for controlling retransmission timing,
With
The request command aggregating unit generates a maximum transmission waiting time parameter that is directly proportional to the number of controlled devices that are destinations of the aggregation request command, and notifies the transmission timing control unit. A retransmission aggregation request command is generated by deleting a request command for the controlled device that has received the corresponding response command from the radio base unit from the aggregation request command, and the maximum directly proportional to the number of controlled devices that are the destination of the retransmission aggregation request command Generate a parameter indicating a transmission waiting time, notify the transmission timing control unit, determine the continuous transmission time of the retransmission aggregation request command based on the response time of the control target device of the retransmission aggregation request command,
Starting from the transmission end time of the aggregation request command, the total no-communication time that is a time during which no carrier is detected is calculated, and the total no-communication time corresponds to the parameter notified from the request command aggregation unit Is determined as the retransmission timing of the aggregation request command,
The radio transmission control unit transmits the retransmission aggregation request command by continuous transmission by broadcast for a continuous transmission time corresponding to the retransmission aggregation request command from the retransmission timing determined by the transmission timing control unit. The wireless master device according to claim 7 or 8.   10. The response time for each of the controlled devices is obtained based on a transmission time of a request command and a reception time of a response command corresponding to the request command. Wireless master unit. By monitoring the address of the transmission source of the response command, the correspondence information between the wireless slave unit and the controlled device is generated, and the correspondence information is stored in the storage unit,
11. The wireless master device according to claim 6, wherein a wireless slave device corresponding to a controlled device that is a destination of a request command is obtained based on the correspondence information. A control device;
When receiving a request command to which the same sequence number as the already received request command is added from the control device, a controlled device that discards the received request command;
With
The controller is
A storage unit that holds the response time is the delay time caused in the time der Ri the controlled device to send a response command from the reception of the controlled device requesting command for each of the controlled device,
A request command generator for generating a request command;
The response time corresponding to the controlled device that is the destination of the generated request command is acquired from the storage unit, and the request command to which the same sequence number is added is broadcasted during the acquired response time. A wireless transmission control unit;
A wireless control system comprising: The controller is
In a period in which an aggregation request command is generated by aggregating a plurality of request commands generated by the request command generation unit into one frame, and continuous transmission is performed based on the response time of the controlled device that is the destination of the aggregation request command Request command aggregator that determines a certain continuous transmission time,
With
The wireless transmission control unit continuously broadcasts the aggregation request command with the same sequence number added during the continuous transmission time,
When the controlled device receives the aggregation request command from the control device, the controlled device extracts the request command addressed to itself from the aggregation request command, and receives the aggregation request command to which the same sequence number as the received aggregation request command is added. 13. The radio control system according to claim 12, wherein when received, the received aggregation request command is discarded. The controller is
A transmission timing control unit for controlling retransmission timing,
With
The request command aggregating unit generates a maximum transmission waiting time parameter that is directly proportional to the number of controlled devices that are destinations of the aggregation request command, and notifies the transmission timing control unit. Generate a retransmission aggregation request command by deleting a request command for the controlled device that has received the corresponding response command from the aggregation device from the aggregation request command, and transmit the maximum transmission that is directly proportional to the number of controlled devices that are the destination of the retransmission aggregation request command Generate a parameter indicating a waiting time and notify the transmission timing control unit, determine the continuous transmission time of the retransmission aggregation request command based on the response time of the control target device of the retransmission aggregation request command,
Starting from the transmission end time of the aggregation request command, the total no-communication time that is a time during which no carrier is detected is calculated, and the total no-communication time corresponds to the parameter notified from the request command aggregation unit Is determined as the retransmission timing of the aggregation request command,
The wireless transmission control unit transmits the retransmission aggregation request command by continuous transmission by broadcast during the continuous transmission time corresponding to the retransmission aggregation request command from the retransmission timing determined by the transmission timing control unit,
The controlled device randomly selects a waiting time up to a maximum transmission waiting time parameter stored in the received aggregation request command, and transmits a response command when the selected waiting time elapses. 14. A radio control system according to 13. A controlled device;
A control device that generates a request command that is a command for requesting the controlled device to execute an operation;
With the wireless master unit,
A wireless slave that transmits a request command received from the control device to a destination controlled device via a wired line;
With
The wireless master unit is
A wired receiver that receives a request command from the control device via a wired line;
A storage unit that holds the response time is the delay time caused in the time der Ri the controlled device to send a response command from the reception of the controlled device requesting command for each of the controlled device,
The response time corresponding to the controlled device that is the destination of the request command received by the wired reception unit is acquired from the storage unit, and the request command with the same sequence number added during the acquired response time A wireless transmission control unit that continuously transmits by broadcast,
When the wireless slave device receives a request command to which the same sequence number as an already received request command is added, the wireless slave system discards the received request command. The wireless master unit is
This is a period for generating an aggregation request command by aggregating a plurality of request commands received by the wired receiving unit into one frame, and performing continuous transmission based on the response time of the controlled device that is the destination of the aggregation request command. Request command aggregator that determines continuous transmission time,
With
The wireless transmission control unit continuously broadcasts the aggregation request command with the same sequence number added during the continuous transmission time,
When the wireless slave device receives the aggregation request command from the wireless master device, the wireless slave device extracts the request command from the aggregation request command and transmits the request command to the destination controlled device via a wired line, and is the same as the already received aggregation request command 16. The radio control system according to claim 15, wherein when the aggregation request command to which the sequence number is added is received, the received aggregation request command is discarded. The wireless master unit is
A transmission timing control unit for controlling retransmission timing,
With
The request command aggregating unit generates a maximum transmission waiting time parameter that is directly proportional to the number of controlled devices that are destinations of the aggregation request command, and notifies the transmission timing control unit. A retransmission aggregation request command is generated by deleting a request command for the controlled device that has received the corresponding response command from the radio base unit from the aggregation request command, and the maximum directly proportional to the number of controlled devices that are the destination of the retransmission aggregation request command Generate a parameter indicating a transmission waiting time, notify the transmission timing control unit, determine the continuous transmission time of the retransmission aggregation request command based on the response time of the control target device of the retransmission aggregation request command,
Starting from the transmission end time of the aggregation request command, the total no-communication time that is a time during which no carrier is detected is calculated, and the total no-communication time corresponds to the parameter notified from the request command aggregation unit Is determined as the retransmission timing of the aggregation request command,
The wireless transmission control unit transmits the retransmission aggregation request command by continuous transmission by broadcast during the continuous transmission time corresponding to the retransmission aggregation request command from the retransmission timing determined by the transmission timing control unit,
The waiting time is randomly selected with the parameter stored in the received aggregation request command as an upper limit, and when the selected waiting time elapses, a response command is transmitted,
The wireless slave device randomly selects a waiting time with the maximum transmission waiting time parameter stored in the received aggregation request command as an upper limit, and transmits a response command when the selected waiting time elapses. The radio control system according to 16. Radio control in a control device that transmits a request command that is a command for requesting execution of an operation to a controlled device, and receives a response command generated based on an execution result of the operation according to the request command from the controlled device A method,
A storage step for holding the in the storage unit for each of the controlled device the response time is the delay time caused in the time der Ri the controlled device to send a response command from the reception of the controlled device requesting command ,
A request command generation step for generating a request command;
The response time corresponding to the controlled device that is the destination of the generated request command is acquired from the storage unit, and the request command to which the same sequence number is added is broadcasted during the acquired response time. Sending step;
A wireless control method comprising:

Images