WO2020038348A1 - 连接建立 - Google Patents

连接建立 Download PDF

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Publication number
WO2020038348A1
WO2020038348A1 PCT/CN2019/101515 CN2019101515W WO2020038348A1 WO 2020038348 A1 WO2020038348 A1 WO 2020038348A1 CN 2019101515 W CN2019101515 W CN 2019101515W WO 2020038348 A1 WO2020038348 A1 WO 2020038348A1
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Prior art keywords
agv
signal strength
controller
current position
service
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PCT/CN2019/101515
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English (en)
French (fr)
Inventor
黄翔
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New H3C Technologies Co Ltd
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New H3C Technologies Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/08—Reselecting an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W36/00—Hand-off or reselection arrangements
    • H04W36/16—Performing reselection for specific purposes
    • H04W36/18—Performing reselection for specific purposes for allowing seamless reselection, e.g. soft reselection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W48/00—Access restriction; Network selection; Access point selection
    • H04W48/20—Selecting an access point
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup
    • H04W76/15—Setup of multiple wireless link connections

Definitions

  • AGV Automated Guided Vehicle
  • AGV systems are often used in industrial applications to transport heavy objects in large industrial buildings, such as factories or warehouses.
  • AGV systems usually include AGV controllers and AGVs.
  • the AGV controller is usually used to receive user instructions, calculate the path of all AGVs in the entire system, and then send the path of each AGV to the AGV wirelessly.
  • the AGV can follow the received route.
  • the AGV controller can exchange messages with the AGV to control the AGV to travel along a predetermined path.
  • the AGV can exchange messages with the AGV controller through wireless communication.
  • the AGV may be associated with an AP (Access Point, access point), and the AGV then exchanges messages with the AGV controller through the associated AP.
  • AP Access Point, access point
  • Fig. 1 is a network architecture diagram of an AGV system shown in an exemplary embodiment of the present application.
  • Fig. 2 is a flow chart showing a method for establishing a connection according to an exemplary embodiment of the present application.
  • Fig. 3 is a schematic diagram showing a connection establishment according to an exemplary embodiment of the present application.
  • Fig. 4 is a hardware structural diagram of an AGV according to an exemplary embodiment of the present application.
  • Fig. 5 is a block diagram of a device for establishing a connection applied to an AGV, according to an exemplary embodiment of the present application.
  • Fig. 6 is a hardware structural diagram of an AC shown in an exemplary embodiment of the present application.
  • Fig. 7 is a block diagram of a device for establishing a connection applied to an AC shown in an exemplary embodiment of the present application.
  • Fig. 8 is a hardware structural 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 applied to an AGV controller, according to an exemplary embodiment of the present application.
  • first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information.
  • word “if” as used herein can be interpreted as “at” or "when” or "in response to determination”.
  • FIG. 1 is a network architecture diagram of an AGV system according to an exemplary embodiment of the present application.
  • the AGV system network architecture may include an AGV 120, an AP, an AC (Access Controller) 110, and an AGV controller 100.
  • the AGV 120 may be a vehicle equipped with an automatic guidance device such as an electromagnetic or optical device that can travel along a predetermined guidance path by interacting with the AGV controller 100.
  • an automatic guidance device such as an electromagnetic or optical device that can travel along a predetermined guidance path by interacting with the AGV controller 100.
  • the above AP is mainly used to provide a bridge function between the AGV 120 and the AGV controller 100.
  • the AGV network architecture may include multiple APs (such as AP1-AP4), each AP covers a part of the AGV driving area, and all APs cover the entire driving area of the AGV.
  • AGV 120 can be associated with AP, AP can be connected with AC 110, and AP can be connected with AGV controller 100.
  • the AGV 120 can send the protocol packets to the AC 110 through the associated AP, and then the AC 110 sends the AGV controller 100 to the AC 110.
  • AGV 120 can send data packets to AC 110 through the associated AP, and then AC 110 sends to AGV controller 100, or AGV 120 can send data packets The text is sent to the AGV controller 100 through the associated AP.
  • the above AC 110 is mainly used to control and manage APs in a wireless local area network.
  • AC 110 delivers configuration information to APs and so on.
  • the above-mentioned AGV controller 100 is mainly used to communicate with the AGV 120 for AGV service processing, for example, to process service messages reported by the AGV 120, and guide the AGV 120 to travel along a preset path.
  • multiple APs are deployed in the area where the AGV 120 travels, and each AP covers a different sub-area.
  • AGV 120 when AGV 120 roams from one sub-area to another, AGV 120 will switch the currently connected AP to the AP with the strongest signal currently detected.
  • FIG. 2 is a flowchart of a connection establishment method according to an exemplary embodiment of the present application. The method may include steps as shown below.
  • Step 201 The AGV reports the current position parameter of the device to the AGV controller.
  • the current position parameter may refer to an offset of the current position of the AGV from the previous position.
  • the position parameter reported by the AGV is that it has traveled 10 meters along the positive direction of the X axis.
  • a positioning label is attached to the ground of the AGV driving area (the small square in FIG. 1 is the positioning label).
  • the AGV can copy the current
  • the position parameter is reported to the AGV controller.
  • the position parameter reported at this time may be position information obtained from the positioning tag. Or, according to the position information of the positioning tag and the wheel movement of the AGV, the AGV calculates the current position parameters of the device.
  • the AGV may periodically report the current position parameters of the device to the AGV controller.
  • reporting method of the AGV reporting the current position parameter This is only an exemplary description of the reporting method of the AGV reporting the current position parameter, and the reporting method is not specifically limited.
  • Step 202 After the AGV controller determines the current position and the next position of the AGV based on the position parameter, it sends the determined current position and the next position of the AGV to the AC.
  • the AGV controller records information such as a position of a node on a travel path of the AGV, a previous position of the AGV, and the like.
  • the AGV controller After the AGV controller receives the position parameter reported by the AGV, the AGV controller can find the coordinates of the previous position of the AGV, and then the AGV can determine the current position coordinates of the AGV according to the coordinates of the previous position and the position parameters reported by the AGV. .
  • the coordinates of a position on the AGV is (30,40).
  • the position parameter reported by the AGV indicates that the AGV has traveled 10 meters along the positive direction of the X axis. ).
  • the AGV controller may determine the next position of the AGV according to the position of the nodes on the AGV driving path configured locally.
  • the coordinates of nodes on the AGV's driving path are pre-configured on the AGV controller, such as (0,0)-> (30,0)-> (30,40)-> (40,40)-> (40 , 50).
  • the AGV controller can determine the next position of the current position (40,40) according to the node coordinates on the pre-configured AGV driving path.
  • the AGV controller may send the determined current position and the next position of the AGV to the AC.
  • Step 203 After receiving the current position and the next position of the AGV issued 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 correspondence between nodes on the AGV's driving path and APs covering the nodes on the driving path is configured on the AC.
  • the AC may determine the first AP covering the current location and the second AP covering the next location according to the correspondence.
  • the AC searches for the first AP (ie, AP1) corresponding to the node at the current position (40, 40) of the AGV and the second AP (ie, AP2) corresponding to the node at the next position (40, 50) according to the above correspondence.
  • Step 204 The AC may send an access control message to the AGV, where the access control message carries at least the identifier of the first AP and the identifier of the second AP.
