CN109151711B

CN109151711B - Connection establishing method and device

Info

Publication number: CN109151711B
Application number: CN201810954359.0A
Authority: CN
Inventors: 黄翔
Original assignee: Hangzhou H3C Technologies Co Ltd
Current assignee: Hangzhou H3C Technologies Co Ltd
Priority date: 2018-08-21
Filing date: 2018-08-21
Publication date: 2021-01-26
Anticipated expiration: 2038-08-21
Also published as: CN109151711A; WO2020038348A1

Abstract

The application provides a connection establishment method and a device, comprising the following steps: reporting the current position parameter of the equipment to an AGV controller so as to instruct the AGV controller to determine the current position and the next position of the AGV trolley based on the position parameter, then sending the determined current position and the next position to an Access Controller (AC), and determining a first wireless Access Point (AP) covering the current position and a second AP covering the next position by the AC; receiving an access control message returned by the AC; and adjusting the currently connected AP of the equipment to establish connection with the first AP and the second AP carried in the access control message. By using the method provided by the application, the problem of packet loss caused by frequent AP switching of the AGV when roaming occurs can be solved.

Description

Connection establishing method and device

Technical Field

The present application relates to the field of computer communications, and in particular, to a connection establishment method and apparatus.

Background

An AGV (Automated Guided Vehicle) system generally includes an AGV controller and an AGV car. The AGV controller can interact with the AGV trolley to control the AGV trolley to run along the preset route. For example, the AGV may interact with the AGV controller via wireless communication. Specifically, the AGV may associate with an AP (Access Point), and then interact with the AGV controller through the associated AP.

As shown in FIG. 1, multiple APs are deployed in the area where an AGV travels, each AP covering a different sub-area. In the prior art, when an AGV roams from one sub-area to another, the AGV will switch the currently connected AP to the AP that currently detects the strongest signal.

For example, as shown in FIG. 1, assuming the AGV travels along the path indicated by the arrow in FIG. 1, when the AGV travels from point A to point C, the ideal AP connection would be for the AGV to switch directly from connecting to AP1 to AP 3.

However, in actual scenario, it is assumed that the signal at point B, AP4, is stronger and the signal at point C, AP3, is stronger. From point a to point B, the AGV will switch connection to AP1 to AP4, and then from point B to point C, the AGV will switch connection to AP4 to AP 3. Thus, the AGV travels from point A to point B and then to point C, undergoing the process of switching from AP1 to AP4 and then from AP4 to AP 3. The AP switching needs time, interactive messages between the AGV and the AGV controller can be lost in the AP switching process, packet loss between the AGV and the AGV controller can be increased due to frequent AP switching, and the control of the AGV controller on the motion track of the AGV can be influenced due to a large amount of long-time packet loss.

Disclosure of the invention

In view of this, the present application provides a connection establishing method and device, so as to solve the problem of packet loss caused by frequent AP switching when an AGV is roaming.

Specifically, the method is realized through the following technical scheme:

according to a first aspect of the application, a connection establishment method is provided, which is applied to an AGV comprising:

reporting the current position parameter of the equipment to an AGV controller so as to instruct the AGV controller to determine the current position and the next position of the AGV trolley based on the position parameter, then sending the determined current position and the next position to an access controller AC, and determining a first access point AP covering the current position and a second AP covering the next position by the AC;

receiving an access control message returned by the AC;

and adjusting the currently connected AP of the equipment to establish connection with the first AP and the second AP carried in the access control message.

Optionally, the adjusting the currently connected AP of the device to establish a connection with the first AP and the second AP carried in the access control message includes:

if an unconnected AP which is not connected currently exists in the first AP and the second AP, establishing connection with the unconnected AP;

if the connected AP currently connected with the equipment exists in the first AP and the second AP, the connection with the connected AP is kept;

and if the target AP different from the first AP and the second AP exists in the currently connected APs of the equipment, disconnecting the target AP.

Optionally, the method further includes:

reporting the signal strength of each AP currently detected by the equipment to an AC (access controller), so that the AC searches for the expected signal strength value of each AP corresponding to the current position of the AGV trolley in the corresponding relationship between the preset position and the expected signal strength value of each AP, and for each AP, if the absolute value of the difference value between the reported signal strength of the AP and the expected signal strength value of the AP is greater than a preset threshold value, adjusting the transmitting power of the AP, so that the absolute value of the difference value between the signal strength of the AP and the expected signal strength value of the AP is not greater than the preset threshold value.

