Communication method, device, relay device, storage medium and program product

Abstract

The present application provides a communication method, apparatus, relay device, storage medium and program product. The relay device is respectively connected to the first robot scheduling system RCS, and M intelligent storage robot AGVs in communication, where M is an integer greater than or equal to 1. The method is applied to the relay device, and the method includes: receiving a first control instruction from the first RCS, the first control instruction is used to control the first AGV to perform a target operation; the first AGV is any one of the M AGVs; when the first RCS is not the RCS matched by the first AGV, converting the first control instruction into a second control instruction recognizable by the first AGV; sending the second control instruction to the first AGV. The present application solves the problem that AGVs and RCSs from different manufacturers are incompatible and cannot communicate.

Description

Technical Field

[0001] The present application relates to warehouse management technology, and in particular to a communication method, device, relay equipment, storage medium and program product. Background Art

[0002] Intelligent warehouse robots (Automated Guided Vehicle, AGV) can replace some manual labor and assist in cargo handling. The operation of AGV is mainly controlled by the Robot Control System (RCS).

[0003] However, there are many AGV manufacturers, and different AGV manufacturers usually have their own independent RCS. Therefore, there may be incompatibility issues between AGVs and RCSs from different manufacturers. Summary of the invention

[0004] The present application provides a communication method, apparatus, relay device, storage medium and program product to solve the problem of incompatibility between AGV and RCS.

[0005] In a first aspect, the present application provides a communication method, wherein a relay device is respectively connected to a first robot scheduling system RCS and M intelligent storage robots AGVs in communication, wherein M is an integer greater than or equal to 1, and the method is applied to the relay device, and the method includes:

[0006] receiving a first control instruction from a first RCS, where the first control instruction is used to control a first AGV to perform a target operation; the first AGV is any one of the M AGVs;

[0007] When the first RCS is not an RCS matched by the first AGV, converting the first control instruction into a second control instruction recognizable by the first AGV;

[0008] Send the second control instruction to the first AGV.

[0009] Optionally, the first control instruction includes an identifier of the first RCS, a first identifier of the first AGV, and first operation information for controlling the first AGV to perform a target operation;

[0010] The second control instruction includes: an identifier of a second RCS, a second identifier of the first AGV, and second operation information for controlling the first AGV to perform the target operation; the second identifier of the first AGV is an actual identifier of the first AGV;

[0011] The identifier of the second RCS is an identifier of the RCS that can control the first AGV, the second operation information is operation information recognizable by the first AGV, and the first identifier of the first AGV is an identifier recognizable by the first RCS.

[0012] Optionally, the method further includes:

[0013] Acquire the second identifier of the first AGV according to the first identifier of the first AGV and a first mapping relationship between the first identifier and the second identifier;

[0014] Acquire the identifier of the second RCS according to the second identifier of the first AGV and the second mapping relationship between the second identifier of the AGV and the identifier of the RCS;

[0015] According to the identifier of the first RCS and the identifier of the second RCS, it is determined whether the first RCS is the RCS matched by the first AGV.

[0016] Optionally, the method further includes:

[0017] Receive a first registration request of the first AGV, the first registration request including: first device information of the first AGV, the first device information including: a second identifier of the first AGV and an identifier of the second RCS;

[0018] According to the second identifier of the first AGV, assign a first identifier to the first AGV, and add a mapping relationship between the first identifier and the second identifier of the first AGV to the first mapping relationship;

[0019] Adding a mapping relationship between the second identifier of the first AGV and the identifier of the second RCS to the second mapping relationship;

[0020] Generate a second registration request for the first AGV according to the first identifier of the first AGV and the identifier of the first RCS;

[0021] Sending the second registration request to the first RCS.

[0022] Optionally, converting the first control instruction into a second control instruction recognizable by the first AGV includes:

[0023] Acquire the second operation information according to the identifier of the first RCS, the identifier of the second RCS, the first operation information, and a third mapping relationship between the operation information of each RCS;

[0024] The second control instruction is generated according to the identifier of the second RCS, the second identifier of the first AGV, and the second operation information.

[0025] Optionally, the method further includes:

[0026] The third mapping relationship is received from the control platform.

[0027] Optionally, the sending the second control instruction to the first AGV includes:

[0028] Determine a first port matching the second RCS according to the identifier of the second RCS and a fourth mapping relationship between the identifier of the RCS and the port;

[0029] Determine a second port matching the first AGV according to the second identifier of the first AGV and a fifth mapping relationship between the second identifier of the AGV and the port;

[0030] The second control instruction is sent to the second port of the first AGV using the first port.

[0031] Optionally, the method further includes:

[0032] The fourth mapping relationship and / or the fifth mapping relationship is received from a control platform.

[0033] Optionally, after receiving the first control instruction from the first RCS, the method further includes:

[0034] When the first RCS is the RCS matched by the first AGV, the first control instruction is sent to the first AGV.

[0035] Optionally, the method further includes:

[0036] Receiving first operating status information reported by a second AGV; the second AGV is any one of the M AGVs;

[0037] When the first RCS is not the RCS matched by the second AGV, converting the first running status information into second running status information recognizable by the first RCS;

[0038] The second operating status information is sent to the first RCS.

[0039] Optionally, the first operating status information includes: a second identifier of the second AGV, an identifier of the third RCS, and a first operating status parameter;

[0040] The second operating state information includes: the first identifier of the second AGV, the identifier of the first RCS, and a second operating state parameter;

[0041] The identifier of the third RCS is an identifier of an RCS capable of controlling the second AGV, the second operating state parameter is an operating state parameter recognizable by the first RCS, and the first identifier of the second AGV is an identifier recognizable by the first RCS.

[0042] Optionally, converting the first running state information into second running state information recognizable by the first RCS includes:

[0043] Acquire the second operating status parameter according to a sixth mapping relationship between the identifier of the first RCS, the identifier of the third RCS, the first operating status parameter, and the operating status information of each RCS;

[0044] The second operating status information is generated according to the identifier of the first RCS, the first identifier of the second AGV, and the second operating status parameter.

[0045] Optionally, after receiving the first operating status information reported by the second AGV, the method further includes:

[0046] When the first RCS is the RCS matched by the second AGV, the first operating status information is sent to the first RCS.

[0047] In a second aspect, the present application provides a communication device, wherein a relay device is respectively connected to a first robot scheduling system RCS and M intelligent storage robots AGVs for communication, wherein M is an integer greater than or equal to 1, and the device is applied to the relay device, and the device comprises:

[0048] A receiving module, configured to receive a first control instruction from a first RCS, wherein the first control instruction is used to control a first AGV to perform a target operation; the first AGV is any one of the M AGVs;

[0049] A processing module, configured to convert the first control instruction into a second control instruction recognizable by the first AGV when the first RCS is not the RCS matched by the first AGV;

[0050] A sending module is used to send the second control instruction to the first AGV.