  • Step 205 The AGV can adjust the AP currently connected to the device to establish a connection with the first AP and the second AP.
  • Case 1 If there is an AP that is not currently connected by the AGV in the first AP and the second AP, a connection is established with the unconnected AP.
  • the AGV can establish a connection with AP2.
  • Case 2 If there is an AP currently connected to the AGV in the first AP and the second AP, the connection with the connected AP is maintained.
  • the AGV can maintain the connection with AP1.
  • the AGV can maintain the connection with AP1.
  • Case 3 If at least one AP currently connected to the AGV has a target AP different from the first AP and the second AP, the connection with the target AP is disconnected.
  • the AGV may first establish a connection with an unconnected AP among the first AP and the second AP, and then disconnect the connection with the target AP.
  • the AGV may first establish a connection with AP3 and then disconnect the connection with AP1.
  • the AGV when the AGV is roaming (driving from the area covered by one AP to the area covered by another AP), the AGV is no longer the currently disconnected AP and establishes a connection with the AP with the strongest signal. Instead of disconnecting the currently connected AP, it establishes a connection with the AP issued by the AC and covers the next position of the AGV, and interacts with the AGV controller by establishing a dual-link connection, that is, the AGV can communicate with the first The AP and the second AP are connected at the same time, which can reduce the packet loss caused by AP switching during the AGV roaming process.
  • connection establishment method provided in this application is no longer that the AGV autonomously selects the AP to be associated when roaming occurs, but the AC controls which AP the AGV is associated with. In this way, it is possible to avoid establishing a connection with an AP (that is, an invalid AP) that does not cover the current location area or the next location area of the AGV, thereby avoiding the loss of frequent AP switching caused by incorrect connection of the invalid AP during roaming. package.
  • this application also provides a method for dynamically adjusting the transmit power of the AP.
  • the correspondence relationship between the position and the expected signal strength of the AP is pre-configured on the AC.
  • the AGV can also report the signal strength values of multiple APs currently detected to the AC. For example, the signal strength values of some APs may be detected at the current position. For example, if the signal strength values of AP1, AP2, and AP3 can be detected, but because it is far away from AP4, the signal of AP4 may not be detected. At this time, AGV can report the detection To the signal strength of AP1, AP2, and AP3.
  • step 202 determine the current position and the next position of the AGV according to the position parameter, and send the determined current position and the next position to the AC.
  • the AC can receive the current position and the next position of the AGV issued by the AGV controller.
  • the AC can find the respective signals of multiple APs corresponding to the current position of the AGV in the correspondence between the pre-configured position and the expected signal strength of the AP. Expected strength.
  • the transmit power of the AP is increased. If the received signal strength value of the AP is greater than the sum of the expected signal strength value of the AP plus a preset threshold, the transmit power of the AP is reduced.
  • the AGV may further send service packets to the AGV controller by using the connection with the first AP and the second AP, respectively.
  • Method 1 The AGV can send service packets to the AC through the first AP and the second AP, and the AC deduplicates the same service packet and sends the service packet to the AGV controller.
  • the AC receives multiple identical service packets within a preset time period, and the AC may select one service packet from among multiple identical service packets.
  • the AC may send the selected service packet to the AGV controller, and the AGV controller performs service processing on the selected service packet, and the AC may discard the unselected service packet.
  • Method 2 The AGV can send service packets to the AGV controller through the first AP and the second AP, and the AGV controller performs deduplication processing on the same service packets.
  • the AGV controller receives multiple identical service messages sent by the AGV within a preset time period, it selects any one of the multiple service messages and discards the unselected service messages. Text to perform service processing on the selected service message.
  • the AGV sends service packets to the AGV controller through connections with multiple APs, it is easy to cause the AGV controller to receive multiple identical service packets, so the AGV controller or AC pair is required.
  • Service packets are deduplicated. In other words, the deduplication processing is complementary to the way in which connections are established with multiple APs.
  • FIG. 3 is a schematic diagram of establishing a connection according to an exemplary embodiment of the present application.
  • the following uses AGV 320 to drive from point A to point B, and then to point C, and establishes a connection between the AGV 320 and the AP as an example to describe the connection establishment method proposed in this application in detail.
  • the coordinates of point N are (30, 40)
  • the coordinates of point A are (40, 40)
  • the coordinates of point B are (40, 30)
  • the coordinates of point C are (50, 30).
  • AP1 covers point A
  • AP3 covers point B
  • AP4 covers point C.
  • the nodes on the AGV 320 driving path are recorded on the AGV controller 300, that is, the nodes on the AGV 320 driving path are recorded as O—> M—> N—> A—> B—> C.
  • the correspondence between the nodes on the AGV 320 driving route and the AP covering the node is recorded on AC 310.
  • AC 310 is recorded on nodes O, M, N, and A corresponding to AP1
  • node B is corresponding to AP3
  • node C is associated with Corresponds to AP4.
  • AP1 covers nodes O, M, N, and A
  • AP3 covers node B
  • AP4 covers node C.
  • the AGV 320 can report the position parameter 1 to the AGV controller 300.
  • the position parameter 1 carries information that the AGV 320 traveled 10 meters along the positive direction of the X axis.
  • the AGV controller 300 records the previous position of the AGV 320 (that is, the position of N points).
  • the AGV controller 300 is based on the position of the N points (that is, (30, 40)) and the position parameter 1 (that is, along the The X-axis traveled in the positive direction for 10 meters) to determine the current position of the AGV 320, which is the position of point A (40, 40).
  • the AGV controller 300 determines the next position (ie, the position of point B) of the current position (ie, the position of point A) based on the recorded nodes on the AGV 320 driving path. Then, the AGV controller 300 sends the current position (that is, the point A position) and the next position (that is, the position B point) to the AC 310.
  • AC 310 determines the first AP corresponding to point A at the current position as AP1 and the second AP corresponding to point B at the next position as AP3 based on the correspondence between the nodes on the AGV 320 driving path and the APs covering the node.
  • AC 310 can send access control message 1 to AGV 320, and the access control message 1 carries the identified AP1 and AP3 identifiers.
  • AGV 320 can maintain the connection with AP1 and establish a connection with AP3.
  • the AGV 320 can send service packets to the AGV controller 300 through a connection with AP1 and a connection with AP3, respectively.
  • the AGV 320 can report the position parameter 2 to the AGV controller 300.
  • the position parameter 2 carries information that the AGV 320 has traveled 10 meters in the negative direction of the Y axis.
  • the AGV controller 300 records the previous position of the AGV 320 (that is, the position of point A).
  • the AGV controller 300 is based on the position of point A (that is, (40, 40)) and the position parameter 2 (that is, along the The Y-axis traveled in the negative direction for 10 meters), and determined the current position of the AGV 320, that is, the position of point B (40, 30).
  • the AGV controller 300 determines the next position (that is, the point C position) of the current position (that is, the point B position) based on the recorded nodes on the AGV 320 driving path. Then, the AGV controller 300 sends the determined current position (ie, position B) and the next position (ie, position C) to the AC 310.
  • AC 310 determines the first AP corresponding to point B at the current position as AP3 and the second AP corresponding to point C on the next position as AP4 based on the correspondence between the nodes on the AGV 320 driving path and the AP covering the node.