Optionally, after adjusting the currently connected AP of the device to establish a connection with the first AP and the second AP carried in the access control message, the method further includes:

sending a service message to the AGV controller through connection with the first AP and the second AP so that the AGV controller performs service processing on the service message;

alternatively, the first and second electrodes may be,

and sending a service message to the AC through connection with the first AP and the second AP, sending the service message to the AGV controller by the AC, and carrying out service processing on the service message by the AGV controller.

According to a second aspect of the present application, there is provided a connection establishment method, applied to an AC, including:

receiving the current position and the next position of the AGV sent by an AGV controller of the automatic guiding trolley;

determining a first Access Point (AP) covering the current position of the AGV trolley and a second AP covering the next position;

and sending an access control message to the AGV so that the AGV adjusts the AP currently connected with the AGV so as to establish connection with the first AP and the second AP carried in the access control message.

Optionally, the method further includes:

receiving signal strength of each AP currently detected by the AGV;

searching the signal intensity expected value of each AP corresponding to the current position of the AGV trolley in the corresponding relation between the preset position and the signal intensity expected value of each AP;

and for each AP in the APs, if the absolute value of the difference between the received signal strength of the AP and the found signal strength expected value of the AP is greater than a preset threshold, adjusting the transmitting power of the AP so that the absolute value of the difference between the signal strength of the AP and the signal strength expected value of the AP is not greater than the preset threshold.

Optionally, the method further includes:

if a plurality of identical service messages sent by the AGV trolley are received within a preset time length, selecting any service message from the plurality of service messages, and discarding the unselected service messages;

and sending the selected service message to an AGV controller so that the AGV controller performs service processing on the service message.

According to a third aspect of the present application, there is provided a connection establishment method for an AGV controller, comprising:

after receiving the current position parameter of the AGV, which is reported by the AGV, determining the current position and the next position of the AGV according to the position parameter;

and issuing the current position and the next position of the AGV to an Access Controller (AC), and issuing an access control message to the AGV after determining a first Access Point (AP) covering the current position and a second AP covering the next position by the AC so that the AGV adjusts the AP currently connected with the AGV, and establishes connection with the first AP and the second AP carried in the access control message.

Optionally, the method further includes:

and carrying out service processing on the selected service message.

According to a fourth aspect of the application, a connection establishing device is provided, said device being applied to an automatic guided vehicle, AGV, trolley, comprising:

a reporting unit, configured to report a current position parameter of the device to an AGV controller, so as to instruct the AGV controller to determine a current position and a next position of the AGV based on the position parameter, and then send the determined current position and the determined next position to an access controller AC, where the AC determines a first access point AP covering the current position and a second AP covering the next position;

a receiving unit, configured to receive an access control message returned by the AC;

and the adjusting unit is used for adjusting the currently connected AP of the equipment so as to establish connection with the first AP and the second AP carried in the access control message.

Optionally, the adjusting unit is specifically configured to establish a connection with an unconnected AP if the unconnected AP to which the device is currently unconnected exists in the first AP and the second AP; if the connected AP currently connected with the equipment exists in the first AP and the second AP, the connection with the connected AP is kept; and if the target AP different from the first AP and the second AP exists in the currently connected APs of the equipment, disconnecting the target AP.

Optionally, the reporting unit is further configured to report the signal strength of each AP currently detected by the apparatus to an AC, so that the AC searches for the expected signal strength value of each AP corresponding to the current position of the AGV in a corresponding relationship between a preset position and the expected signal strength value of each AP, and for each AP in each AP, if an absolute value of a difference between the reported signal strength of the AP and the expected signal strength value of the AP is greater than a preset threshold, adjust the transmission power of the AP, so that the absolute value of a difference between the signal strength of the AP and the expected signal strength value of the AP is not greater than the preset threshold.

Optionally, the apparatus further comprises:

the transmitting unit is used for transmitting a service message to the AGV controller through connection with the first AP and the second AP so that the AGV controller performs service processing on the service message; or, through the connection with the first AP and the second AP, sending a service packet to the AC, where the AC sends the service packet to the AGV controller, and the AGV controller performs service processing on the service packet.

According to a fifth aspect of the present application, there is provided a connection establishment apparatus, which is applied to an AC, including:

the receiving unit is used for receiving the current position and the next position of the AGV from the AGV controller;

the determining unit is used for determining a first access point AP covering the current position of the AGV trolley and a second AP covering the next position;

and the sending unit is used for sending the access control message to the AGV so that the AGV adjusts the AP currently connected with the AGV so as to establish connection with the first AP and the second AP carried in the access control message.