[0051] In a third aspect, the present application provides a relay device, including: at least one processor, a memory, a receiver, and a transmitter;

[0052] The receiver and the transmitter are both coupled to the processor, the processor controls the receiving action of the receiver, and the processor controls the sending action of the transmitter;

[0053] The memory stores computer-executable instructions;

[0054] The at least one processor executes the computer-executable instructions stored in the memory, so that the relay device executes the method described in any one of the first aspects.

[0055] In a fourth aspect, the present application provides a computer-readable storage medium, on which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the method described in any one of the first aspects is implemented.

[0056] In a fifth aspect, the present application provides a computer program product, including a computer program, which implements the method described in any one of the first aspects when executed by a processor.

[0057] The communication method, apparatus, relay device, storage medium and program product provided by the present application, after the relay device receives the first control instruction sent by the first RCS for controlling the first AGV to perform the target operation, it can determine whether the first RCS is the RCS matched by the first AGV. When the first RCS is not the RCS matched by the first AGV, the above-mentioned first control instruction is converted into a second control instruction recognizable by the first AGV and sent to the first AGV. Through the above-mentioned method, it is achieved that when the first AGV is incompatible with the first RCS, the first RCS can also control the first AGV to perform the target operation through the relay device, which solves the problem of how to enable the RCS to control the AGV when the AGV and RCS are incompatible with each other. Through the above-mentioned relay device, the scalability of the AGV is improved, and the foundation for creating a unified freight system is created. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0059] Figure 1 This is a schematic diagram of an unmanned transport scenario;

[0060] Figure 2 A schematic diagram of an unmanned transport scenario provided for this application;

[0061] Figure 3A flow chart of a communication method provided by the present application;

[0062] Figure 4 A flowchart of a method for determining whether a first RCS is an RCS matched by a first AGV provided in the present application;

[0063] Figure 5 A flowchart of a method for sending a second control instruction to a first AGV provided in the present application;

[0064] Figure 6 A flowchart of another communication method provided by the present application;

[0065] Figure 7 A flowchart of another communication method provided by the present application;

[0066] Figure 8 A schematic diagram of the structure of a communication device provided by the present application;

[0067] Fig. 9 A schematic diagram of the structure of a relay device provided in this application.

[0068] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0070] With the development of science and technology, unmanned transportation has developed rapidly. More and more AGVs are replacing manual labor to carry goods. Figure 1 This is a schematic diagram of an unmanned transport scenario. Figure 1 As shown, the robot scheduling system RCS can control the operation of each AGV so that each AGV can perform the handling operation in an orderly manner. It should be understood that the present application does not limit the number of AGVs that can be controlled by one RCS.

[0071] In actual warehouse management scenarios, a warehouse can initially deploy an RCS to control AGVs from the same manufacturer as the RCS. However, there are many AGV manufacturers, and different AGV manufacturers usually have their own independent RCSs. Therefore, over time, the warehouse may be equipped with more AGVs. The AGVs configured later may not be from the same manufacturer as the above RCS, or may not be from the same batch of AGVs as the initially deployed AGVs.

[0072] However, there may be incompatibility issues between AGVs and RCSs from different manufacturers. In addition, even if AGVs and RCSs are from the same manufacturer, there may be upgrades between different batches of AGVs, which may lead to incompatibility issues between AGVs and RCSs from the same manufacturer.

[0073] If the AGV and RCS are incompatible, RCS may not be able to send control instructions to the AGV, or the AGV may not receive the control instructions sent by RCS, and RCS cannot control the AGV. In addition, even if the AGV can receive the control instructions from RCS, it may not be able to recognize the control instructions due to incompatibility, and RCS cannot control the AGV. The incompatibility between AGV and RCS has created an obstacle to building a unified freight system, and the unit price of AGV and RCS is expensive, so the probability of short-term replacement is low.

[0074] Therefore, when the AGV and the RCS are incompatible with each other, how to enable the RCS to control the AGV is an urgent problem to be solved.

[0075] Therefore, the present application provides a method for converting the control instructions of the RCS into control instructions recognizable by the AGV through a relay device. Through the above relay device, the RCS can communicate with the AGV when the AGV and the RCS are incompatible with each other.

[0076] Figure 2 This is a schematic diagram of an unmanned transport scenario provided by this application. Figure 2 As shown, the relay device can be respectively connected to the first RCS and M AGVs for communication. Here, M is an integer greater than or equal to 1. Optionally, the aforementioned M AGVs can all be generated by the same manufacturer, or can be produced by multiple manufacturers. It should be understood that the present application does not limit the number of manufacturers corresponding to the M AGVs. In addition, the manufacturer corresponding to the above-mentioned first RCS can be the same as one of the manufacturers corresponding to the M AGVs, or can be different from any one of the manufacturers corresponding to the M AGVs.

[0077] When the AGV is incompatible with the first RCS, the relay device can receive the control instruction of the first RCS and convert the control instruction into a control instruction recognizable by the AGV. The relay device sends the control instruction recognizable by the AGV to the AGV, so that the AGV can operate according to the operation indicated by the control instruction.

[0078] The above-mentioned relay device can be any relay device with processing capabilities, as well as data receiving and data sending capabilities. Optionally, the above-mentioned RCS can be deployed on a physical device. In this implementation, the relay device and the device deployed with the RCS can be independent and different physical devices, or the functions of the relay device and the logical functions of the RCS can be integrated on the same physical device. Alternatively, it can also be a physical device that integrates some RCS functions and some relay device functions.

[0079] The technical solution of the present application is described in detail below in conjunction with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0080] Figure 3 The following is a flow chart of a communication method provided by this application. Figure 3 As shown, the method comprises the following steps:

[0081] S101: Receive a first control instruction from a first RCS.

[0082] The first control instruction is used to control the first AGV to perform the target operation. The first AGV is any one of the M AGVs.

[0083] In some embodiments, the first control instruction may include, for example: an identifier of the first RCS, a first identifier of the first AGV, and first operation information for controlling the first AGV to perform a target operation.

[0084] Exemplarily, the identifier of the first RCS may be, for example, a unique identification code of the first RCS. The first identifier of the first AGV is an identifier of the AGV recognizable by the first RCS. Optionally, when the first RCS is "the RCS that matches the first AGV", the first identifier of the first AGV may be the actual identifier of the first AGV. When the first RCS is not "the RCS that matches the first AGV", the first identifier of the first AGV may be a virtual identifier of the first AGV. Among them, the virtual identifier is an identifier that enables the first RCS to use the first AGV as an AGV that matches the first RCS, and then the first RCS can send the first control instruction.

[0085] The "RCS that matches the first AGV" mentioned here refers to the RCS that can control the first AGV. That is to say, the first AGV can recognize the control instructions issued by the "RCS that matches the first AGV". Optionally, the "RCS that matches the first AGV" and the first AGV may belong to the same manufacturer or may not belong to the same manufacturer. Optionally, the present application does not limit the type of the above-mentioned target operation. Exemplarily, the target operation may be, for example, operations related to speed control (such as acceleration, deceleration, etc.), operations related to running direction control (such as left turn, right turn), etc.