  • AC 310 can send access control message 2 to AGV 320, and the access control message 2 carries the identified AP3 and AP4 identifiers.
  • the APs currently connected to the AGV 320 are AP1 and AP3.
  • the AGV 320 can establish a connection with AP4 before disconnecting from AP1. Connect and stay connected to AP3.
  • the AGV 320 can send a service message to the AGV controller 300 through a connection with AP3 and a connection with AP4, respectively.
  • AGV 320 when AGV 320 roams (driving from an area covered by one AP to an area covered by another AP), AGV 320 is no longer the AP that is currently disconnected, and establishes a connection with the AP with the strongest signal, but While not disconnecting the currently connected AP, it establishes a connection with the AP issued by AC 310 and covers the next position of the AGV 320, and interacts with the AGV controller 300 by establishing a dual link connection, which can reduce AGV 320 Packet loss caused by AP switching during roaming.
  • connection establishment method provided in this application is no longer that the AGV 320 automatically selects the AP to be associated when roaming occurs, but AC 310 controls which AP the AGV 320 is associated with. This is relative to autonomous selection, which can avoid establishing a connection with an AP (that is, an invalid AP) that does not cover the current location area or the next location area of the AGV 320, thereby preventing AGV 320 from roaming due to incorrectly connecting an invalid AP. Packet loss caused by frequent AP switching.
  • FIG. 4 is a hardware structural diagram of an AGV according to an exemplary embodiment of the present application.
  • the AGV includes a processor 402 and a machine-readable storage medium 403.
  • the machine-readable storage medium 403 stores machine-executable instructions running on the processor 402.
  • the AGV may further include a communication interface 401 and a bus 404, wherein the communication interface 401, the processor 402, and the machine-readable storage medium 403 communicate with each other through the bus 404.
  • the processor 402 can execute the connection establishment method described above by reading and executing machine-executable instructions corresponding to the connection establishment control logic in the machine-readable storage medium 403.
  • the machine-readable storage medium 403 mentioned herein may be any electronic, magnetic, optical, or other physical storage device, and may contain or store information such as executable instructions, data, and so on.
  • the machine-readable storage medium may be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard drive), solid state hard disk, any type of storage disk (Such as optical discs, DVDs, etc.), or similar storage media, or a combination thereof.
  • FIG. 5 is a block diagram of a connection establishment device applied to an AGV shown in an exemplary embodiment of the present application.
  • the device may be applied to an AGV and may include the following units.
  • the reporting unit 501 is configured to report the current position parameter of the device to the AGV controller, so that the AGV controller determines the next position of the current position of the AGV based on the position parameter, and determines the current position and The next location is sent to the access controller AC, and the AC determines a first access point AP covering the current location and a second AP covering the next location.
  • the receiving unit 502 is configured to receive an access control message returned by the AC, where the access control message carries an identifier of the first AP and an identifier of the second AP.
  • the adjusting unit 503 is configured to adjust an AP currently connected to the device to establish a connection with the first AP and the second AP.
  • the adjusting unit 503 is specifically configured to: if the first AP and the second AP have an AP that is not currently connected to the device, establish a connection with the unconnected AP; if the first AP is If there is an AP currently connected to the device with the second AP, the connection with the connected AP is maintained; if at least one AP currently connected to the device has a target AP different from the first AP and the second AP, , Then disconnect from the target AP.
  • the reporting unit 501 is further configured to report the signal strength values of multiple APs currently detected by the device to the AC, so that the correspondence between the AC at a preset position and the expected signal strength value of the AP In the search, the respective expected signal strength values of the multiple APs corresponding to the current position of the AGV are found. For each of the multiple APs, if the reported signal strength value of the AP and the expected signal strength value of the AP are If the absolute value of the difference is greater than a preset threshold, the transmit power of the AP is adjusted so that the absolute value of the difference between the signal strength value of the AP and the expected signal strength of the AP is not greater than the preset threshold.
  • the apparatus further includes: a sending unit 504, configured to send a service packet to the AGV controller through a connection with the first AP and the second AP, respectively, so that the AGV controller Perform service processing on the service packet; or send a service packet to the AC through the connection with the first AP and the second AP, respectively, and the AC sends the service packet to the AGV
  • the controller performs service processing on the service packet by the AGV controller.
  • FIG. 6 is a hardware structural diagram of an AC according to an exemplary embodiment of the present application.
  • the AC includes a processor 602 and a machine-readable storage medium 603, where the machine-readable storage medium 603 stores machine-executable instructions running on the processor 602.
  • the AC may further include a communication interface 601 and a bus 604, wherein the communication interface 601, the processor 602, and the machine-readable storage medium 603 complete communication with each other through the bus 604.
  • the processor 602 can execute the connection establishment method 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 mentioned herein may be any electronic, magnetic, optical, or other physical storage device, and may contain or store information, such as executable instructions, data, and so on.
  • the machine-readable storage medium may be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard drive), solid state hard disk, any type of storage disk (Such as optical discs, DVDs, etc.), or similar storage media, or a combination thereof.
  • 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 can be applied to AC and can include units as shown below.
  • the receiving unit 701 is configured to receive the current position and the next position of the AGV issued by the AGV controller.
  • a determining unit 702 is configured to determine a first AP covering a current position of the AGV and a second AP covering a next position.
  • a sending unit 703 is configured to send an access control message to the AGV, so that the AGV adjusts an AP to which the AGV is currently connected to establish a connection with a first AP and a second AP, where the access control message carries An identifier of the first AP and an identifier of the second AP.
  • the apparatus further includes: a power adjustment unit 704, configured to receive signal strength values from multiple APs currently detected by the AGV; in a preset relationship between the preset position and the AP signal strength expected value, Looking up the respective signal strength expectation values of the plurality of APs corresponding to the current position of the AGV; for each of the plurality of APs, if the received signal strength value of the AP and the found signal strength of the AP are If the absolute value of the difference between the expected values is greater than the preset threshold, then adjust the transmit power of the AP so that the absolute value of the difference between the signal strength value of the AP and the expected value of the signal strength of the AP is not greater than the preset threshold.
  • a power adjustment unit 704 configured to receive signal strength values from multiple APs currently detected by the AGV; in a preset relationship between the preset position and the AP signal strength expected value, Looking up the respective signal strength expectation values of the plurality of APs corresponding to the current position of the AGV; for each of the pluralit
  • the apparatus further includes: a deduplication unit 705, configured to select any one of a plurality of service messages if a plurality of the same service messages sent by the AGV are received within a preset duration. A service message, and discard the unselected service message; send the selected service message to the AGV controller, and the AGV controller performs service processing on the service message.
  • a deduplication unit 705 configured to select any one of a plurality of service messages if a plurality of the same service messages sent by the AGV are received within a preset duration.
  • a service message and discard the unselected service message; send the selected service message to the AGV controller, and the AGV controller performs service processing on the service message.
  • FIG. 8 is a hardware structural diagram of an AGV controller according to an exemplary embodiment of the present application.
  • the AGV controller includes: a processor 802 and a machine-readable storage medium 803, where the machine-readable storage medium 803 stores machine-executable instructions running on the processor 802.