Optionally, the apparatus further comprises:

the power adjusting unit is used for receiving the signal strength of each AP currently detected by the AGV; searching the signal intensity expected value of each AP corresponding to the current position of the AGV trolley in the corresponding relation between the preset position and the signal intensity expected value of each AP; and for each AP in the APs, if the absolute value of the difference between the received signal strength of the AP and the found signal strength expected value of the AP is greater than a preset threshold, adjusting the transmitting power of the AP so that the absolute value of the difference between the signal strength of the AP and the signal strength expected value of the AP is not greater than the preset threshold.

Optionally, the apparatus further comprises:

the system comprises a duplication removing unit, a judging unit and a judging unit, wherein the duplication removing unit is used for selecting any service message from a plurality of service messages and discarding the unselected service messages if the plurality of identical service messages sent by the AGV trolley are received within a preset time length; and sending the selected service message to an AGV controller so that the AGV controller performs service processing on the service message.

According to a sixth aspect of the application, a connection establishing device is provided, said device being applied to an automatic guided vehicle AGV controller, comprising:

the determining unit is used for determining the current position and the next position of the AGV according to the position parameters after receiving the current position parameters of the AGV reported by the AGV;

and the issuing unit is used for issuing the current position and the next position of the AGV to an Access Controller (AC), and issuing an access control message to the AGV after determining a first Access Point (AP) covering the current position and a second AP covering the next position by the AC so that the AGV adjusts the AP currently connected with the AGV and establishes connection with the first AP and the second AP carried in the access control message.

Optionally, the apparatus further comprises:

the system comprises a duplication removing unit, a judging unit and a judging unit, wherein the duplication removing unit is used for selecting any service message from a plurality of service messages and discarding the unselected service messages if the plurality of identical service messages sent by the AGV trolley are received within a preset time length; and carrying out service processing on the selected service message.

When the AGV trolley roams (runs from an area covered by one AP to an area covered by another AP), the AGV trolley does not disconnect the currently connected AP and establishes connection with the AP with the strongest signal any more, but establishes connection with the AP which is issued by the AC and covers the next position of the AGV trolley while not disconnecting the currently connected AP, and interacts with the AGV controller in a double-link connection establishment mode, so that the AGV trolley can be prevented from losing packets caused by AP switching in the roaming process;

on the other hand, according to the connection establishment method provided by the application, the AP to be associated is not selected by the AGV when roaming occurs, but the AC controls the AGV to be associated with which AP. Compared with the autonomous selection, the method can avoid establishing connection with the AP (namely the invalid AP) which does not cover the current position area and the next position area of the AGV, and further avoid packet loss caused by frequent switching of the AP due to misconnection of the invalid AP in the roaming process of the AGV.

Drawings

FIG. 1 is a diagram illustrating an AGV network architecture according to an exemplary embodiment of the present application;

fig. 2 is a flow chart illustrating a method for connection establishment according to an exemplary embodiment of the present application;

FIG. 3 is a schematic diagram illustrating a connection establishment in accordance with an exemplary embodiment of the present application;

FIG. 4 is a hardware block diagram of an AGV according to an exemplary embodiment of the present application;

FIG. 5 is a block diagram of a connection establishment apparatus for use with an AGV according to an exemplary embodiment of the present application;

FIG. 6 is a hardware block diagram of an AC shown in an exemplary embodiment of the present application;

fig. 7 is a block diagram of a connection establishment apparatus applied to an AC according to an exemplary embodiment of the present application;

FIG. 8 is a hardware block diagram of an AGV controller according to an exemplary embodiment of the present application;

FIG. 9 is a block diagram of a connection establishment apparatus for use with an AGV controller according to an exemplary embodiment of the present application.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

Referring to FIG. 1, FIG. 1 is a diagram illustrating an AGV network architecture according to an exemplary embodiment of the present application.

The AGV network architecture may include an AGV cart, an AP, an AC, and an AGV controller.

The AGV may be a car equipped with an electromagnetic or optical automatic guidance device and capable of traveling along a predetermined guidance route by interacting with an AGV controller.

The AP is mainly used for providing a bridging function between the AGV trolley and the AGV controller. The AGV network architecture may include a plurality of APs, each AP covering a portion of the travel area of the cart, and all APs covering the entire travel area of the cart.

The AGV dolly with can be associated the AP, the AP can link to each other with the AC, the AP also can link to each other with the AGV controller. For the forwarding of the protocol message between the AGV and the AGV controller, the AGV may send the protocol message to the AC through the associated AP, and then send the protocol message to the AGV controller by the AC. For the forwarding of the data message between the AGV and the AGV controller, the AGV may send the data message to the AC through the associated AP and then to the AGV controller, or the AGV may send the data message to the AGV controller through the associated AP.

The AC (Access Controller) is mainly used for controlling and managing the AP in the wlan. For example, the AC unifies the configuration information to the AP, and so on.