[0086] In some embodiments, the first control instruction may include, for example, the first identifier of the first AGV and the first operation information for controlling the first AGV to perform the target operation, but does not include the identifier of the first RCS. In this implementation, the identifier of the first RCS may be pre-stored in the relay device. Exemplarily, the identifier of the first RCS may be pre-stored in the relay device by the user. Alternatively, the identifier of the first RCS may be obtained from the first RCS after the relay device sends a "request for obtaining the identifier of the first RCS" to the first RCS.

[0087] It should be understood that the content included in the above-mentioned first control instruction is only part of the content related to the present application, and the present application does not limit whether the first control instruction also includes other content.

[0088] In addition, it should be understood that the present application does not limit how the first RCS generates the first control instruction. Optionally, the way the first RCS generates the first control instruction and the way the first control instruction is sent can refer to the method described in the prior art, which will not be repeated here.

[0089] Optionally, the relay device may receive the first control instruction from the first RCS based on deep packet inspection (DPI) technology. Optionally, the specific implementation method of the relay device receiving the first control instruction based on the DPI technology may refer to the existing method for obtaining information based on the DPI technology, which is not described in detail in this application.

[0090] It should be understood that the present application does not limit how the relay device receives the first control instruction from the first RCS. The above implementation is only a possible implementation provided by the present application. Optionally, other existing implementations may also be referred to, which will not be described in detail here.

[0091] S102: When the first RCS is not an RCS matched by the first AGV, convert the first control instruction into a second control instruction recognizable by the first AGV.

[0092] If the first RCS is not the RCS matched by the first AGV, it means that the first AGV cannot recognize the first control instruction. Then the relay device can convert the first control instruction into a second control instruction recognizable by the first AGV.

[0093] In some embodiments, the second control instruction may include, for example: an identifier of the second RCS, a second identifier of the first AGV, and second operation information for controlling the first AGV to perform a target operation.

[0094] Among them, the identifier of the second RCS is the identifier of the RCS that can control the first AGV. That is to say, the second RCS is the RCS matched by the first AGV. The second identifier of the first AGV is the actual identifier of the first AGV. The second operation information is the operation information recognizable by the first AGV. That is to say, the relay device can convert the first operation information in the first control instruction into operation information recognizable by the first AGV. Optionally, through the identifier of the second RCS, the first AGV can verify and determine that the second control instruction is sent by the RCS matching the first AGV. Optionally, through the second identifier of the first AGV, the first AGV can verify and determine that the second control instruction is sent to the first AGV.

[0095] In some embodiments, the second control instruction may include, for example, the second identifier of the first AGV and the second operation information for controlling the first AGV to perform the target operation, but does not include the identifier of the first RCS. In this implementation, the first AGV may be an AGV that does not need to parse and obtain the second operation information based on the identifier of the first RCS.

[0096] It should be understood that the content included in the above-mentioned second control instruction is only part of the content related to the present application, and the present application does not limit whether the second control instruction also includes other content.

[0097] For example, taking the target operation as "turn right", assuming that the first operation information in the first control instruction for controlling the AGV to perform the target operation of "turn right" is "R", and the first AGV turns right only when it recognizes that the operation information corresponding to the target operation is "S", the relay device can convert the "R" in the first control instruction into "S" to obtain the second operation information. Then, the second control instruction recognizable by the first AGV is obtained according to the second operation information.

[0098] S103: Send a second control instruction to the first AGV.

[0099] Optionally, the relay device may pre-store, for example, an identifier of an interface of the first AGV for receiving a control instruction from the second RCS. The relay device may send the second control instruction to the first AGV according to the identifier of the interface.

[0100] Accordingly, the first AGV can receive the second control instruction. Then, the first AGV can identify the second operation information included in the second control instruction and perform the target operation corresponding to the second operation information. It should be understood that this application does not limit how the first AGV identifies the second operation information included in the second control instruction.

[0101] In this embodiment, after receiving the first control instruction sent by the first RCS for controlling the first AGV to perform the target operation, the relay device can determine whether the first RCS is the RCS matched by the first AGV. When the first RCS is not the RCS matched by the first AGV, the first control instruction is converted into a second control instruction recognizable by the first AGV and sent to the first AGV. Through the above method, it is achieved that when the first AGV is incompatible with the first RCS, the first RCS can also control the first AGV to perform the target operation through the relay device, which solves the problem of how to enable the RCS to control the AGV when the AGV and RCS are incompatible with each other. Through the above relay device, the scalability of the AGV is improved, laying the foundation for creating a unified freight system.

[0102] In some embodiments, if the first RCS is the RCS matched by the first AGV, it means that the first AGV can recognize the first control instruction. Optionally, the relay device can send the first control instruction to the first AGV, which improves the efficiency of the relay device sending the first control instruction.

[0103] Optionally, the relay device may pre-store, for example, an identifier of an interface of the first AGV for receiving a control instruction from the first RCS. The relay device may send the first control instruction to the first AGV according to the identifier of the interface.

[0104] Accordingly, the first AGV can receive the first control instruction. Then, the first AGV can identify the first operation information included in the first control instruction and perform the target operation corresponding to the first operation information. It should be understood that this application does not limit how the first AGV identifies the first operation information included in the first control instruction.

[0105] Optionally, before step S102, the relay device may determine whether the first RCS is the RCS matched by the first AGV. The following is a detailed description of how the relay device determines whether the first RCS is the RCS matched by the first AGV:

[0106] Figure 4 A flow chart of a method for determining whether a first RCS is an RCS matched by a first AGV provided in the present application. Figure 4 As shown, as a possible implementation, the method may include the following steps:

[0107] S201. Acquire a second identifier of the first AGV according to a first identifier of the first AGV and a first mapping relationship between the first identifier and the second identifier.

[0108] If the first RCS is the RCS matched by the first AGV, the first identifier and the second identifier of the first AGV may be the same identifier. If the first RCS is not the RCS matched by the first AGV, the first identifier and the second identifier of the first AGV are different identifiers. In this case, the first identifier of the first AGV is the virtual identifier of the first AGV, and the second identifier of the first AGV is the actual identifier of the first AGV.

[0109] Optionally, taking the first control instruction including the first identifier of the first AGV as an example, after receiving the first control instruction, the relay device can parse the first control instruction through a preset control instruction parsing method, and obtain the first identifier of the first AGV from the first control instruction. The preset control instruction parsing method can be, for example, pre-stored in the relay device by the user.