  • the AGV controller may further include a communication interface 801 and a bus 804, wherein the communication interface 801, the processor 802, and the machine-readable storage medium 803 communicate with each other through the bus 804.
  • the processor 802 can execute the connection establishment method 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 mentioned herein may be any electronic, magnetic, optical, or other physical storage device, and may contain or store information, such as executable instructions, data, and so on.
  • the machine-readable storage medium may be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard drive), solid state hard disk, any type of storage disk (Such as optical discs, DVDs, etc.), or similar storage media, or a combination thereof.
  • FIG. 9 is a block diagram of a connection establishment 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 include units as shown below.
  • a determining unit 901 is 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.
  • a sending unit 902 is configured to send the current position and the next position of the AGV to the access controller AC, and the AC determines a first access point AP covering the current position and a second AP covering the next position. Then, an access control message is sent to the AGV, so that the AGV adjusts the AP to which the AGV is currently connected to establish a connection with the first AP and the second AP, where the access control message carries the first An identifier of an AP and an identifier of the second AP.
  • the apparatus further includes: a deduplication unit 903, configured to select any one of a plurality of service messages if a plurality of the same service messages sent by the AGV are received within a preset duration. A service message, and discard unselected service messages; perform service processing on the selected service messages.
  • the relevant part may refer to the description of the method embodiment.
  • the device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, may be located One place, or it can be distributed across multiple network elements. Some or all of these modules can be selected according to actual needs to achieve the purpose of the solution of this application. Those of ordinary skill in the art can understand and implement without creative efforts.

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Abstract

本申请提供一种连接建立方法及装置。作为一个方面，应用于AGV的连接建立方法包括：将本设备的当前的位置参数上报给AGV控制器，以使所述AGV控制器基于该位置参数确定所述AGV的当前位置和下一个位置，将确定出的当前位置和下一个位置发送给接入控制器AC，由AC确定覆盖该当前位置的第一无线接入点AP和覆盖该下一个位置的第二AP；接收所述AC返回的接入控制消息，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识；调整本设备当前连接的AP，以与所述第一AP和所述第二AP建立连接。

Description

连接建立 背景技术
AGV(Automated Guided Vehicle，自动导引车)系统常用于工业应用，以在大型工业建筑物，例如工厂或仓库，内运输重物。AGV系统通常包括AGV控制器和AGV。AGV控制器通常用来接收用户指令，计算出整个系统内所有AGV的路径，然后将每一台AGV的路径通过无线的方式下发到AGV上。AGV可以按照接收到的路径行驶。AGV控制器可与AGV交互消息，控制AGV沿着预定路径行驶。例如AGV可通过无线通信的方式与AGV控制器交互消息。具体为，AGV可关联AP(Access Point，接入点)，然后AGV通过关联的AP与AGV控制器交互消息。
附图说明
图1是本申请一示例性实施例示出的一种AGV系统网络架构图。
图2是本申请一示例性实施例示出的一种连接建立方法的流程图。
图3是本申请一示例性实施例示出的一种连接建立的示意图。
图4是本申请一示例性实施例示出的一种AGV的硬件结构图。
图5是本申请一示例性实施例示出的一种应用在AGV上的连接建立装置框图。
图6是本申请一示例性实施例示出的一种AC的硬件结构图。
图7是本申请一示例性实施例示出的一种应用在AC上的连接建立装置框图。
图8是本申请一示例性实施例示出的一种AGV控制器的硬件结构图。
图9是本申请一示例性实施例示出的一种应用在AGV控制器上的连接建立装置框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
应当理解，尽管在本申请可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本申请范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
参见图1，图1是本申请一示例性实施例示出的一种AGV系统网络架构图。