The AGV controller is mainly used for communicating with the AGV to perform AGV service processing, for example, processing a service message reported by the AGV, and guiding the AGV to travel along a preset path.

Referring to fig. 2, fig. 2 is a flowchart illustrating a connection establishment method according to an exemplary embodiment of the present application. The method may include the steps shown below.

Step 201: the AGV trolley reports the current position parameters of the equipment to the AGV controller.

The current position parameter may refer to an offset of the current position of the AGV with respect to the previous position.

For example, if the coordinates of a position on the AGV are (30,40) and the current position of the AGV is (40,40), the position parameter reported by the AGV is 10 meters in the positive direction of the X axis.

In an alternative mode, a positioning tag (a small block in fig. 1 is a positioning tag) is attached to the ground of the AGV driving area, and when the AGV detects the positioning tag, the AGV can report the current position parameter of the apparatus to the AGV controller.

In another alternative, the AGV carts may periodically report current position parameters of the facility to the AGV controller.

Here, the reporting method of the AGV cart reporting the current position parameter is only an exemplary illustration, and the reporting method is not specifically limited.

Step 202: and after determining the current position and the next position of the AGV according to the position parameters, the AGV controller issues the determined current position and the determined next position of the AGV to the AC.

The AGV controller records information such as the position of a node on a travel path of the AGV, the previous position of the AGV, and the like.

After the AGV controller receives the position parameters reported by the AGV, the AGV controller can search the coordinates of the last position of the AGV, and then the AGV can determine the current position coordinates of the AGV according to the coordinates of the last position and the position parameters reported by the AGV.

For example, if the coordinates of a location on the AGV are (30,40) and the reported location parameters indicate that the AGV is traveling 10 meters in the positive X-axis direction, the AGV controller may determine that the coordinates of the current location of the AGV are (40, 40).

After the AGV controller determines the current position of the AGV, the AGV controller can determine the next position of the AGV according to the position of the node on the traveling path of the AGV, wherein the position of the node is preset locally.

For example, the AGV controller is configured with coordinates of nodes on the travel path of the AGV, such as (0,0) - > (30,0) - > (30,40) - > (40,40) - > (40, 50).

Assuming that the AGV controller determines that the coordinates of the current position of the AGV are (40,40), the AGV controller may determine the coordinates of the next position of the current position (40,40), i.e., (40,50), based on the coordinates of the nodes on the preconfigured AGV travel path.

The AGV controller may then issue the determined current and next positions of the AGV to the AC.

Step 203: and after receiving the current position and the next position of the AGV sent by the AGV controller, the AC determines a first AP covering the current position of the AGV and a second AP covering the next position.

The AC is configured with a correspondence relationship between a node on the travel path of the AGV cart and an AP covering the node on the travel path.

The AC may determine a first AP covering the current location and a second AP covering the next location according to the correspondence.

For example, also in the above example, assuming that (0,0), (30,0), (30,40), and (40,40) are all arranged on the AC to correspond to AP1, it indicates that AP1 covers the positions of the nodes on the travel paths of the four AGV carts (0,0), (30,0), (30,40), and (40, 40).

Assume that the AGV controller has a (40,50) node configured thereon corresponding to AP2, indicating that AP2 covers (40, 50).

The AGV controller searches for the AP (i.e. AP1) corresponding to the current position (40,40) node of the AGV car and the AP (i.e. AP2) corresponding to the next position (40,50) node according to the correspondence.

Step 204: the AC may send an access control message to the AGV, where the access control message carries at least the first AP and the second AP.

Step 205: the AGV trolley can adjust the AP currently connected with the equipment so as to establish connection with the first AP and the second AP carried in the access control message.

1) And if the unconnected AP which is not connected currently exists in the first AP and the second AP, establishing connection with the unconnected AP.

For example, if the currently connected AP of an AGV is AP1, the first AP is AP1, the second AP is AP2, and the unconnected AP is AP2, the AGV may establish a connection with AP 2.

2) And if the connected AP currently connected by the AGV exists in the first AP and the second AP, the connection with the connected AP is maintained.

For example, if the AP to which the AGV is currently connected is AP1, the first AP is AP1, the second AP is AP2, and the connected AP is AP1, the AGV may remain connected to AP 1.

As another example, if the AP to which the AGV is currently connected is AP1, the first AP is AP1, the second AP is AP1, and the connected AP is AP1, the AGV may remain connected to AP 1.

3) And if the target AP different from the first AP and the second AP exists in the currently connected APs of the AGV trolley, disconnecting the target AP.

It should be noted that, in order to ensure that the connection between the AGV and the AP is not interrupted, the optimal method is that the AGV establishes the connection with the unconnected AP of the first AP and the second AP, and then disconnects the target AP.