[0110] Exemplarily, the first mapping relationship between the first identifier and the second identifier may be as shown in the following Table 1:

[0111] Table 1

[0112] First logo Second mark Logo 11 Logo 21 Logo 12 Logo 22 Logo 13 Logo 23 … …

[0113] Assuming that the first identifier of the first AGV is identifier 11, taking the first mapping relationship shown in Table 1 as an example, the relay device can determine that the second identifier of the first AGV is identifier 21. In other words, the actual identifier of the first AGV is identifier 21.

[0114] S202: Acquire an identifier of a second RCS according to a second identifier of the first AGV and a second mapping relationship between the second identifier of the AGV and an identifier of the RCS.

[0115] The RCS identifier corresponding to the second identifier of the AGV in the second mapping relationship is the RCS identifier matched by the AGV. Exemplarily, the second mapping relationship between the second identifier of the AGV and the identifier of the RCS may be as shown in Table 2 below:

[0116] Table 2

[0117] AGV's second logo RCS logo Logo 21 RCS21 Logo 22 RCS22 Logo 23 RCS23 … …

[0118] Assuming that the second identifier of the first AGV is identifier 21, taking the second mapping relationship shown in Table 2 as an example, the relay device can determine that the identifier of the second RCS corresponding to the first AGV is RCS21.

[0119] S203: Determine whether the first RCS is an RCS matched by the first AGV according to the identifier of the first RCS and the identifier of the second RCS.

[0120] Optionally, taking the example that the first control instruction includes the identifier of the first RCS, after receiving the first control instruction, the relay device can parse the first control instruction through the aforementioned preset control instruction parsing method, and obtain the identifier of the first RCS from the first control instruction.

[0121] If the identifier of the first RCS is the same as the identifier of the second RCS, it means that the first AGV can identify the first control instruction sent by the first RCS. Optionally, the relay device can determine that the first RCS is the RCS matched by the first AGV.

[0122] If the identifier of the first RCS is different from the identifier of the second RCS, it means that the first AGV cannot recognize the first control instruction sent by the first RCS. Optionally, the relay device may determine that the first RCS is not the RCS matched by the first AGV.

[0123] In this embodiment, based on the first mapping relationship between the first identifier and the second identifier, and the second mapping relationship between the second identifier of the AGV and the identifier of the RCS, it can be determined whether the first RCS is the RCS matched by the first AGV. In other words, the relay device can use a table lookup method to obtain the second identifier of the AGV and the identifier of the RCS matched by the AGV without performing complex logical operations, thereby reducing the time delay added by the relay device in the middle, ensuring the transmission timing of the control instruction, and improving the accuracy of the control instruction transmission.

[0124] In this implementation, how the relay device obtains the first mapping relationship and the second mapping relationship is described in detail below:

[0125] As a first possible implementation manner, the first mapping relationship and the second mapping relationship may be pre-stored in the relay device by a user, for example.

[0126] As a second possible implementation manner, the relay device may also automatically acquire the first mapping relationship and the second mapping relationship to improve the accuracy and efficiency of acquiring the first mapping relationship and the second mapping relationship.

[0127] Optionally, the relay device may receive, for example, a first registration request of the first AGV, wherein the first registration request may include: first device information of the first AGV, and the first device information may include: a second identifier of the first AGV, and an identifier of the second RCS.

[0128] The first AGV may be an AGV that matches the first RCS, or may not be an AGV that matches the first RCS. Exemplarily, the relay device may receive the first registration request of the first AGV based on the DPI technology.

[0129] Then, the relay device can assign a first identifier to the first AGV based on the second identifier of the first AGV, and add the mapping relationship between the first identifier and the second identifier of the first AGV to the first mapping relationship, and add the mapping relationship between the second identifier of the first AGV and the identifier of the second RCS to the second mapping relationship.

[0130] In some embodiments, before the relay device assigns the first identifier to the first AGV according to the second identifier of the first AGV, the relay device may also first determine whether the identifier of the second RCS is the same as the identifier of the first RCS. If the identifier of the second RCS is the same as the identifier of the first RCS, it means that the first AGV matches the first RCS, that is, the first AGV does not need a virtual identifier. Therefore, optionally, the relay device can use the second identifier of the first AGV as the first identifier of the first AGV.

[0131] If the identifier of the second RCS is different from the identifier of the first RCS, it means that the first AGV does not match the first RCS, that is, the first AGV needs a virtual identifier so that the first RCS can use the first AGV as the AGV matching the first RCS. Therefore, the relay device can use the virtual identifier corresponding to the first AGV as the first identifier of the first AGV.

[0132] The virtual identifier may be pre-stored in the relay device. In this implementation, the relay device may, for example, randomly assign a virtual identifier to the first AGV as the first identifier of the first AGV. Alternatively, the virtual identifier may be generated by the relay device through a preset virtual identifier generation algorithm after determining that the identifier of the second RCS is different from the identifier of the first RCS. The preset virtual identifier generation algorithm may generate an identifier of an AGV that matches the first RCS.

[0133] In this implementation, the relay device may also generate a second registration request for the first AGV according to the first identifier of the first AGV and the identifier of the first RCS. Then, the relay device may send the second registration request to the first RCS.

[0134] Through this implementation, regardless of whether the first AGV is an AGV matched by the first RCS, the relay device can automatically register the information of the first AGV into the first RCS, so that the first RCS can control the first AGV according to the first identifier of the first AGV included in the second registration request. Through the above method, when a new AGV is added, the relay device can automatically register the information of the new AGV into the first RCS, thereby improving the registration efficiency of the newly added AGV.

[0135] The following is a detailed description of how the relay device converts the first control instruction into the second control instruction recognizable by the first AGV:

[0136] As a possible implementation, the relay device may obtain the second operation information according to the identifier of the first RCS, the identifier of the second RCS, the first operation information, and the third mapping relationship between the operation information of each RCS. Then, the relay device may generate the second control instruction according to the identifier of the second RCS, the second identifier of the first AGV, and the second operation information.

[0137] Exemplarily, the third mapping relationship between the operation information of the above-mentioned RCSs may be shown in the following Table 3:

[0138] Table 3

[0139] First RCS RCS21 RCS22 … First operation information 11 Operation Information 21 Operation Information 31 … First operation information 12 Operation Information 22 Operation Information 32 … First operation information 13 Operation Information 23 Operation Information 33 … … … … …

[0140] Assuming that the identifier of the second RCS is RCS21 and the first operation information is first operation information 12, according to the third mapping relationship shown in Table 3, the relay device can determine that the second operation information is operation information 22.

[0141] Optionally, the relay device may also store, for example, the communication protocol required for each second RCS to generate control instructions for controlling the AGV. The relay device may, for example, determine the communication protocol required for the second RCS to generate control instructions based on the identifier of the second RCS. Then, based on the identifier of the second RCS, the second identifier of the first AGV, and the second operation information, a second control instruction that complies with the communication protocol is generated, so that the first AGV can parse the second control instruction according to the parsing method corresponding to the communication protocol.

[0142] The following is a detailed description of how the relay device obtains the third mapping relationship:

[0143] As a first possible implementation manner, the third mapping relationship may be pre-stored in the relay device by a user.