该AGV系统网络架构可包括AGV 120、AP、AC(Access Controller，接入控制器)110和AGV控制器100。
其中，上述AGV 120，可以是指装备有电磁或光学等自动导引装置，能够通过与AGV控制器100交互，沿着规定的导引路径行驶的车辆。
上述AP，主要用于提供AGV 120与AGV控制器100的桥接功能。该AGV网络架构中可包括多个AP(如AP1–AP4)，每个AP覆盖AGV行驶区域的一部分，所有AP覆盖了AGV的全部的行驶区域。
AGV 120可以关联AP，AP可与AC 110相连，AP也可与AGV控制器100相连。对于AGV 120与AGV控制器100之间的协议报文传输，AGV 120可以将协议报文通过关联的AP发送给AC 110，再由AC 110发送给AGV控制器100。对于AGV 120与AGV控制器100之间的数据报文传输，AGV 120可将数据报文通过关联的AP发送给AC 110，再由AC 110发送给AGV控制器100，或者AGV 120可将数据报文通过关联的AP发送给AGV控制器100。
上述AC 110，主要用于对无线局域网中的AP进行控制和管理。例如，AC 110统一给AP下发配置信息等等。
上述AGV控制器100，主要用于与AGV 120通信以进行AGV业务处理，比如处理AGV 120上报的业务报文，指导AGV 120沿预设路径行驶。
如图1所示，AGV 120行驶的区域中部署有多个AP，每个AP覆盖不同的子区域。在现有的方式中，当AGV 120从一个子区域漫游到另一个子区域时，AGV 120会将当 前连接的AP切换成当前检测到信号最强的AP。
例如，如图1所示，假设AGV 120按照图1箭头所示路径行进，AGV 120从A点行进到C点时，理想的AP连接情况是AGV 120将与AP1的连接直接切换成与AP3的连接。
然而在实际场景中，假设在B点处，AP4的信号更强，在C点处，AP3的信号更强。AGV 120从A点到B点时，AGV 120将与AP1的连接切换成与AP4的连接，然后AGV 120从B点到C点时，AGV 120将与AP4的连接切换成与AP3的连接。这样，AGV 120从A点行驶到B点，再到C点，经历了从AP1切换到AP4，再从AP4切换到AP3的过程。而AP切换是需要时间的，在AP切换的过程中可能会发生AGV 120与AGV控制器100之间交互报文的丢失，频繁的AP切换会增加AGV 120与AGV控制器100之间的丢包的数量，大量丢包会影响AGV控制器100对AGV 120运动轨迹的控制。
参见图2，图2是本申请一示例性实施例示出的一种连接建立方法的流程图。该方法可包括如下所示步骤。
步骤201：AGV将本设备的当前的位置参数上报给AGV控制器。
其中，当前的位置参数，可以是指AGV当前位置相对于上一个位置的偏移量。
比如，AGV上一个位置的坐标是(30,40)，AGV当前位置的坐标为(40,40)，则AGV上报的位置参数是沿X轴正方向行驶了10米。
在一种可选的方式中，在AGV行驶区域的地面上贴有定位标签(图1中的小方块即为定位标签)，当AGV检测到该定位标签后，AGV可以将本设备的当前的位置参数，上报给AGV控制器。此时上报的位置参数可以是从定位标签得到的位置信息。或者，根据定位标签的位置信息和AGV的车轮移动情况，AGV计算得到本设备当前的位置参数。
在另一种可选的方式中，AGV可以周期性地将本设备的当前的位置参数上报给AGV控制器。
这里只是对AGV上报当前的位置参数这种上报方法的示例性说明，不对上报方法进行具体的限定。
步骤202：AGV控制器基于该位置参数确定该AGV的当前位置和下一个位置后，将确定出的AGV的当前位置和下一个位置下发给AC。
AGV控制器上记录有AGV的行驶路径上的节点的位置、该AGV的上一个位置等信息。
当AGV控制器接收到AGV上报的位置参数后，AGV控制器可查找该AGV上一个位置的坐标，然后AGV可依据上一个位置的坐标和AGV上报的位置参数，确定出该AGV当前的位置坐标。
例如，AGV上一个位置的坐标是(30,40)，AGV上报的位置参数指示该AGV沿X轴正方向行驶了10米，则AGV控制器可确定该AGV当前位置的坐标是(40,40)。
当AGV控制器确定出AGV当前位置后，AGV控制器可以依据本地预配置的AGV行驶路径上的节点的位置，确定该AGV下一个位置。
例如，AGV控制器上预先配置了AGV的行驶路径上的节点的坐标，比如(0,0)->(30,0)->(30,40)->(40,40)->(40,50)。
假设AGV控制器确定出该AGV当前位置的坐标是(40,40)，则AGV控制器可以依据该预配置的AGV行驶路径上的节点坐标，确定出当前位置(40,40)的下一个位置的坐标，即(40,50)。
然后，AGV控制器可将确定出的该AGV的当前位置和下一个位置下发给AC。
步骤203：AC在接收到AGV控制器下发的该AGV的当前位置和下一个位置后，确定覆盖所述AGV的当前位置的第一AP、以及覆盖下一个位置的第二AP。
AC上配置了该AGV的行驶路径上的节点和覆盖该行驶路径上节点的AP的对应关系。
AC可以依据该对应关系，确定出覆盖当前位置的第一AP和覆盖下一个位置的第二AP。
例如，仍以上述例子为例，假设AC上配置了(0,0)，(30,0)，(30,40)，(40,40)四个节点均与AP1对应，则表明AP1覆盖了(0,0)，(30,0)，(30,40)，(40,40)这四个AGV行驶路径上的节点的位置。
假设，AC上配置了(40,50)节点与AP2对应，表明AP2覆盖了(40,50)。
AC在依据上述对应关系，查找该AGV当前位置(40,40)节点对应的第一AP(即AP1),以及下一个位置(40，50)节点对应的第二AP(即AP2)。
步骤204：AC可向该AGV发送接入控制消息，该接入控制消息中至少携带了第一 AP的标识和第二AP的标识。
步骤205：AGV可调整本设备当前连接的AP，以与第一AP和第二AP建立连接。
情况一：若第一AP和第二AP中存在AGV当前未连接的AP时，则建立与该未连接AP的连接。
例如，AGV当前连接的AP是AP1，第一AP是AP1，第二AP是AP2，则上述未连接AP是AP2，则AGV可建立与AP2的连接。
情况二：若第一AP和第二AP中存在AGV当前已连接的AP时，则保持与该已连接AP的连接。
例如，AGV当前连接的AP是AP1，第一AP是AP1，第二AP是AP2，则上述已连接AP是AP1，AGV可保持与AP1的连接。
再例如，AGV当前连接的AP是AP1，第一AP是AP1，第二AP是AP1，则上述已连接AP是AP1，AGV可保持与AP1的连接。
情况三：若AGV当前已连接的至少一个AP中存在不同于所述第一AP和第二AP的目标AP，则断开与所述目标AP的连接。
需要说明的是，为了保证AGV与AP的连接不中断，AGV可以先建立与第一AP和第二AP中未连接的AP的连接后，再断开与该目标AP的连接。
例如，AGV当前连接的AP是AP1和AP2，第一AP是AP2，第二AP是AP3，则上述目标AP为AP1，AGV可先建立与AP3的连接，再断开与AP1的连接。
由上述描述可知，一方面，当AGV发生漫游(从一个AP覆盖的区域行驶到另一个AP覆盖的区域)时，AGV不再是断开当前连接的AP，与信号最强的AP建立连接，而是在不断开当前连接AP的同时，与AC下发的、覆盖该AGV下一个位置的AP建立连接，通过双链路建立连接的方式与AGV控制器进行交互，也就是AGV可以与第一AP和第二AP两个AP同时连接，从而可以减少AGV在漫游过程中因为AP切换而导致的丢包。
另一方面，本申请提供的连接建立方法，不再是AGV在发生漫游时自主选择要关联的AP，而是由AC控制AGV与哪个AP关联。这样，可以避免与不覆盖该AGV当前位置区域或下一个位置区域的AP(即无效AP)建立连接，进而可以避免AGV在漫游过程中，因错连无效AP而导致AP频繁切换所产生的丢包。
此外，本申请还提供了动态调整AP发射功率的方法。
在实现时，AC上预配置有位置与AP的信号强度期望值的对应关系。
AGV在向AGV控制器上报当前的位置参数时，AGV还可向AC上报当前检测的多个AP的信号强度值。例如，在当前位置可能检测到一部分AP的信号强度值，如能够检测到AP1、AP2和AP3的信号强度值，但是因为离AP4较远，可能检测不到AP4的信号，此时AGV可以上报检测到的AP1、AP2和AP3的信号强度值。