For example, if the APs to which the AGV is currently connected are AP1 and AP2, the first AP is AP2, the second AP is AP3, and the target AP is AP1, the AGV may first establish a connection with AP3 and then disconnect from AP 1.

As can be seen from the above description, on one hand, when the AGV roams (travels from an area covered by one AP to an area covered by another AP), the AGV does not disconnect the currently connected AP and establishes a connection with the AP with the strongest signal, but does not disconnect the currently connected AP and establish a connection with the AP delivered by the AC and covering the next position of the AGV, and interacts with the AGV controller in a manner of establishing a connection through a dual link, so that packet loss caused by AP handover during the roaming process of the AGV can be prevented.

In addition, the application also provides a method for dynamically adjusting the AP transmitting power.

When the method is implemented, the AC is pre-configured with the corresponding relation between the position and the expected signal strength value of each AP.

When the AGV reports the current position parameters to the AGV controller, the AGV trolley can also report the signal intensity of each currently detected AP to the AC.

When the AGV controller receives the current position parameter reported by the AGV, step 202 may be executed, that is, the current position and the next position of the AGV are determined according to the position parameter, and the determined current position and the determined next position are sent to the AC.

The AC can receive the current position and the next position of the AGV sent by the AGV controller, and the AC can search the expected signal strength value of each AP corresponding to the current position of the AGV in the corresponding relationship between the pre-configured position and the expected signal strength value of each AP.

Then, for each AP in the APs, if the absolute value of the difference between the received signal strength of the AP and the expected signal strength value of the AP is greater than a preset threshold, the transmission power of the AP is adjusted so that the absolute value of the difference between the signal strength of the AP and the expected signal strength value of the AP is not greater than the preset threshold.

For example, if the received signal strength of the AP is less than the signal strength expected value of the AP, the transmission power of the AP is increased, and if the received signal strength of the AP is greater than the signal strength expected value of the AP, the transmission power of the AP is decreased.

In the embodiment of the application, after the AGV is connected to the first AP and the second AP, the AGV may further send a service packet to the AGV controller by using the connection between the AGV and the first AP and the connection between the AGV and the second AP.

The first method is as follows: the AGV trolley can send the service message to the AC through the first AP and the second AP, and the AC sends the service message to the AGV controller after the service message is subjected to duplicate removal processing.

For example, the AC receives a plurality of identical service packets within a preset time period, and the AC may select one service packet from the plurality of identical service packets. The AC can send the selected service message to the AGV controller, the AGV controller performs service processing on the selected message, and the AC can discard the service message which is not selected.

The second method comprises the following steps: the AGV trolley can send the service message to the AGV controller through the first AP and the second AP, and the AGV controller performs duplicate removal processing on the service message.

If the AGV controller receives a plurality of identical service messages sent by the AGV trolley within a preset time length, any one of the service messages is selected, unselected service messages are discarded, and service processing is carried out on the selected service message.

It should be noted that, since the AGV sends the service packet to the AGV controller through the connection with the multiple APs, it is easy for the AGV controller to receive the same service packet, so that the AGV controller or the AC is required to perform the deduplication processing on the service packet, in other words, the interactive modes of the deduplication processing and the multiple APs for establishing the connection are mutually complementary.

Referring to fig. 3, fig. 3 is a diagram illustrating a connection establishment according to an exemplary embodiment of the present application.

Suppose that the driving route of the AGV is shown by the arrow in fig. 3, i.e. the nodes on the driving route of the AGV are O — > M — > N — > a — > B — > C, respectively.

The connection establishment method provided by the present application will be described in detail below by taking an example of establishing connection between an AGV and an AP when the AGV travels from point a to point B and then to point C.

Let the coordinates of point N be (30,40), the coordinates of point a be (40,40), the coordinates of point B be (40, 30), and the coordinates of point C be (50, 30). AP1 covers point a, AP3 covers point B, and AP4 covers point C.

Suppose that the AGV controller records the nodes on the travel path of the AGV, i.e. the nodes on the travel path of the AGV are respectively O — > M — > N — > a — > B — > C.

The correspondence between the node on the travel path of the AGV cart and the AP covering the node is recorded on the AC, for example, the correspondence between the node O, M, N and a and the AP1, the correspondence between the node B and the AP3, and the correspondence between the node C and the AP4 are recorded on the AC. In other words, AP1 covers nodes O, M, N and a, AP3 covers node B, and AP4 covers node C.

When the AGV travels from the point N to the point A, the AGV can report a position parameter 1 to the AGV controller, and the position parameter 1 indicates that the AGV travels 10 meters in the positive direction of the X axis.