[0144] As a second possible implementation manner, the relay device may receive the third mapping relationship from a control platform. Optionally, the control platform may be, for example, a cloud platform.

[0145] Exemplarily, when a new RCS is added, the control platform may receive the operation information of the new RCS input by the user, and add the operation information of the new RCS to the third mapping relationship. Then, the control platform may push the third mapping relationship to the relay device. Through the above method, the third mapping relationship is updated, so that after the RCS is added, the first RCS can control the AGV corresponding to the new RCS, and has no effect on the existing AGVs.

[0146] As a third possible implementation, the relay device may also receive each operation information of the newly added RCS from the control platform. Then, the relay device may add the received each operation information of the newly added RCS to the third mapping relationship to update the third mapping relationship.

[0147] In this embodiment, the second operation information is obtained based on the identifier of the first RCS, the identifier of the second RCS, the first operation information, and the third mapping relationship between the operation information of each RCS. In other words, the relay device does not need to perform complex logical operations, and can obtain the operation information corresponding to the second RCS by looking up the table, and then generate the second control instruction. Therefore, through the above method, the time delay added by the relay device in the middle is reduced, the transmission timing of the control instruction is guaranteed, and the accuracy of the control instruction transmission is further improved.

[0148] The following describes in detail how the relay device sends the second control instruction to the first AGV:

[0149] Figure 5 A flow chart of a method for sending a second control instruction to a first AGV provided in this application. Figure 5 As shown, as a possible implementation, the aforementioned step S103 may include the following steps:

[0150] S301: Determine a first port matching the second RCS according to an identifier of the second RCS and a fourth mapping relationship between the identifier of the RCS and the port.

[0151] The first port is the port used when the second RCS sends a control instruction to the “AGV matching the second RCS”.

[0152] Exemplarily, the fourth mapping relationship between the RCS identifier and the port may be as shown in the following Table 4:

[0153] Table 4

[0154] RCS logo port RCS21 Port 21 RCS22 Port 22 RCS23 Port 23 … …

[0155] Assuming that the second RCS is RCS21, taking the fourth mapping relationship shown in Table 4 as an example, the relay device can determine that the first port matching the second RCS is port 21. That is, when the second RCS sends a control instruction to the "AGV matching the second RCS", the port used is port 21.

[0156] S302: Determine a second port matching the first AGV according to the second identifier of the first AGV and a fifth mapping relationship between the second identifier of the AGV and the port.

[0157] The second port is a port used by the first AGV when receiving a control instruction from the second RCS.

[0158] Exemplarily, the fifth mapping relationship between the second identifier of the AGV and the port may be as shown in the following Table 5:

[0159] Table 5

[0160] AGV's second logo port Logo 21 Port 1 Logo 22 Port 2 Logo 23 Port 3 … …

[0161] Assuming that the second identifier of the first AGV is identifier 21, taking the fifth mapping relationship shown in Table 5 as an example, the relay device can determine that the second port matching the first AGV is port 1. That is, when the first AGV receives the control instruction from the second RCS, the port used is port 1.

[0162] S303: Use the first port to send a second control instruction to the second port of the first AGV.

[0163] Optionally, the specific implementation method of the relay device using the first port to send the second control instruction to the second port of the first AGV can refer to any existing communication method. Exemplarily, the relay device can use the Internet Protocol (IP) address of the first AGV as the IP address of the network layer in the communication, and the identifier of the first AGV as the identifier of the application layer in the communication, so as to use the first port to send the second control instruction to the second port of the first AGV.

[0164] The following describes in detail how the relay device obtains the fourth mapping relationship and the fifth mapping relationship:

[0165] As a first possible implementation manner, the fourth mapping relationship and the fifth mapping relationship may be pre-stored in the relay device by a user.

[0166] As a second possible implementation, the relay device may receive the fourth mapping relationship and / or the fifth mapping relationship from the control platform. Exemplarily, taking the example of the relay device receiving the fourth mapping relationship from the control platform, when a new RCS is added, the control platform may receive the port used by the newly added RCS to send control instructions input by the user, and add the port used by the newly added RCS to send control instructions to the fourth mapping relationship. Then, the control platform may push the fourth mapping relationship to the relay device. Through the above method, the update of the fourth mapping relationship is realized, so that after the new RCS is added, the relay platform can send the control instructions of the first RCS to the AGV corresponding to the newly added RCS.

[0167] As a third possible implementation, the way in which the relay device obtains the fourth mapping relationship may be different from the way in which the fifth mapping relationship is obtained. Exemplarily, the fourth mapping relationship may be pre-stored in the relay device by the user. The relay device may receive the fifth mapping relationship from the control platform.

[0168] In this embodiment, based on the fourth mapping relationship between the RCS identifier and the port, and the fifth mapping relationship between the AGV's second identifier and the port, the second control instruction can be sent to the sending port of the RCS end of the first AGV and the receiving port of the AGV end. Through the above method, the relay device does not need to perform complex logical operations, and performs state transfer (that is, state machine jump) according to the pre-set port identifier through a table lookup. Therefore, the time delay of the relay device sending the second control instruction is reduced, the transmission timing of the control instruction is guaranteed, and the accuracy of the control instruction transmission is improved.

[0169] Optionally, the specific implementation manner of the relay device sending the first control instruction to the first AGV may refer to the method described in the above embodiment of sending the second control instruction to the first AGV, which will not be described in detail here.

[0170] The above embodiment takes the first AGV as an example to introduce how the first RCS sends control instructions to the first AGV through a relay device. The following takes the second AGV as an example to focus on how the AGV reports the operating status information of the AGV to the first RCS through a relay device so that the first RCS can obtain the operating status of each AGV. The second AGV mentioned here can be any one of the M AGVs.

[0171] Figure 6 A flow chart of another communication method provided by this application. Figure 6 As shown, as a possible implementation, the method may include the following steps:

[0172] S401: Receive first operating status information reported by a second AGV.

[0173] Exemplarily, the second AGV may report the first operating status information at a preset frequency. Alternatively, the second AGV may also report the first operating status information after receiving a control instruction including the first operation information for instructing the AGV to report the operating status information.

[0174] Optionally, the first operation status information may include, for example: a second identifier of the second AGV, an identifier of a third RCS, and a first operation status parameter, wherein the second identifier of the second AGV is an actual identifier of the second AGV, and the identifier of the third RCS is an identifier of an RCS capable of controlling the second AGV.

[0175] It should be understood that the present application does not limit the type and quantity of the above-mentioned first operating status parameters. In other words, the first operating status information may include at least one first operating status parameter. Exemplarily, the first operating status parameter may include at least one of the following: the current forward direction of the second AGV, the current speed of the second AGV, the current position of the second AGV, etc.