当AGV控制器接收到AGV上报的当前的位置参数时，可以参见步骤202，即依据该位置参数确定该AGV的当前位置和下一个位置，并将确定出的当前位置和下一个位置发送给AC。
AC可接收AGV控制器下发的AGV的当前位置和下一个位置，AC可以在预配置的位置与AP的信号强度期望值的对应关系中，查找与该AGV当前位置对应的多个AP各自的信号强度期望值。
然后，针对该多个AP中的每一个AP，若接收到的该AP的信号强度值与该AP的信号强度期望值的差值的绝对值大于预设阈值，则调整该AP的发射功率，以使该AP的信号强度值与该AP的信号强度期望值的差值的绝对值不大于预设阈值。
例如，若接收到的AP的信号强度值小于该AP的信号强度期望值减去预设阈值的差，则增大该AP的发射功率。若接收到的AP的信号强度值大于该AP的信号强度期望值加预设阈值的和，则减小该AP的发射功率。
在本申请实施例中，当AGV与第一AP和第二AP建立连接后，AGV还可利用与第一AP和第二AP的连接分别发送业务报文给AGV控制器。
方式一：AGV可以分别通过第一AP和第二AP将业务报文发送给AC，由AC对相同的业务报文进行去重处理后将业务报文发送给AGV控制器。
比如，AC在预设时长内接收到多个相同的业务报文，AC可在多个相同的业务报文中选择一个业务报文。AC可将选中的业务报文发送给AGV控制器，由AGV控制器对该选择出的业务报文进行业务处理，AC可将未被选中的业务报文丢弃。
方式二：AGV分别可以通过第一AP和第二AP将业务报文发送给AGV控制器，由AGV控制器对相同的业务报文进行去重处理。
AGV控制器若在预设时长内接收到多个相同的、由所述AGV发送的业务报文，则 在多个相同的业务报文中选择任一业务报文，并丢弃未选中的业务报文，对选中的业务报文进行业务处理。
需要说明的是，由于AGV分别通过与多个AP的连接向AGV控制器发送业务报文，所以很容易造成AGV控制器会接收到多个相同的业务报文，所以需要AGV控制器或AC对业务报文进行去重处理，换句话来说，去重处理与多个AP建立连接的交互方式是相互补充的。
参见图3，图3是本申请一示例性实施例示出的一种连接建立的示意图。
假设，AGV 320的行驶路径如图3的箭头所示，即AGV 320的行驶路径上的节点分别为O—>M—>N—>A—>B—>C。
下面以AGV 320从A点行驶到B点，再行驶到C点过程中，AGV 320与AP建立连接为例，对本申请提出的连接建立方法进行详细的说明。
假设，N点的坐标是(30，40)，A点的坐标是(40，40)，B点的坐标是(40，30)，C点的坐标是(50，30)。AP1覆盖A点，AP3覆盖B点，AP4覆盖C点。
假设AGV控制器300上记录了该AGV 320行驶路径上的节点，即记录了AGV 320的行驶路径上的节点分别为O—>M—>N—>A—>B—>C。
AC 310上记录了AGV 320行驶路径上的节点与覆盖该节点的AP的对应关系，比如，AC 310上记录了节点O、M、N和A与AP1对应，节点B与AP3对应，节点C与AP4对应。换句话来说，AP1覆盖节点O、M、N和A，AP3覆盖节点B，AP4覆盖节点C。
当AGV 320从N点行驶到A点时，AGV 320可向AGV控制器300上报位置参数1，该位置参数1上携带了该AGV 320沿X轴正方向行驶了10米的信息。
AGV控制器300上记录有该AGV 320的上一个位置(即N点的位置)，AGV控制器300基于N点的位置(即(30,40))以及AGV 320上报的位置参数1(即沿X轴正方向行驶了10米)，确定出该AGV 320当前的位置，即A点的位置(40，40)。
此外，AGV控制器300基于记录的AGV 320行驶路径上的节点，确定当前位置(即A点位置)的下一个位置(即B点位置)。然后，AGV控制器300将当前位置(即A点位置)和下一个位置(即B点位置)下发给AC 310。
AC 310基于记录的AGV 320行驶路径上的节点与覆盖该节点的AP的对应关系， 确定出当前位置A点对应的第一AP为AP1，以及下一个位置B点对应的第二AP为AP3。
然后，AC 310可向AGV 320下发接入控制消息1，该接入控制消息1里携带了确定出的AP1和AP3的标识。
假设，AGV 320当前连接的AP的是AP1，当AGV 320接收到AC 310下发的接入控制消息时，AGV 320可以保持与AP1的连接，并建立与AP3的连接。AGV 320可以分别通过与AP1的连接和与AP3的连接向AGV控制器300发送业务报文。
当AGV 320从A点驶向B点时，AGV 320可向AGV控制器300上报位置参数2，该位置参数2携带了该AGV 320沿Y轴负方向行驶了10米的信息。
AGV控制器300上记录有该AGV 320的上一个位置(即A点的位置)，AGV控制器300基于A点的位置(即(40,40))以及AGV 320上报的位置参数2(即沿Y轴负方向行驶了10米)，确定出该AGV 320当前的位置，即B点的位置(40，30)。
此外，AGV控制器300基于记录的AGV 320行驶路径上的节点，确定当前位置(即B点位置)的下一个位置(即C点位置)。然后，AGV控制器300将确定出的当前位置(即B点位置)和下一个位置(即C点位置)下发给AC 310。
AC 310基于记录的AGV 320行驶路径上的节点与覆盖该节点的AP的对应关系，确定出当前位置B点对应的第一AP为AP3，以及下一个位置C点对应的第二AP为AP4。
然后，AC 310可向AGV 320下发接入控制消息2，该接入控制消息2里携带了确定出的AP3和AP4的标识。
此时，AGV 320当前连接的AP的是AP1和AP3，当AGV 320接收到AGV控制器300下发的AP3和AP4的标识时，AGV 320可以先建立与AP4的连接，再断开与AP1的连接，并保持与AP3的连接。AGV 320可以分别通过与AP3的连接和与AP4的连接向AGV控制器300发送业务报文。
由上述描述可知，当AGV 320发生漫游(从一个AP覆盖的区域行驶到另一个AP覆盖的区域)时，AGV 320不再是断开当前连接的AP，与信号最强的AP建立连接，而是在不断开当前连接AP的同时，与AC 310下发的、覆盖该AGV 320下一个位置的AP建立连接，通过双链路建立连接的方式与AGV控制器300进行交互，从而可以减少AGV 320在漫游过程中因为AP切换而导致的丢包。
另一方面，本申请提供的连接建立方法，不再是AGV 320在发生漫游时自主选择要关联的AP，而是由AC 310控制AGV 320与哪个AP相关联。这相对于自主选择来说，可以避免与不覆盖该AGV 320当前位置区域或下一个位置区域的AP(即无效AP)建立连接，进而可以避免AGV 320在漫游过程中，因错连无效AP而导致AP频繁切换所产生的丢包。
参见图4，图4是本申请一示例性实施例示出的一种AGV的硬件结构图。
该AGV包括：处理器402和机器可读存储介质403，其中，机器可读存储介质403上存储有在处理器402上运行的机器可执行指令。在一个例子中，该AGV还可以包括通信接口401和总线404，其中，通信接口401、处理器402和机器可读存储介质403通过总线404完成相互间的通信。处理器402通过读取并执行机器可读存储介质403中与连接建立控制逻辑对应的机器可执行指令，可执行上文描述的连接建立方法。
本文中提到的机器可读存储介质403可以是任何电子、磁性、光学或其它物理存储装置，可以包含或存储信息，如可执行指令、数据，等等。例如，机器可读存储介质可以是：RAM(Radom Access Memory，随机存取存储器)、易失存储器、非易失性存储器、闪存、存储驱动器(如硬盘驱动器)、固态硬盘、任何类型的存储盘(如光盘、DVD等)，或者类似的存储介质，或者它们的组合。
参见图5，图5是本申请一示例性实施例示出的一种应用在AGV上的连接建立装置框图，该装置可应用在AGV上，可包括如下单元。
上报单元501，用于将本设备的当前的位置参数上报给AGV控制器，以使所述AGV控制器在基于该位置参数确定所述AGV的当前位置下一个位置，将确定出的当前位置和下一个位置发送给接入控制器AC，由AC确定覆盖该当前位置的第一接入点AP和覆盖该下一个位置的第二AP。