The AGV controller records the AGV at the last position (i.e. the position of N points), and determines the current position of the AGV, i.e. the position of point a (40,40), based on the position of N points (i.e. (30,40)) and the position parameter 1 reported by the AGV (i.e. 10 meters is traveled along the positive direction of the X axis).

In addition, the AGV controller determines the current position (i.e., the A point position) and the next position (i.e., the B point position) based on the recorded nodes on the travel path of the AGV. The AGV controller then issues the current position (i.e., the A point location) and the next position (i.e., the B point location) to the AC.

And the AC determines the AP (namely AP1) corresponding to the current position A and the AP (namely AP3) corresponding to the next position B based on the recorded corresponding relationship between the node on the AGV trolley traveling path and the AP covering the node.

The AC may then issue an access control message 1 to the AGV carts, with the determined APs 1 and 3 being carried in the access control message 1.

Assuming that the AP to which the AGV is currently connected is AP1, when the AGV receives an access control message issued by the AC, the AGV may maintain connection with AP1 and establish connection with AP 3. The AGV may send traffic messages to the AGV controller through the connection with AP1 and the connection with AP 3.

When the AGV car runs from the point A to the point B, the AGV car can report a position parameter 2 to the AGV controller, and the position parameter 2 indicates that the AGV car runs 10 meters along the Y-axis negative direction.

The AGV controller records the position of the AGV at the last position (namely, the position of the point A), and the AGV controller determines the current position of the AGV, namely, the position of the point B (40, 30) based on the position of the point A (namely, (40,40)) and the position parameter 2 reported by the AGV, namely, the AGV travels 10 meters along the negative direction of the Y axis.

In addition, the AGV controller determines the next position (i.e., the C point position) of the current position (i.e., the B point position) based on the recorded nodes on the travel path of the AGV car. The AGV controller then issues the next position (i.e., the C point position) to the AC for the determined current position (i.e., the B point position).

And the AC determines the AP (namely AP3) corresponding to the current position B and the AP (namely AP4) corresponding to the next position C based on the recorded corresponding relationship between the node on the AGV trolley traveling path and the AP covering the node.

The AC may then issue an access control message 2 to the AGV carts, with the determined APs 3 and 4 being carried in the access control message 2.

At this time, the APs currently connected to the AGV are AP1 and AP3, and when the AGV receives AP3 and AP4 issued by the AGV controller, the AGV may establish connection with AP4 first, disconnect with AP1, and maintain connection with AP 3. The AGV may send traffic messages to the AGV control through the connection with AP3 and the connection with AP 4.

It can be known from the above description that when the AGV roams (travels from an area covered by one AP to an area covered by another AP), the AGV does not disconnect the currently connected AP and establishes a connection with the AP with the strongest signal, but does not disconnect the currently connected AP and establishes a connection with the AP which is issued by the AGV controller and covers the next position of the AGV, and interacts with the AGV controller in a manner of establishing a connection through a double link, so that packet loss caused by AP handover in the roaming process of the AGV can be prevented.

Referring to FIG. 4, FIG. 4 is a block diagram of the hardware of an AGV according to an exemplary embodiment of the present application.

This AGV dolly includes: a communication interface 401, a processor 402, a machine-readable storage medium 403, and a bus 404; wherein the communication interface 401, the processor 402 and the machine-readable storage medium 403 communicate with each other via a bus 404. The processor 402 may perform the connection establishment methods described above by reading and executing machine executable instructions in the machine readable storage medium 403 corresponding to the connection establishment control logic.

The machine-readable storage medium 403 referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), a solid state drive, any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof.

Referring to fig. 5, fig. 5 is a block diagram of a connection establishing apparatus for an AGV according to an exemplary embodiment of the present application, which can be applied to an AGV, and includes the following units.

A reporting unit 501, configured to report a current position parameter of the device to an AGV controller, so as to instruct the AGV controller to determine a current position and a next position of the AGV based on the position parameter, and then send the determined current position and the determined next position to an access controller AC, where the AC determines a first access point AP covering the current position and a second AP covering the next position;

a receiving unit 502, configured to receive an access control message returned by the AC;

an adjusting unit 503, configured to adjust an AP currently connected to the device, so as to establish a connection with the first AP and the second AP carried in the access control message.

Optionally, the adjusting unit 503 is specifically configured to establish a connection with an unconnected AP if the unconnected AP currently unconnected to the device exists in the first AP and the second AP; if the connected AP currently connected with the equipment exists in the first AP and the second AP, the connection with the connected AP is kept; and if the target AP different from the first AP and the second AP exists in the currently connected APs of the equipment, disconnecting the target AP.