[0176] In some embodiments, the first operating status information may include, for example, the second identifier of the second AGV and the first operating status parameter, but does not include the identifier of the third RCS. In this implementation, the identifier of the third RCS may be determined by the relay device according to the second identifier of the second AGV and the mapping relationship between the identifier of the AGV and the identifier of the RCS.

[0177] In addition, it should be understood that the content included in the above-mentioned first operating status information is only part of the content related to the present application, and the present application does not limit whether the first operating status information also includes other content.

[0178] Optionally, the implementation manner in which the relay device receives the first operating status information reported by the second AGV may refer to the method described in the aforementioned embodiment. For example, the relay device may receive the first operating status information reported by the second AGV based on the DPI technology.

[0179] S402: When the first RCS is not the RCS matched by the second AGV, convert the first running status information into second running status information recognizable by the first RCS.

[0180] Optionally, the implementation method of the relay device determining whether the first RCS is the RCS matched by the second AGV may refer to the implementation method of determining whether the first RCS is the RCS matched by the first AGV described in the aforementioned embodiments, which will not be repeated here.

[0181] If the first RCS is not the RCS matched by the second AGV, it means that the first RCS cannot recognize the first running status information. Then the relay device can convert the first running status information into running status information recognizable by the first RCS.

[0182] Optionally, the second operating state information may include: a first identifier of the second AGV, an identifier of the first RCS, and a second operating state parameter, wherein the second operating state parameter is an operating state parameter recognizable by the first RCS, and the first identifier of the second AGV is a identifier recognizable by the first RCS.

[0183] Optionally, when the first RCS is "the RCS that matches the second AGV", the first identifier of the second AGV may be the actual identifier of the second AGV. When the first RCS is not "the RCS that matches the first AGV", the first identifier of the second AGV may be a virtual identifier of the second AGV. Through the virtual identifier, the first RCS can treat the second AGV as an AGV that matches the first RCS, and identify the second operating status parameters of the second AGV. Optionally, through the first identifier of the second AGV, the first RCS can verify and determine that the second operating status information is sent by the AGV that matches the first RCS. Optionally, through the identifier of the first RCS, the first RCS can verify and determine that the second operating status information is sent to the first RCS.

[0184] In some embodiments, the second operating state information may include, for example, the first identifier of the second AGV and the second operating state parameter, but does not include the identifier of the first RCS. In this implementation, the first RCS may be an RCS that does not need to be parsed based on the identifier of the first RCS to obtain the second operating state parameter.

[0185] It should be understood that the content included in the above-mentioned second operating status information is only part of the content related to the present application, and the present application does not limit whether the second operating status information also includes other content.

[0186] For example, if one of the operating status parameters of the second AGV is "speed", assuming that the first operating status parameter indicating speed in the first operating status information is "V", and the first RCS determines that the parameter indicates speed only when it recognizes that the operating status parameter is "D", the relay device can convert "V" in the first operating status information into "D" to obtain the second operating status parameter. Then, the second operating status information identifiable by the first RCS is obtained based on the second operating status parameter.

[0187] S403: Send second operation status information to the first RCS.

[0188] Optionally, the implementation manner in which the relay device sends the second operating status information to the first RCS is similar to the implementation manner in which the relay device sends the second control instruction to the first AGV described in the aforementioned embodiment, so the method described in the aforementioned embodiment may be referred to and will not be repeated here.

[0189] In this embodiment, after receiving the first operating status information reported by the second AGV, the relay device can determine whether the first RCS is the RCS matched by the second AGV. When the first RCS is not the RCS matched by the second AGV, the first operating status information is converted into the second operating status information recognizable by the first RCS and sent to the first RCS. Through the above method, when the first AGV is incompatible with the first RCS, the second AGV can also upload the operating status information to the first RCS through the relay device. Through the above relay device, the scalability of the AGV is improved, laying the foundation for creating a unified freight system.

[0190] If the first RCS is the RCS matched by the second AGV, it means that the first RCS can identify the first running status information. Optionally, the relay device can send the first running status information to the first RCS, which improves the efficiency of the relay device sending the first running status information.

[0191] Optionally, the implementation manner in which the relay device sends the first operating status information to the first RCS is similar to the implementation manner in which the relay device sends the first control instruction to the first AGV described in the aforementioned embodiment, so the method described in the aforementioned embodiment may be referred to and will not be repeated here.

[0192] The following describes in detail how the relay device converts the first operating status information into the second operating status information recognizable by the first RCS:

[0193] As a possible implementation, the relay device may, for example, obtain the second operating status parameter based on the identifier of the first RCS, the identifier of the third RCS, the first operating status parameter, and the sixth mapping relationship between the operating status information of each RCS. Then, the relay device may generate the second operating status information based on the identifier of the first RCS, the first identifier of the second AGV, and the second operating status parameter.

[0194] Exemplarily, the sixth mapping relationship between the operation status information of the above RCSs may be shown in the following Table 6:

[0195] Table 6

[0196] First RCS RCS21 RCS22 … First operating state parameter 11 Running status parameter 21 Running status parameter 31 … First operating state parameter 12 Running status parameter 22 Running status parameter 32 … First operating state parameter 13 Running status parameter 23 Running status parameter 33 … … … … …

[0197] Assuming that the identifier of the third RCS is RCS22 and the first operating state parameter is first operating state parameter 12, according to the sixth mapping relationship shown in Table 6, the relay device can determine that the second operating state parameter is operating state parameter 32.

[0198] Optionally, the relay device may also store, for example, the communication protocol required for each second AGV to generate the operation status information. The relay device may, for example, determine the communication protocol required for the second AGV to generate the first operation status information based on the identifier of the second AGV. Then, based on the identifier of the first RCS, the first identifier of the second AGV, and the second operation status parameter, the second operation status information that complies with the communication protocol is generated, so that the first RCS can parse the second operation status information according to the parsing method corresponding to the communication protocol.

[0199] Optionally, the implementation manner in which the relay device obtains the sixth mapping relationship is similar to the implementation manner in which the relay device obtains the third mapping relationship described in the aforementioned embodiment, and therefore the method described in the aforementioned embodiment may be referred to and will not be repeated here.

[0200] In this embodiment, the second operating status parameter is obtained based on the identifier of the first RCS, the identifier of the third RCS, the first operating status parameter, and the sixth mapping relationship between the operating status information of each RCS. In other words, the relay device does not need to perform complex logical operations, and can obtain the operating status parameters that can be identified by the first RCS by looking up the table, and then generate the second operating status information. Therefore, through the above method, the delay of the relay device in reporting the operating status information of the second AGV is reduced, and the efficiency of reporting the operating status information of the second AGV is improved.

[0201] Take any of the M AGVs above as an example, Figure 7 A flow chart of another communication method provided by this application. Figure 7 As shown, the first RCS may send a first control instruction to the relay device. The relay device may determine whether the first RCS is the RCS matched by the AGV according to the identifier of the AGV in the first control instruction and the second mapping relationship between the second identifier of the AGV and the identifier of the RCS.