接收单元502，用于接收所述AC返回的接入控制消息，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识。
调整单元503，用于调整本设备当前连接的AP，以与所述第一AP和所述第二AP建立连接。
可选的，所述调整单元503，具体用于：若所述第一AP和第二AP中存在本设备当前未连接的AP，则建立与该未连接AP的连接；若所述第一AP和第二AP中存在本设备当前已连接的AP，则保持与该已连接AP的连接；若本设备当前已连接的至少一个 AP中存在不同于所述第一AP和第二AP的目标AP，则断开与所述目标AP的连接。
可选的，所述上报单元501，还用于将本设备当前检测到的多个AP的信号强度值上报给AC，以使所述AC在预设的位置和AP的信号强度期望值的对应关系中，查找与该AGV当前位置对应的所述多个AP各自的信号强度期望值，针对所述多个AP中的每一个AP，若上报的该AP的信号强度值与该AP的信号强度期望值的差值的绝对值大于预设阈值，则调整该AP的发射功率，以使该AP的信号强度值与该AP的信号强度期望值的差值的绝对值不大于预设阈值。
可选的，所述装置还包括：发送单元504，用于分别通过与所述第一AP和第二AP的连接，将业务报文发送至所述AGV控制器，以使所述AGV控制器对该业务报文进行业务处理；或者，分别通过与所述第一AP和第二AP的连接，将业务报文发送至所述AC，由所述AC将该业务报文发送给所述AGV控制器，由该AGV控制器对该业务报文进行业务处理。
参见图6，图6是本申请一示例性实施例示出的一种AC的硬件结构图。
该AC包括：处理器602和机器可读存储介质603，其中，机器可读存储介质603上存储有在处理器602上运行的机器可执行指令。在一个例子中，该AC还可以包括通信接口601和总线604，其中，通信接口601、处理器602和机器可读存储介质603通过总线604完成相互间的通信。处理器602通过读取并执行机器可读存储介质603中连接建立控制逻辑对应的机器可执行指令，可执行上文描述的连接建立方法。
本文中提到的机器可读存储介质603可以是任何电子、磁性、光学或其它物理存储装置，可以包含或存储信息，如可执行指令、数据，等等。例如，机器可读存储介质可以是：RAM(Radom Access Memory，随机存取存储器)、易失存储器、非易失性存储器、闪存、存储驱动器(如硬盘驱动器)、固态硬盘、任何类型的存储盘(如光盘、DVD等)，或者类似的存储介质，或者它们的组合。
参见图7，图7是本申请一示例性实施例示出的一种应用在AC上的连接建立装置框图。该装置可应用在AC上，可包括如下所示单元。
接收单元701，用于接收AGV控制器下发的AGV的当前位置和下一个位置。
确定单元702，用于确定覆盖所述AGV的当前位置的第一AP、以及覆盖下一个位置的第二AP。
发送单元703，用于向所述AGV发送接入控制消息，以使所述AGV调整该AGV 当前连接的AP，以与第一AP和第二AP建立连接，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识。
可选的，所述装置还包括：功率调整单元704，用于接收来自于所述AGV当前检测到的多个AP的信号强度值；在预设的位置和AP信号强度期望值的对应关系中，查找与所述AGV的当前位置对应的该多个AP各自的信号强度期望值；针对该多个AP中的每一个AP，若接收到的该AP的信号强度值与查找到的该AP的信号强度期望值的差值的绝对值大于预设阈值，则调整该AP的发射功率，以使该AP的信号强度值与该AP的信号强度期望值的差值的绝对值不大于预设阈值。
可选的，所述装置还包括：去重单元705，用于若在预设时长内接收到多个相同的、由所述AGV发送的业务报文，则在多个业务报文中选择任一业务报文，并丢弃未选中的业务报文；将选中的业务报文发送给AGV控制器，以由AGV控制器对该业务报文进行业务处理。
参见图8，图8是本申请一示例性实施例示出的一种AGV控制器的硬件结构图。
该AGV控制器包括：处理器802和机器可读存储介质803，其中，机器可读存储介质803上存储有在处理器802上运行的机器可执行指令。在一个例子中，该AGV控制器还可以包括通信接口801和总线804，其中，通信接口801、处理器802和机器可读存储介质803通过总线804完成相互间的通信。处理器802通过读取并执行机器可读存储介质803中连接建立控制逻辑对应的机器可执行指令，可执行上文描述的连接建立方法。
本文中提到的机器可读存储介质803可以是任何电子、磁性、光学或其它物理存储装置，可以包含或存储信息，如可执行指令、数据，等等。例如，机器可读存储介质可以是：RAM(Radom Access Memory，随机存取存储器)、易失存储器、非易失性存储器、闪存、存储驱动器(如硬盘驱动器)、固态硬盘、任何类型的存储盘(如光盘、DVD等)，或者类似的存储介质，或者它们的组合。
参见图9，图9是本申请一示例性实施例示出的一种应用在AGV控制器上的连接建立装置框图。该装置可应用在AGV控制器上，可包括如下所示单元。
确定单元901，用于在接收到AGV上报的该AGV当前的位置参数后，依据该位置参数确定该AGV的当前位置和下一个位置。
下发单元902，用于将所述AGV的当前位置和下一个位置下发给接入控制器 AC，由AC在确定覆盖当前位置的第一接入点AP和覆盖下一个位置的第二AP后，向AGV下发接入控制消息，以使所述AGV调整该AGV当前连接的AP，以与所述第一AP和第二AP建立连接，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识。
可选的，所述装置还包括：去重单元903，用于若在预设时长内接收到多个相同的、由所述AGV发送的业务报文，则在多个业务报文中选择任一业务报文，并丢弃未选中的业务报文；对选中的业务报文进行业务处理。
上述装置中各个单元的功能和作用的实现过程具体详见上述方法中对应步骤的实现过程，在此不再赘述。
对于装置实施例而言，由于其基本对应于方法实施例，所以相关之处参见方法实施例的部分说明即可。以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本申请方案的目的。本领域普通技术人员在不付出创造性劳动的情况下，即可以理解并实施。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (18)

  1. 一种连接建立方法，其特征在于，所述方法应用于自动导引车AGV，包括：
    将本设备的当前的位置参数上报给AGV控制器，以使所述AGV控制器基于该位置参数确定所述AGV的当前位置和下一个位置后，将确定出的当前位置和下一个位置发送给接入控制器AC，由该AC确定覆盖该当前位置的第一接入点AP和覆盖该下一个位置的第二AP；
    接收所述AC返回的接入控制消息，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识；
    调整本设备当前连接的AP，以与所述第一AP和所述第二AP建立连接。
  2. 根据权利要求1所述的方法，其特征在于，调整本设备当前连接的AP，以与所述第一AP和所述第二AP建立连接，包括：
    若所述第一AP和所述第二AP中存在本设备当前未连接的AP，则建立与该未连接AP的连接；
    若所述第一AP和所述第二AP中存在本设备当前已连接的AP，则保持与该已连接AP的连接；
    若本设备当前已连接的至少一个AP中存在不同于所述第一AP和所述第二AP的目标AP，则断开与所述目标AP的连接。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    将本设备当前检测到的多个AP的信号强度值上报给所述AC，以使所述AC
    在预设的位置和AP信号强度期望值的对应关系中，查找与该AGV的所述当前位置对应的所述多个AP各自的信号强度期望值，
    针对所述多个AP中的每一个AP，若上报的该AP的信号强度值与该AP的信号强度期望值的差值的绝对值大于预设阈值，则调整该AP的发射功率，以使该AP的信号强度值与该AP的信号强度期望值的差值的绝对值不大于预设阈值。
  4. 根据权利要求1所述的方法，其特征在于，在调整本设备当前连接的AP，以与所述第一AP和所述第二AP建立连接之后，所述方法还包括：
    分别通过与所述第一AP和所述第二AP的连接，将业务报文发送至所述AGV控制器，以使所述AGV控制器对该业务报文进行业务处理；
    或者，
    分别通过与所述第一AP和所述第二AP的连接，将业务报文发送至所述AC，由所述AC将该业务报文发送给所述AGV控制器，由该AGV控制器对该业务报文进行业务 处理。
  5. 一种连接建立方法，其特征在于，所述方法应用于接入控制器AC，包括：
    接收自动导引车AGV控制器下发的AGV的当前位置和下一个位置；
    确定覆盖所述AGV的所述当前位置的第一接入点AP、以及覆盖所述下一个位置的第二AP；
    向所述AGV发送接入控制消息，以使所述AGV调整该AGV当前连接的AP，以与所述第一AP和所述第二AP建立连接，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识。
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    接收来自于所述AGV当前检测到的多个AP的信号强度值；
    在预设的位置和AP信号强度期望值的对应关系中，查找与所述AGV的所述当前位置对应的所述多个AP各自的信号强度期望值；
    针对所述多个AP中的每一个AP，若接收到的该AP的信号强度值与查找到的该AP的信号强度期望值的差值的绝对值大于预设阈值，则调整该AP的发射功率，以使该AP的信号强度值与该AP的信号强度期望值的差值的绝对值不大于预设阈值。
  7. 根据权利要求5所述的方法，其特征在于，所述方法还包括：
    若在预设时长内接收到多个相同的、由所述AGV发送的业务报文，则在多个业务报文中选择任一业务报文，并丢弃未选中的业务报文；
    将选中的业务报文发送给所述AGV控制器，以由所述AGV控制器对该业务报文进行业务处理。
  8. 一种连接建立方法，其特征在于，所述方法应用于自动导引车AGV控制器，包括：
    在接收到AGV上报的该AGV当前的位置参数后，依据该位置参数确定该AGV的当前位置和下一个位置；
    将所述AGV的所述当前位置和所述下一个位置下发给接入控制器AC，由所述AC在确定覆盖所述当前位置的第一接入点AP和覆盖所述下一个位置的第二AP后，向所述AGV下发接入控制消息，以使所述AGV调整该AGV当前连接的AP，以与所述第一AP和所述第二AP建立连接，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    若在预设时长内接收到多个相同的、由所述AGV发送的业务报文，则在多个业务 报文中选择任一业务报文，并丢弃未选中的业务报文；
    对选中的业务报文进行业务处理。
  10. 一种自动导引车AGV，其特征在于，所述AGV包括：
    处理器，以及
    存储有在所述处理器上运行的机器可执行指令的机器可读存储介质，所述处理器执行所述指令时实现以下操作：
    将本设备的当前的位置参数上报给AGV控制器，以使所述AGV控制器基于该位置参数确定所述AGV的当前位置和下一个位置后，将确定出的当前位置和下一个位置发送给接入控制器AC，由该AC确定覆盖该当前位置的第一接入点AP和覆盖该下一个位置的第二AP；
    接收所述AC返回的接入控制消息，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识；
    调整本设备当前连接的AP，以与所述第一AP和所述第二AP建立连接。
  11. 根据权利要求10所述的AGV，其特征在于，所述处理器执行所述指令时具体实现以下操作：
    若所述第一AP和第二AP中存在本设备当前未连接的AP，则建立与该未连接AP的连接；
    若所述第一AP和第二AP中存在本设备当前已连接的AP，则保持与该已连接AP的连接；
    若本设备当前已连接的至少一个AP中存在不同于所述第一AP和所述第二AP的目标AP，则断开与所述目标AP的连接。
  12. 根据权利要求10所述的AGV，其特征在于，所述处理器执行所述指令时还实现以下操作：
    将本设备当前检测到的多个AP的信号强度值上报给AC，以使所述AC
    在预设的位置和AP信号强度期望值的对应关系中，查找与该AGV的所述当前位置对应的所述多个AP各自的信号强度期望值，
    针对所述多个AP中的每一个AP，若上报的该AP的信号强度值与该AP的信号强度期望值的差值的绝对值大于预设阈值，则调整该AP的发射功率，以使该AP的信号强度值与该AP的信号强度期望值的差值的绝对值不大于预设阈值。
  13. 根据权利要求10所述的AGV，其特征在于，在调整本设备当前连接的AP，以与所述第一AP和所述第二AP建立连接之后，所述处理器执行所述指令时还实现以 下操作：
    分别通过与所述第一AP和所述第二AP的连接，将业务报文发送至所述AGV控制器，以使所述AGV控制器对该业务报文进行业务处理；
    或者，
    分别通过与所述第一AP和所述第二AP的连接，将业务报文发送至所述AC，由所述AC将该业务报文发送给所述AGV控制器，由该AGV控制器对该业务报文进行业务处理。
  14. 一种接入控制器AC，其特征在于，所述AC包括：
    处理器，以及
    存储有在所述处理器上运行的机器可执行指令的机器可读存储介质，所述处理器执行所述指令时实现以下操作：
    接收自动导引车AGV控制器下发的AGV的当前位置和下一个位置；
    确定覆盖所述AGV的所述当前位置的第一接入点AP、以及覆盖所述下一个位置的第二AP；
    向所述AGV发送接入控制消息，以使所述AGV调整该AGV当前连接的AP，以与所述第一AP和所述第二AP建立连接，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识。
  15. 根据权利要求14所述的AC，其特征在于，所述处理器执行所述指令时还实现以下操作：
    接收来自于所述AGV当前检测到的多个AP的信号强度值；
    在预设的位置和AP信号强度期望值的对应关系中，查找与所述AGV的所述当前位置对应的所述多个AP各自的信号强度期望值；
    针对所述多个AP中的每一个AP，若接收到的该AP的信号强度值与查找到的该AP的信号强度期望值的差值的绝对值大于预设阈值，则调整该AP的发射功率，以使该AP的信号强度值与该AP的信号强度期望值的差值的绝对值不大于预设阈值。
  16. 根据权利要求14所述的AC，其特征在于，所述处理器执行所述指令时还实现以下操作：
    若在预设时长内接收到多个相同的、由所述AGV发送的业务报文，则在多个业务报文中选择任一业务报文，并丢弃未选中的业务报文；
    将选中的业务报文发送给所述AGV控制器，以由所述AGV控制器对该业务报文进行业务处理。
  17. 一种自动导引车AGV控制器，其特征在于，所述AGV控制器包括：
    处理器，以及
    存储有在所述处理器上运行的机器可执行指令的机器可读存储介质，所述处理器执行所述指令时实现以下操作：
    在接收到AGV上报的该AGV当前的位置参数后，依据该位置参数确定该AGV的当前位置和下一个位置；
    将所述AGV的所述当前位置和所述下一个位置下发给接入控制器AC，由所述AC在确定覆盖所述当前位置的第一接入点AP和覆盖所述下一个位置的第二AP后，向所述AGV下发接入控制消息，以使所述AGV调整该AGV当前连接的AP，以与所述第一AP和所述第二AP建立连接，其中，所述接入控制消息携带所述第一AP的标识和所述第二AP的标识。
  18. 根据权利要求17所述的AGV控制器，其特征在于，所述处理器执行所述指令时还实现以下操作：
    若在预设时长内接收到多个相同的、由所述AGV发送的业务报文，则在多个业务报文中选择任一业务报文，并丢弃未选中的业务报文；
    对选中的业务报文进行业务处理。
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