Optionally, the reporting unit 501 is further configured to report the signal strength of each AP currently detected by the apparatus to an AC, so that the AC searches for the expected signal strength value of each AP corresponding to the current position of the AGV in a corresponding relationship between a preset position and the expected signal strength value of each AP, and for each AP in each AP, if an absolute value of a difference between the reported signal strength of the AP and the expected signal strength value of the AP is greater than a preset threshold, adjust the transmission power of the AP, so that the absolute value of a difference between the signal strength of the AP and the expected signal strength value of the AP is not greater than the preset threshold.

Optionally, the apparatus further comprises:

a sending unit 504, configured to send a service packet to the AGV controller through connection with the first AP and the second AP, so that the AGV controller performs service processing on the service packet; or, through the connection with the first AP and the second AP, sending a service packet to the AC, where the AC sends the service packet to the AGV controller, and the AGV controller performs service processing on the service packet.

Referring to fig. 6, fig. 6 is a hardware structure diagram of an AC according to an exemplary embodiment of the present application.

The AC includes: a communication interface 601, a processor 602, a machine-readable storage medium 603, and a bus 604; wherein the communication interface 601, the processor 602, and the machine-readable storage medium 603 communicate with each other via a bus 604. The processor 602 may perform the connection establishment methods described above by reading and executing machine executable instructions corresponding to the connection establishment control logic in the machine readable storage medium 603.

The machine-readable storage medium 603 referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), a solid state drive, any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof.

Referring to fig. 7, fig. 7 is a block diagram of a connection establishment apparatus applied to an AC according to an exemplary embodiment of the present application. The device may be applied on AC and may comprise the following units.

A receiving unit 701, configured to receive a current position and a next position of an AGV delivered by an AGV controller of an automatic guided vehicle;

a determining unit 702, configured to determine a first access point AP covering the current position of the AGV and a second AP covering the next position;

a sending unit 703, configured to send an access control message to the AGV, so that the AGV adjusts the AP to which the AGV is currently connected, so as to establish a connection with the first AP and the second AP carried in the access control message.

Optionally, the apparatus further comprises:

a power adjustment unit 704, configured to receive signal strengths of APs currently detected by the AGV; searching the signal intensity expected value of each AP corresponding to the current position of the AGV trolley in the corresponding relation between the preset position and the signal intensity expected value of each AP; and for each AP in the APs, if the absolute value of the difference between the received signal strength of the AP and the found signal strength expected value of the AP is greater than a preset threshold, adjusting the transmitting power of the AP so that the absolute value of the difference between the signal strength of the AP and the signal strength expected value of the AP is not greater than the preset threshold.

Optionally, the apparatus further comprises:

a duplicate removal unit 705, configured to select any one of the multiple service messages if multiple identical service messages sent by the AGV are received within a preset time period, and discard unselected service messages; and sending the selected service message to an AGV controller so that the AGV controller performs service processing on the service message.

Referring to fig. 8, fig. 8 is a block diagram of the hardware of an AGV controller according to an exemplary embodiment of the present application.

This AGV controller includes: a communication interface 801, a processor 802, a machine-readable storage medium 803, and a bus 804; wherein the communication interface 801, the processor 802 and the machine-readable storage medium 803 communicate with each other via a bus 804. The processor 802 may perform the connection establishment methods described above by reading and executing machine executable instructions corresponding to the connection establishment control logic in the machine readable storage medium 803.

The machine-readable storage medium 803 referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), a solid state drive, any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof.

Referring to fig. 9, fig. 9 is a block diagram of a connection establishing apparatus applied to an AGV controller according to an exemplary embodiment of the present application. The device can be applied to an AGV controller and can comprise the following units.

A determining unit 901, configured to determine a current position and a next position of the AGV according to the position parameter after receiving the current position parameter of the AGV reported by the AGV;

and the issuing unit 902 is used for issuing the current position and the next position of the AGV to the access controller AC, and issuing an access control message to the AGV after the AC determines a first access point AP covering the current position and a second AP covering the next position, so that the AGV adjusts the AP currently connected with the AGV, and establishes connection with the first AP and the second AP carried in the access control message.

Optionally, the apparatus further comprises:

a duplicate removal unit 903, configured to select any one of the multiple service messages if multiple identical service messages sent by the AGV are received within a preset time period, and discard unselected service messages; and carrying out service processing on the selected service message.

The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.