[0202] If the first RCS is the RCS matched by the AGV, the relay device may directly send the first control instruction to the AGV.

[0203] If the first RCS is not the RCS matched by the AGV, the relay device may determine the second operation information according to the identifier of the first RCS, the identifier of the second RCS, the first operation information, and the third mapping relationship between the operation information of each RCS. Then, according to the second operation information, a second control instruction including the identifier of the second RCS, the second identifier of the AGV, and the second operation information is generated and sent to the AGV.

[0204] like Figure 7 As shown, the AGV can also report the first operating status information. After receiving the first operating status information uploaded by the AGV, the relay device can determine whether the first RCS is the RCS matched by the AGV. If so, the first operating status information can be directly sent to the first RCS. If not, the relay device can convert the first operating status information into the second operating status information recognizable by the first RCS based on the sixth mapping relationship between the operating status information of the aforementioned RCSs, and send it to the first RCS.

[0205] It should be understood that for the communication method described in any of the aforementioned embodiments, the present application does not limit the communication protocol used for communication between the RCS and the relay device, and between the relay device and the AGV. Exemplarily, the communication protocol may be, for example, the Transmission Control Protocol (TCP). The TCP protocol has high communication reliability and low transmission delay, which can improve the accuracy and efficiency of communication between the RCS and the relay device, and between the relay device and the AGV.

[0206] In addition, it should be understood that the present application does not limit the method used for the process design of the above-mentioned relay device. Exemplarily, it can be implemented by embedded C language programming, or it can be implemented by field programmable gate array (FPGA). Among them, when using embedded C language programming, the relay device can reduce the delay between RCS and AGV to within 500 milliseconds (ms). When using FPGA to program and implement, the relay device can reduce the delay between RCS and AGV to within 5ms.

[0207] Figure 8 This is a schematic diagram of the structure of a communication device provided in this application. The device is applied to the above-mentioned relay device. Figure 8 As shown, the device includes: a receiving module 51, a processing module 52, and a sending module 53. Among them,

[0208] The receiving module 51 is used to receive a first control instruction from a first RCS, wherein the first control instruction is used to control a first AGV to perform a target operation; the first AGV is any one of the M AGVs.

[0209] The processing module 52 is configured to convert the first control instruction into a second control instruction recognizable by the first AGV when the first RCS is not the RCS matched by the first AGV.

[0210] The sending module 53 is used to send the second control instruction to the first AGV.

[0211] Optionally, the first control instruction includes an identifier of the first RCS, a first identifier of the first AGV, and first operation information for controlling the first AGV to perform a target operation;

[0212] The second control instruction includes: an identifier of a second RCS, a second identifier of the first AGV, and second operation information for controlling the first AGV to perform the target operation; the second identifier of the first AGV is an actual identifier of the first AGV;

[0213] The identifier of the second RCS is an identifier of the RCS that can control the first AGV, the second operation information is operation information recognizable by the first AGV, and the first identifier of the first AGV is an identifier recognizable by the first RCS.

[0214] Optionally, the processing module 52 is further used to obtain the second identifier of the first AGV based on the first identifier of the first AGV and the first mapping relationship between the first identifier and the second identifier; obtain the identifier of the second RCS based on the second identifier of the first AGV and the second mapping relationship between the second identifier of the AGV and the identifier of the RCS; determine whether the first RCS is the RCS matched by the first AGV based on the identifier of the first RCS and the identifier of the second RCS.

[0215] Optionally, the receiving module 51 is further configured to receive a first registration request of the first AGV, wherein the first registration request includes: first device information of the first AGV, and the first device information includes: a second identifier of the first AGV and an identifier of the second RCS.

[0216] In this implementation, the processing module 52 is also used to assign a first identifier to the first AGV according to the second identifier of the first AGV, and add the mapping relationship between the first identifier and the second identifier of the first AGV to the first mapping relationship; add the mapping relationship between the second identifier of the first AGV and the identifier of the second RCS to the second mapping relationship; and generate a second registration request for the first AGV according to the first identifier of the first AGV and the identifier of the first RCS.

[0217] In this implementation, the sending module 53 is further configured to send the second registration request to the first RCS.

[0218] Optionally, the processing module 52 is specifically used to obtain the second operation information according to the identifier of the first RCS, the identifier of the second RCS, the first operation information, and a third mapping relationship between the operation information of each RCS; and generate the second control instruction according to the identifier of the second RCS, the second identifier of the first AGV, and the second operation information.

[0219] Optionally, the receiving module 51 is further configured to receive the third mapping relationship from the control platform.

[0220] Optionally, the processing module 52 is specifically configured to determine the first port matching the second RCS according to the identifier of the second RCS and the fourth mapping relationship between the identifier of the RCS and the port; and to determine the second port matching the first AGV according to the second identifier of the first AGV and the fifth mapping relationship between the second identifier of the AGV and the port. In this implementation, the sending module 53 is specifically configured to use the first port to send the second control instruction to the second port of the first AGV.

[0221] Optionally, the receiving module 51 is further used to receive the fourth mapping relationship and / or the fifth mapping relationship from the control platform.

[0222] Optionally, the sending module 53 is further configured to, after receiving the first control instruction from the first RCS, send the first control instruction to the first AGV when the first RCS is the RCS matched by the first AGV.

[0223] Optionally, the receiving module 51 is further used to receive the first operation status information processing module 52 reported by the second AGV, and is further used to convert the first operation status information into the second operation status information recognizable by the first RCS when the first RCS is not the RCS matched by the second AGV. The sending module 53 is further used to send the second operation status information to the first RCS. The second AGV is any one of the M AGVs.

[0224] Optionally, the first operating status information includes: a second identifier of the second AGV, an identifier of the third RCS, and a first operating status parameter;

[0225] The second operating state information includes: the first identifier of the second AGV, the identifier of the first RCS, and a second operating state parameter;

[0226] The identifier of the third RCS is an identifier of an RCS capable of controlling the second AGV, the second operating state parameter is an operating state parameter recognizable by the first RCS, and the first identifier of the second AGV is an identifier recognizable by the first RCS.

[0227] Optionally, the processing module 52 is specifically used to obtain the second operating status parameter according to the identifier of the first RCS, the identifier of the third RCS, the first operating status parameter, and the sixth mapping relationship between the operating status information of each RCS; and generate the second operating status information according to the identifier of the first RCS, the first identifier of the second AGV, and the second operating status parameter.

[0228] Optionally, the sending module 53 is further configured to, after receiving the first running status information reported by the second AGV, send the first running status information to the first RCS when the first RCS is the RCS matched by the second AGV.

[0229] The communication device provided in the present application is used to execute the aforementioned communication method embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0230] Fig. 9 A schematic diagram of the structure of a relay device provided in this application. Fig. 9 As shown, the relay device 600 may include: at least one processor 601, a memory 602, a receiver 605, and a transmitter 604.

[0231] The receiver 605 and the transmitter 604 are both coupled to the processor 601. The processor 601 controls the receiving action of the receiver 605, and the processor 601 controls the sending action of the transmitter 604.

[0232] The memory 602 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operation instructions.

[0233] The memory 602 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0234] The processor 601 is used to execute the computer-executable instructions stored in the memory 602 to implement the communication method described in the above method embodiment. The processor 601 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0235] Taking the above relay device as a smart desk lamp as an example, the smart desk lamp may further include: an image acquisition device. The image acquisition device may be used to acquire a first image of a target object. Optionally, the smart desk lamp may further include a display screen, a voice broadcast device, and the like.

[0236] Optionally, the relay device 600 may further include a communication interface 603. In a specific implementation, if the communication interface 603, the memory 602 and the processor 601 are implemented independently, the communication interface 603, the memory 602 and the processor 601 may be interconnected through a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0237] Optionally, in a specific implementation, if the communication interface 603, the memory 602 and the processor 601 are integrated on a chip, the communication interface 603, the memory 602 and the processor 601 can communicate through an internal interface.

[0238] The present application also provides a computer-readable storage medium, which may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used for the methods in the above embodiments.

[0239] The present application also provides a program product, which includes an execution instruction, which is stored in a readable storage medium. At least one processor of the relay device can read the execution instruction from the readable storage medium, and at least one processor executes the execution instruction so that the relay device implements the communication method provided by the various embodiments described above.

[0240] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A communication method, characterized in that: The relay device is respectively connected to the first robot scheduling system RCS and M intelligent storage robots AGV in communication, where M is an integer greater than or equal to 1. The method is applied to the relay device, and the method includes: Receive a first control instruction from a first RCS, where the first control instruction is used to control a first AGV to perform a target operation; the first AGV is any one of the M AGVs; the first control instruction includes an identifier of the first RCS, a first identifier of the first AGV, and first operation information for controlling the first AGV to perform the target operation; When the first RCS is not the RCS matched by the first AGV, the first control instruction is converted into a second control instruction recognizable by the first AGV; the second control instruction includes: an identifier of the second RCS, and a second identifier of the first AGV, and second operation information for controlling the first AGV to perform the target operation; the second identifier of the first AGV is the actual identifier of the first AGV; wherein the identifier of the second RCS is an identifier of the RCS capable of controlling the first AGV, the second operation information is operation information recognizable by the first AGV, and the first identifier of the first AGV is an identifier recognizable by the first RCS; Send the second control instruction to the first AGV.

2. The method according to claim 1, characterized in that The method further comprises: Acquire the second identifier of the first AGV according to the first identifier of the first AGV and a first mapping relationship between the first identifier and the second identifier; Acquire the identifier of the second RCS according to the second identifier of the first AGV and the second mapping relationship between the second identifier of the AGV and the identifier of the RCS; According to the identifier of the first RCS and the identifier of the second RCS, it is determined whether the first RCS is the RCS matched by the first AGV.

3. The method according to claim 2, characterized in that The method further comprises: Receive a first registration request of the first AGV, the first registration request including: first device information of the first AGV, the first device information including: a second identifier of the first AGV and an identifier of the second RCS; According to the second identifier of the first AGV, assign a first identifier to the first AGV, and add a mapping relationship between the first identifier and the second identifier of the first AGV to the first mapping relationship; Adding a mapping relationship between the second identifier of the first AGV and the identifier of the second RCS to the second mapping relationship; Generate a second registration request for the first AGV according to the first identifier of the first AGV and the identifier of the first RCS; Sending the second registration request to the first RCS.

4. The method according to claim 2, characterized in that: The converting the first control instruction into a second control instruction recognizable by the first AGV comprises: Acquire the second operation information according to the identifier of the first RCS, the identifier of the second RCS, the first operation information, and a third mapping relationship between the operation information of each RCS; The second control instruction is generated according to the identifier of the second RCS, the second identifier of the first AGV, and the second operation information.

5. The method according to claim 2, characterized in that: The sending the second control instruction to the first AGV includes: Determine, according to the identifier of the second RCS and a fourth mapping relationship between the identifier of the RCS and the port, a first port matching the identifier of the second RCS; Determine a second port matching the first AGV according to the second identifier of the first AGV and a fifth mapping relationship between the second identifier of the AGV and the port; The second control instruction is sent to the second port of the first AGV using the first port.

6. The method according to claim 1, characterized in that After receiving the first control instruction from the first RCS, the method further includes: When the first RCS is the RCS matched by the first AGV, the first control instruction is sent to the first AGV.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Receiving first operating status information reported by a second AGV; the second AGV is any one of the M AGVs; When the first RCS is not the RCS matched by the second AGV, converting the first running status information into second running status information recognizable by the first RCS; The second operating status information is sent to the first RCS.

8. The method according to claim 7, characterized in that The first operating status information includes: a second identifier of the second AGV, an identifier of the third RCS, and a first operating status parameter; The second operating state information includes: the first identifier of the second AGV, the identifier of the first RCS, and a second operating state parameter; The identifier of the third RCS is an identifier of an RCS capable of controlling the second AGV, the second operating state parameter is an operating state parameter recognizable by the first RCS, and the first identifier of the second AGV is an identifier recognizable by the first RCS.

9. The method according to claim 7, characterized in that: After receiving the first operating status information reported by the second AGV, the method further includes: When the first RCS is the RCS matched by the second AGV, the first operating status information is sent to the first RCS.

10. A communication device, characterized in that: The relay device is respectively connected to the first robot scheduling system RCS and M intelligent storage robots AGV in communication, where M is an integer greater than or equal to 1. The device is applied to the relay device, and the device includes: A receiving module, configured to receive a first control instruction from a first RCS, wherein the first control instruction is used to control a first AGV to perform a target operation; the first AGV is any one of the M AGVs; the first control instruction includes an identifier of the first RCS, a first identifier of the first AGV, and first operation information for controlling the first AGV to perform the target operation; A processing module, configured to convert the first control instruction into a second control instruction recognizable by the first AGV when the first RCS is not the RCS matched by the first AGV; the second control instruction includes: an identifier of the second RCS, and a second identifier of the first AGV, and second operation information for controlling the first AGV to perform the target operation; the second identifier of the first AGV is an actual identifier of the first AGV; wherein the identifier of the second RCS is an identifier of the RCS capable of controlling the first AGV, the second operation information is operation information recognizable by the first AGV, and the first identifier of the first AGV is an identifier recognizable by the first RCS; A sending module is used to send the second control instruction to the first AGV.

11. A relay device, characterized in that: include: at least one processor, memory, receiver, transmitter; The receiver and the transmitter are both coupled to the processor, the processor controls the receiving action of the receiver, and the processor controls the sending action of the transmitter; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the relay device performs the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the method according to any one of claims 1 to 9 is implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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