For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A connection establishment method is applied to an Automatic Guided Vehicle (AGV) trolley, and comprises the following steps of presetting an AGV controller, an AC and at least one AP, wherein the AGV controller is connected with the AC, and the AC is connected with the at least one AP, and the method comprises the following steps:

reporting the current position parameter of the equipment to an AGV controller so as to instruct the AGV controller to determine the current position and the next position of the AGV trolley based on the position parameter, then sending the determined current position and the next position to an Access Controller (AC), and determining a first Access Point (AP) covering the current position and a second AP covering the next position by the AC;

receiving an access control message returned by the AC;

2. The method of claim 1, wherein the adjusting the currently connected AP of the device to establish a connection with the first AP and the second AP carried in the access control message comprises:

3. The method of claim 1, further comprising:

reporting the signal strength of each AP currently detected by the equipment to the AC, so that the AC searches for the signal strength expected value of each AP corresponding to the current position of the AGV trolley in the corresponding relation between the preset position and the signal strength expected value of each AP, and for each AP, if the absolute value of the difference value between the reported signal strength of the AP and the signal strength expected value of the AP is greater than a preset threshold value, adjusting the transmitting power of the AP, so that the absolute value of the difference value between the signal strength of the AP and the signal strength expected value of the AP is not greater than the preset threshold value.

4. The method according to claim 1, wherein after adjusting the currently connected AP of the device to establish connection with the first AP and the second AP carried in the access control message, the method further comprises:

alternatively, the first and second electrodes may be,

5. A connection establishment method is applied to an Access Controller (AC), and comprises the following steps of presetting an AGV controller and at least one AP, wherein the AGV controller is connected with the AC, and the AC is connected with the at least one AP, and the method comprises the following steps:

6. The method of claim 5, further comprising:

receiving signal strength of each AP currently detected by the AGV;

7. The method of claim 5, further comprising:

8. A connection establishment method is applied to an Automatic Guided Vehicle (AGV) controller, and is characterized in that an AC and at least one AP are preset, the AGV controller is connected with the AC, and the AC is connected with the at least one AP, and the connection establishment method comprises the following steps:

will AGV dolly current position and next position are issued and are given access controller AC, by AC is confirming behind the first access point AP that covers the current position and the second AP that covers next position, to the access control message is issued to the AGV dolly, so that the AGV dolly adjusts this AGV dolly current connection's AP, with the first AP and the second AP that carry in the access control message establish connection.

9. The method of claim 8, further comprising:

and carrying out service processing on the selected service message.

10. A connection establishing device, characterized in that the device is applied to automatic guided vehicle AGV dolly, predetermines AGV controller, AC and at least one AP, AGV controller with the AC links to each other, AC with at least one AP links to each other, includes:

11. The apparatus according to claim 10, wherein the adjusting unit is specifically configured to establish a connection with an unconnected AP that is not currently connected to the apparatus if the unconnected AP exists in the first AP and the second AP; if the connected AP currently connected with the equipment exists in the first AP and the second AP, the connection with the connected AP is kept; and if the target AP different from the first AP and the second AP exists in the currently connected APs of the equipment, disconnecting the target AP.

12. The apparatus of claim 10, wherein the reporting unit is further configured to report the signal strength of each AP currently detected by the apparatus to the AC, so that the AC searches for an expected signal strength value of each AP corresponding to the current position of the AGV in a corresponding relationship between a preset position and the expected signal strength values of the APs, and for each AP in the APs, if an absolute value of a difference between the reported signal strength of the AP and the expected signal strength value of the AP is greater than a preset threshold, adjust the transmission power of the AP, so that the absolute value of a difference between the signal strength of the AP and the expected signal strength value of the AP is not greater than the preset threshold.

13. The apparatus of claim 10, further comprising:

14. A connection establishing apparatus, characterized in that the apparatus is applied to an access controller AC, presets an AGV controller, at least one AP, the AGV controller with the AC links to each other, the AC with the at least one AP links to each other, including:

15. The apparatus of claim 14, further comprising:

16. The apparatus of claim 14, further comprising:

the system comprises a duplication removing unit, a judging unit and a judging unit, wherein the duplication removing unit is used for selecting any service message from a plurality of service messages and discarding the unselected service messages if the plurality of identical service messages sent by the AGV trolley are received within a preset time length; and sending the selected service message to the AGV controller so that the AGV controller performs service processing on the service message.

17. A connection establishing device, characterized in that the device is applied to an automatic guided vehicle, AGV, controller, presetting an AC and at least one AP, the AGV controller with the AC links to each other, the AC with the at least one AP links to each other, including:

and the issuing unit is used for issuing the current position and the next position of the AGV to an Access Controller (AC), and after the AC determines to cover the first Access Point (AP) of the current position and the second AP covering the next position, the AC issues an access control message to the AGV so that the AGV adjusts the AP currently connected with the AGV, and establishes connection with the first AP and the second AP carried in the access control message.

18. The apparatus of claim 17, further comprising: