A message transmission method and device

Abstract

The present application provides a message transmission method and device. The method is applied to any Fit AP in the AGV system, and includes: when receiving the first Profinet message that needs to be sent to the target AGV car, if two radio frequency units are deployed, convert it into a first wireless message carrying a first deduplication mark and a first message sequence number, and send it to the target AGV car through the radio frequency unit; when receiving the second wireless message carrying a second deduplication mark sent by the AGV car connected to itself through any radio frequency unit, if the second message sequence number carried in the second wireless message is not recorded locally, record the second message sequence number, convert it into a second Profinet message and forward it to the AGV ground controller for processing; if the second message sequence number is recorded locally, discard the second wireless message. The present application can avoid the transmission of duplicate Profinet messages in the AGV system.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a message transmission method and device. Background Art

[0002] AGV (Automated Guided Vehicle) solutions have been increasingly used in industries such as warehousing, logistics, and electricity. Since AGVs need to move constantly within a workplace while working, in order to communicate with the outside world, AGVs must have wireless access capabilities.

[0003] At present, the AGV system usually includes an AGV ground controller, an access controller (AC), multiple access points (APs), multiple AGVs, etc. In the AGV system, the AGV exchanges Profinet messages with the AGV ground controller through its connected Fit AP. Here, the AGV and its connected Fit AP are only deployed with one radio unit.

[0004] With the development of wireless technology, AGVs and their connected Fit APs can be equipped with two RF units with different frequency bands. The AGVs can connect to the corresponding RF units on the corresponding Fit APs through each RF unit on itself, and use these two RF units to transmit Profinet messages. However, in this application scenario, how to avoid the transmission of duplicate Profinet messages is a technical problem that needs to be solved. Summary of the invention

[0005] In order to overcome the problems existing in the related art, the present application provides a message transmission method and device.

[0006] According to a first aspect of an embodiment of the present application, a message transmission method is provided, the method being applied to any Fit AP in an AGV system, the method comprising:

[0007] When receiving a first Profinet message sent by the AC in the AGV system, which originates from the AGV ground controller in the AGV system and needs to be sent to a target AGV vehicle in the AGV system, if two radio frequency units are deployed on the Fit AP, the first message sequence number of the first Profinet message is determined according to a preset first determination rule, the first Profinet message is converted into a first wireless message carrying a first deduplication mark bit and the first message sequence number, and the first wireless message is sent to the target AGV vehicle through the two radio frequency units on the Fit AP respectively, so that when the transceiver module in the target AGV vehicle receives the first wireless message carrying the first deduplication mark bit through any of the two radio frequency units on the Fit AP, if the first message sequence number carried in the first wireless message is not recorded locally, the first message sequence number is recorded, and the first wireless message is converted into the first Profinet message and then sent to the vehicle control module in the target AGV vehicle for processing; if the first message sequence number is recorded locally, the first wireless message is discarded, wherein the two radio frequency units deployed on the Fit AP support different frequency bands;

[0008] When a second wireless message that needs to be sent to the AGV ground controller and carries a second deduplication mark is received by any AGV vehicle connected to the Fit AP in the AGV system through any RF unit on itself, if the second message sequence number carried in the second wireless message is not recorded locally, the second message sequence number is recorded, and the second wireless message is converted into a second Profinet message and then forwarded to the AGV ground controller for processing through the AC; if the second message sequence number is recorded locally, the second wireless message is discarded, wherein the second wireless message is the second Profinet message sent by the on-board control module in the AGV vehicle when the transceiver module in the AGV vehicle receives the second Profinet message, and two RF units are deployed on the transceiver module in the AGV vehicle, according to a preset second determination rule, the second message sequence number of the second Profinet message is determined, the second Profinet message is converted into the second wireless message carrying the second deduplication mark and the second message sequence number, and it is sent to the Fit AP through the RF unit on itself with the same frequency band as that supported by the RF unit.

[0009] According to a second aspect of an embodiment of the present application, a message transmission method is provided, the method being applied to a transceiver module in any AGV vehicle in an AGV system, the method comprising:

[0010] When receiving the first Profinet message sent by the on-board control module in the AGV car and needing to be sent to the ground controller in the AGV system, if two radio frequency units are deployed on the AGV car, the first message sequence number of the first Profinet message is determined according to a preset first determination rule, the first Profinet message is converted into a first wireless message carrying a first deduplication mark bit and the first message sequence number, and the first wireless message is sent to the Fit AP connected to the AGV car through the two radio frequency units on the AGV car, so that when the Fit AP receives the first wireless message carrying the first deduplication mark bit through any of the two radio frequency units on the Fit AP, if the first message sequence number carried in the first wireless message is not recorded locally, the first message sequence number is recorded, and the first wireless message is converted into the first Profinet message and then forwarded to the AGV ground controller through the AC in the AGV system for processing; if the first message sequence number is recorded locally, the first wireless message is discarded, wherein the two radio frequency units deployed on the transceiver module support different frequency bands;

[0011] When the Fit AP receives the second wireless message carrying the second deduplication mark sent by the Fit AP through any radio frequency unit on itself, if the second message sequence number carried in the second wireless message is not recorded locally, the second message sequence number is recorded, and the second wireless message is converted into a second Profinet message and then sent to the vehicle-mounted control module for processing; if the second message sequence number is recorded locally, the second wireless message is discarded, wherein the second wireless message is when the Fit AP receives the second Profinet message sent by the AC that originates from the AGV ground controller and needs to be sent to the AGV vehicle, and two radio frequency units are deployed on the transceiver module, according to a preset second determination rule, the second message sequence number of the second Profinet message is determined, the second Profinet message is converted into the second wireless message carrying the second deduplication mark and the second message sequence number, and the second wireless message is sent to the AGV vehicle through the radio frequency unit on itself with the same frequency band as that supported by the radio frequency unit.

[0012] According to a third aspect of an embodiment of the present application, a message transmission device is provided, the device being applied to any Fit AP in an AGV system, the device comprising:

[0013] A first transmission module is used for, when receiving a first Profinet message sent by the AC in the AGV system, which originates from the AGV ground controller in the AGV system and needs to be sent to a target AGV vehicle in the AGV system, if two radio frequency units are deployed on the module, determining the first message sequence number of the first Profinet message according to a preset first determination rule, converting the first Profinet message into a first wireless message carrying a first deduplication mark and the first message sequence number, and sending the first wireless message to the target AGV vehicle through the two radio frequency units on the module, respectively, so that when the transceiver module in the target AGV vehicle receives the first wireless message through any of the two radio frequency units on the module, if the first message sequence number is not recorded locally, the first message sequence number is recorded, and the first wireless message is converted into the first Profinet message and then sent to the vehicle control module in the target AGV vehicle for processing; if the first message sequence number is recorded locally, the first wireless message is discarded, wherein the two radio frequency units deployed on the Fit AP support different frequency bands;

[0014] The second transmission module is used for, when receiving a second wireless message sent by any AGV vehicle connected to the Fit AP in the AGV system through any of its two radio frequency units and needing to be sent to the AGV ground controller and carrying a second deduplication mark, if the second message sequence number carried in the second wireless message is not recorded locally, then recording the second message sequence number, converting the second wireless message into a second Profinet message and forwarding it to the AGV ground controller through the AC for processing; if the second message sequence number is recorded locally, then discarding the second wireless message, wherein the second wireless message is the second Profinet message sent by the on-board control module in the AGV vehicle when the transceiver module in the AGV vehicle receives the second Profinet message, and two radio frequency units are deployed on the transceiver module in the AGV vehicle, according to a preset second determination rule, determining the second message sequence number of the second Profinet message, converting the second Profinet message into the second wireless message carrying the second deduplication mark and the second message sequence number, and sending it to the Fit through the radio frequency unit on itself with the same frequency band as that supported by the radio frequency unit. AP's.

[0015] According to a fourth aspect of an embodiment of the present application, a message transmission device is provided, the device being applied to a transceiver module in any AGV vehicle in an AGV system, the device comprising:

[0016] A first transmission unit is used for, when receiving a first Profinet message sent by the on-board control module in the AGV car and needing to be sent to the ground controller in the AGV system, if two radio frequency units are deployed on the first transmission unit, determining the first message sequence number of the first Profinet message according to a preset first determination rule, converting the first Profinet message into a first wireless message carrying a first deduplication mark and the first message sequence number, and sending the first wireless message to the Fit AP connected to the AGV car through the two radio frequency units on the first transmission unit, so that when the Fit AP receives the first wireless message through any of the two radio frequency units on the first transmission unit, if the first message sequence number is not recorded locally, the first message sequence number is recorded, and the first wireless message is converted into the first Profinet message and then forwarded to the AGV ground controller through the AC in the AGV system for processing; if the first message sequence number is recorded locally, the first wireless message is discarded, wherein the two radio frequency units deployed on the transceiver module support different frequency bands;

[0017] The second transmission unit is used for, when receiving the second wireless message carrying the second deduplication mark bit sent by the Fit AP through any one of the two radio frequency units on itself, if the second message sequence number carried in the second wireless message is not recorded locally, then recording the second message sequence number, converting the second wireless message into a second Profinet message and sending it to the vehicle control module for processing; if the second message sequence number is recorded locally, discarding the second wireless message, wherein the second wireless message is the second Profinet message sent by the Fit AP when it receives the second Profinet message sent by the AC from the AGV ground controller and needs to be sent to the AGV car, and two radio frequency units are deployed on the transceiver module, according to a preset second determination rule, determining the second message sequence number of the second Profinet message, converting the second Profinet message into the second wireless message carrying the second deduplication mark bit and the second message sequence number, and sending it to the AGV car through the radio frequency unit on itself with the same frequency band as that supported by the radio frequency unit.

[0018] The technical solution provided by the embodiments of the present application may have the following beneficial effects:

[0019] In an embodiment of the present application, in a scenario where at least one AGV in the AGV system that is deployed with two RF units supporting different frequency bands is connected to a Fit AP in the AGV system that is deployed with two RF units supporting different frequency bands, by changing the conversion process of Profinet messages into wireless messages on the AGV side and the corresponding Fit AP side, and adding a message deduplication processing process on the AGV side and the corresponding Fit AP side, it is ensured that a Profinet message is transmitted between the AGV and the AGV ground controller, and these AGVs and the corresponding Fit APs use two RF units to send related wireless messages. In this way, the reliability of Profinet message transmission is further improved.

[0020] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which are incorporated in the specification and constitute a part of this application, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.

[0022] Figure 1 One of the flow diagrams of a message transmission method provided in an embodiment of the present application;

[0023] Figure 2 A second flow chart of a message transmission method provided in an embodiment of the present application;

[0024] Figure 3A One of the schematic diagrams of transmitting Profinet messages in an AGV system provided in an embodiment of the present application;

[0025] Figure 3B The second schematic diagram of transmitting Profinet messages in an AGV system provided in an embodiment of the present application;

[0026] Figure 4 One of the structural schematic diagrams of a message transmission device provided in an embodiment of the present application;

[0027] Figure 5 The second structural diagram of a message transmission device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0029] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that, although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the 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. Depending on the context, the words "if" or "if" as used herein may be interpreted as "at the time of" or "when...".

[0031] Next, the embodiments of the present application are described in detail.

[0032] The present application embodiment provides a message transmission method, which is applied to any Fit AP in the AGV system, such as Figure 1 As shown, the method may include the following steps:

[0033] S11. When receiving the first Profinet message sent by the AC in the AGV system, which originates from the AGV ground controller in the AGV system and needs to be sent to the target AGV car in the AGV system, if there are two RF units deployed on itself, then according to the preset first determination rule, determine the first message sequence number of the first Profinet message, convert the first Profinet message into a first wireless message carrying a first deduplication mark and a first message sequence number, and send the first wireless message to the target AGV car through the two RF units on itself respectively, so that when the transceiver module in the target AGV car receives the first wireless message carrying the first deduplication mark through any of the two RF units on itself, if the first message sequence number carried in the first wireless message is not recorded locally, then the first message sequence number is recorded, and the first wireless message is converted into a first Profinet message and then sent to the on-board control module in the target AGV car for processing; if the first message sequence number is recorded locally, the first wireless message is discarded.

[0034] In this step, the two radio frequency units deployed on the Fit AP support different frequency bands. For example, one radio frequency unit deployed on the Fit AP supports the 2.4 GHz frequency band, and the other radio frequency unit supports the 5 GHz frequency band.

[0035] S12. When a second wireless message that needs to be sent to the AGV ground controller and carries a second deduplication mark is received through any RF unit on itself and is sent from any AGV vehicle connected to the Fit AP in the AGV system, if the second message sequence number carried in the second wireless message is not recorded locally, the second message sequence number is recorded, and the second wireless message is converted into a second Profinet message and then forwarded to the AGV ground controller through the AC for processing; if the second message sequence number is recorded locally, the second wireless message is discarded.

[0036] In this step, the second wireless message is that when the transceiver module in the AGV car receives the second Profinet message sent by the on-board control module in the AGV car, and two radio frequency units are deployed on the transceiver module in the AGV car, the second message sequence number of the second Profinet message is determined according to the preset second determination rule, and the second Profinet message is converted into a second wireless message carrying a second deduplication mark and a second message sequence number, and it is sent to the Fit AP through the radio frequency unit on itself with the same frequency band as that supported by the radio frequency unit.

[0037] It should be noted that in the embodiment of the present application, for the Fit AP, the above step S11 may be performed first, and then the above step S12 may be performed. Of course, the above step S12 may also be performed first, and then the above step S11 may be performed. That is, the present application does not limit the execution order of the above step S11 and the above step S12 performed by the Fit AP.

[0038] In addition, for the Fit AP, when it receives the first Profinet message sent by the AC in the AGV system, which comes from the AGV ground controller in the AGV system and needs to be sent to the target AGV car in the AGV system, if it has only one radio frequency unit deployed on itself, then the Fit AP will still process the first Profinet message in the existing way. The specific processing process is the existing technology and will not be described in detail here.

[0039] Specifically, in the above step S11, the Fit AP may determine the first message sequence number of the first Profinet message in the following manner:

[0040] If the first Profinet message is a Profinet message received by the Fit AP for the first time, determining a first message sequence number of the first Profinet message as an initial message sequence number;

[0041] If the first Profinet message is not the first Profinet message received by the Fit AP, the first message sequence number of the first Profinet message is determined to be the message sequence number obtained by adding a set value to the third message sequence number of the third Profinet message received last determined by the Fit AP itself.

[0042] In this determination method, the above-mentioned set value and the above-mentioned initial message sequence number can be set by the system administrator of the AGV system according to the actual needs of the AGV system, and can be configured in advance on the Fit AP. For example, the above-mentioned initial message sequence number and the above-mentioned set value can both be set to 1, etc.

[0043] Of course, the Fit AP can also determine the first message sequence number of the first Profinet message by other means. For example, the Fit AP can randomly select a message sequence number from a message in a message sequence number pool (including multiple different message sequence numbers) pre-configured on itself and determine it as the first message sequence number of the first Profinet message, etc. That is, the present application does not specifically limit the method for the Fit AP to determine the first message sequence number of the first Profinet message.

[0044] It should be noted that, in the above step S11, the reason why the Fit AP converts the first Profinet message into the first wireless message carrying the first deduplication mark and the first message sequence number is mainly to facilitate the transceiver module in the target AGV car to perform relevant deduplication processing procedures based on the first deduplication mark and the first message sequence number when receiving the first wireless message through two RF units, so as to avoid transmitting repeated first Profinet messages.

[0045] It should be further explained that, in the embodiment of the present application, the first wireless message can be an 802.11 data frame or an 802.11 management frame; and the second wireless message can be an 802.11 data frame or an 802.11 management frame.

[0046] In this case, the first deduplication mark and the first message sequence number may be located in a newly added custom field between the protocol header of the first wireless message and the first Profinet message carried in the first wireless message; and the second deduplication mark and the second message sequence number may also be located in a newly added custom field between the protocol header of the second wireless message and the second Profinet message carried in the second wireless message. Here, the first deduplication mark and the second deduplication mark may be the same or different.

[0047] It should be further explained that, in the embodiment of the present application, for any AGV in the above step S12, the specific method for determining the second message serial number of the second Profinet message can be similar to the method for the Fit AP to determine the first message serial number of the first Profinet message, which will not be described in detail here.

[0048] The above content is a message transmission method described by standing on any Fit AP side in the AGV system. The following describes the message transmission method by standing on any AGV side in the AGV system.

[0049] The embodiment of the present application also provides a message transmission method, which is applied to a transceiver module in any AGV vehicle in an AGV system, such as Figure 2 As shown, the method may include the following steps:

[0050] S21. When receiving the first Profinet message sent by the on-board control module in the AGV car and needing to be sent to the ground controller in the AGV system, if two radio frequency units are deployed on the AGV car, the first message sequence number of the first Profinet message is determined according to the preset first determination rule, the first Profinet message is converted into a first wireless message carrying a first deduplication mark and a first message sequence number, and the first wireless message is sent to the Fit AP connected to the AGV car through the two radio frequency units on the Fit AP, so that when the Fit AP receives the first wireless message carrying the first deduplication mark through any of the two radio frequency units on the Fit AP, if the first message sequence number carried in the first wireless message is not recorded locally, the first message sequence number is recorded, and the first wireless message is converted into a first Profinet message and then forwarded to the AGV ground controller through the AC in the AGV system for processing; if the first message sequence number is recorded locally, the first wireless message is discarded.

[0051] In this step, the two radio frequency units deployed on the transceiver module support different frequency bands. For example, one radio frequency unit deployed on the transceiver module supports the 2.4 GHz frequency band, and the other radio frequency unit supports the 5 GHz frequency band.

[0052] S22. When a second wireless message carrying a second deduplication mark bit is received from a Fit AP through any radio frequency unit on itself, if the second message sequence number carried in the second wireless message is not recorded locally, the second message sequence number is recorded, and the second wireless message is converted into a second Profinet message and sent to the vehicle control module for processing; if the second message sequence number is recorded locally, the second wireless message is discarded.

[0053] In this step, the second wireless message is that when Fit AP receives the second Profinet message sent by AC, which comes from the AGV ground controller and needs to be sent to the AGV car, and there are two RF units deployed on the transceiver module, it determines the second message sequence number of the second Profinet message according to the preset second determination rule, converts the second Profinet message into a second wireless message carrying a second deduplication mark and a second message sequence number, and sends it to the AGV car through the RF unit on itself with the same frequency band supported by the RF unit.

[0054] It should be noted that in the embodiment of the present application, for any transceiver module in the AGV, the above step S21 may be performed first, and then the above step S22 may be performed. Of course, the above step S22 may also be performed first, and then the above step S21 may be performed. That is, the present application does not limit the execution order of the above step S11 and the above step S12 performed by the transceiver module.

[0055] In addition, for the transceiver module, when receiving the first Profinet message sent by the on-board control module in the AGV vehicle and needs to be sent to the ground controller in the AGV system, if there is only one radio frequency unit deployed on itself, then the transceiver module will still process the first Profinet message in the existing way. The specific processing process is the existing technology and will not be described in detail here.

[0056] Specifically, in the above step S21, the transceiver module may determine the first message sequence number of the first Profinet message in the following manner:

[0057] If the first Profinet message is a Profinet message received by the transceiver module for the first time, determining a first message sequence number of the first Profinet message as an initial message sequence number;

[0058] If the first Profinet message is not the first Profinet message received by the transceiver module, the first message sequence number of the first Profinet message is determined to be the message sequence number obtained by adding a set value to the third message sequence number of the third Profinet message received last determined by the transceiver module.

[0059] In this determination method, the above-mentioned set value and the above-mentioned initial message sequence number can be set by the system administrator of the AGV system according to the actual needs of the AGV system, and can be configured in advance on the Fit AP. For example, the above-mentioned initial message sequence number and the above-mentioned set value can both be set to 1, etc.

[0060] Of course, the transceiver module can also determine the first message sequence number of the first Profinet message by other means. For example, the transceiver module can randomly select a message sequence number from a message in a message sequence number pool (including multiple different message sequence numbers) pre-configured on itself and determine it as the first message sequence number of the first Profinet message, etc. That is, the present application does not specifically limit the method by which the transceiver module determines the first message sequence number of the first Profinet message.

[0061] It should be noted that, in the above step S21, the reason why the transceiver module converts the first Profinet message into the first wireless message carrying the first deduplication mark and the first message sequence number is mainly to facilitate the Fit AP connected to the AGV vehicle to which the transceiver module belongs to receive the first wireless message through two radio frequency units. It can perform relevant deduplication processing procedures based on the first deduplication mark and the first message sequence number to avoid transmitting duplicate first Profinet messages.

[0062] It should be further explained that, in the embodiment of the present application, the first wireless message can be an 802.11 data frame or an 802.11 management frame; and the second wireless message can be an 802.11 data frame or an 802.11 management frame.

[0063] In this case, the first deduplication mark and the first message sequence number may be located in a newly added custom field between the protocol header of the first wireless message and the first Profinet message carried in the first wireless message; and the second deduplication mark and the second message sequence number may also be located in a newly added custom field between the protocol header of the second wireless message and the second Profinet message carried in the second wireless message. Here, the first deduplication mark and the second deduplication mark may be the same or different.

[0064] It should be further explained that, in the embodiment of the present application, for the Fit AP in the above step S22, the specific method for determining the second message sequence number of the second Profinet message can be similar to the method for the transceiver module to determine the first message sequence number of the first Profinet message, which will not be described in detail here.

[0065] The above message transmission method is described in detail below in conjunction with specific embodiments.

[0066] like Figure 3A As shown, assuming that the transceiver module in the AGV trolley 1 receives the Profinet message 1 sent by the on-board control module in the AGV trolley 1 and needs to be sent to the ground controller, the transceiver module finds that there are two radio frequency units deployed on itself (for example, one radio frequency unit supports the 2.4GHz frequency band, and the other radio frequency unit supports the 5GHz frequency band). At this time, the transceiver module determines the message sequence number of the Profinet message 1 according to the preset determination rule. Assuming that the determined message sequence number is 1, then the transceiver module converts the Profinet message 1 into a wireless message 1 carrying a deduplication mark bit (for example, 0x5A5A) and a message sequence number (that is, 1). Here, the deduplication mark bit and the message sequence number carried in the wireless message 1 are located in the newly added custom field between the protocol header of the wireless message 1 and the Profinet message 1.

[0067] Afterwards, the transceiver module sends the wireless message 1 to the Fit AP (such as Figure 3AThat is, the transceiver module copies a wireless message 1, sends one wireless message 1 to Fit AP1 through a radio frequency unit on itself, and sends another wireless message 1 to Fit AP1 through another radio frequency unit on itself.

[0068] Assume that Fit AP1 first receives wireless message 1 carrying 0x5A5A through its own radio frequency unit that supports the 5GHz frequency band. At this time, Fit AP1 finds that the message sequence number (i.e., 1) carried in wireless message 1 is not recorded locally. Fit AP1 records the message sequence number, converts wireless message 1 into Profinet message 1, and then forwards it to the ground controller through AC for processing.

[0069] Next, assume that Fit AP1 receives wireless message 1 carrying 0x5A5A through its own radio frequency unit that supports the 2.4 GHz frequency band. At this time, Fit AP1 finds that the message sequence number (i.e., 1) carried in wireless message 1 has been recorded locally, and Fit AP1 will discard wireless message 1.

[0070] For example, Figure 3B As shown, assuming that Fit AP1 receives Profinet message 2 sent by AC from the ground controller and needs to be sent to AGV car 1, Fit AP1 finds that there are two radio frequency units deployed on itself (for example, one radio frequency unit supports the 2.4GHz frequency band and the other radio frequency unit supports the 5GHz frequency band). At this time, Fit AP1 determines the message sequence number of Profinet message 2 according to the preset determination rule. Assuming that the determined message sequence number is 21, Fit AP1 converts Profinet message 2 into wireless message 2 carrying a deduplication mark bit (for example, 0x5A5A) and a message sequence number (that is, 21). Here, the deduplication mark bit and the message sequence number carried in wireless message 2 are located in the newly added custom field between the protocol header of wireless message 2 and Profinet message 2.

[0071] Afterwards, Fit AP1 sends the wireless message 2 to the AGV 1 through its two radio frequency units. That is, Fit AP1 copies a wireless message 2, sends one of the wireless messages 2 to the AGV 1 through one of its radio frequency units, and sends the other wireless message 2 to the AGV 1 through another radio frequency unit.

[0072] Assume that the transceiver module in the AGV trolley 1 first receives the wireless message 2 carrying 0x5A5A through its own radio frequency unit that supports the 5GHz frequency band. At this time, the transceiver module finds that the message sequence number (i.e., 21) carried in the wireless message 2 is not recorded locally. The transceiver module records this message sequence number, converts the wireless message 2 into Profinet message 2, and then sends it to the on-board control module in the AGV trolley 1 for processing.

[0073] Next, assume that the transceiver module in AGV 1 receives wireless message 2 carrying 0x5A5A through its own radio frequency unit that supports the 2.4GHz frequency band. At this time, the transceiver module finds that the message sequence number carried in wireless message 2 (i.e., 21) has been recorded locally, and the transceiver module will discard wireless message 2.

[0074] It can be seen from the above technical solution that in an embodiment of the present application, in a scenario where at least one AGV cart in the AGV system that is deployed with two RF units supporting different frequency bands is connected to a Fit AP in the AGV system that is deployed with two RF units supporting different frequency bands, by changing the conversion process of Profinet messages into wireless messages on the AGV cart side and the corresponding Fit AP side, and adding a message deduplication processing process on the AGV cart side and the corresponding Fit AP side, it is ensured that a copy of the Profinet message is transmitted between the AGV cart and the AGV ground controller, and these AGV carts and the corresponding Fit APs all use two RF units to send related wireless messages. In this way, the reliability of Profinet message transmission is further improved.

[0075] Based on the same inventive concept, the present application also provides a message transmission device, which is applied to any Fit AP in the AGV system, and its structural diagram is as follows: Figure 4 As shown, specifically including:

[0076] The first transmission module 41 is used for, when receiving the first Profinet message sent by the AC in the AGV system, which originates from the AGV ground controller in the AGV system and needs to be sent to the target AGV car in the AGV system, if two RF units are deployed on it, determining the first message sequence number of the first Profinet message according to a preset first determination rule, converting the first Profinet message into a first wireless message carrying a first deduplication mark and the first message sequence number, and sending the first wireless message to the target AGV car through the two RF units on it, so that when the transceiver module in the target AGV car receives the first wireless message through any of the two RF units on it, if the first message sequence number is not recorded locally, then recording the first message sequence number, converting the first wireless message into the first Profinet message and sending it to the on-board control module in the target AGV car for processing; if the first message sequence number is recorded locally, discarding the first wireless message, wherein the two RF units deployed on the Fit AP support different frequency bands;

[0077] The second transmission module 42 is used to receive the access to the Fit in the AGV system through any of the two RF units on itself. When any AGV on the AP sends a second wireless message that needs to be sent to the AGV ground controller and carries a second deduplication mark, if the second message sequence number carried in the second wireless message is not recorded locally, the second message sequence number is recorded, and the second wireless message is converted into a second Profinet message and then forwarded to the AGV ground controller for processing through the AC; if the second message sequence number is recorded locally, the second wireless message is discarded, wherein the second wireless message is the second Profinet message sent by the on-board control module in the AGV when the transceiver module in the AGV receives the second Profinet message, and there are two RF units deployed on the transceiver module in the AGV, according to a preset second determination rule, the second message sequence number of the second Profinet message is determined, the second Profinet message is converted into the second wireless message carrying the second deduplication mark and the second message sequence number, and the second wireless message is sent to the Fit AP through the RF unit on itself with the same frequency band as that supported by the RF unit.

[0078] Preferably, the first transmission module 41 is specifically configured to determine the first message sequence number of the first Profinet message in the following manner:

[0079] If the first Profinet message is a Profinet message received by the Fit AP for the first time, determining that a first message sequence number of the first Profinet message is an initial message sequence number;

[0080] If the first Profinet message is not the first Profinet message received by the Fit AP, the first message sequence number of the first Profinet message is determined to be a message sequence number obtained by adding a set value to the third message sequence number of the third Profinet message received last determined by the Fit AP itself.

[0081] Preferably, the first wireless message is an 802.11 data frame or an 802.11 management frame, and the second wireless message is an 802.11 data frame or an 802.11 management frame.

[0082] Preferably, the first deduplication mark and the first message sequence number are located in a newly added custom field between the protocol header of the first wireless message and the first Profinet message carried in the first wireless message; the second deduplication mark and the second message sequence number are located in a newly added custom field between the protocol header of the second wireless message and the second Profinet message carried in the second wireless message.

[0083] The present application also provides a message transmission device, which is applied to a transceiver module in any AGV vehicle in an AGV system. The structural diagram thereof is shown in FIG. Figure 5 As shown, specifically including:

[0084] The first transmission unit 51 is used for, when receiving the first Profinet message sent by the on-board control module in the AGV car and needing to be sent to the ground controller in the AGV system, if two radio frequency units are deployed on the first transmission unit 51, determining the first message sequence number of the first Profinet message according to a preset first determination rule, converting the first Profinet message into a first wireless message carrying a first deduplication mark and the first message sequence number, and sending the first wireless message to the Fit AP connected to the AGV car through the two radio frequency units on the first transmission unit 51, so that when the Fit AP receives the first wireless message through any of the two radio frequency units on the first transmission unit, if the first message sequence number is not recorded locally, then the first message sequence number is recorded, and after converting the first wireless message into the first Profinet message, the first message is forwarded to the AGV ground controller through the AC in the AGV system for processing; if the first message sequence number is recorded locally, the first wireless message is discarded, wherein the two radio frequency units deployed on the transceiver module support different frequency bands;

[0085] The second transmission unit 52 is used for, when receiving the second wireless message carrying the second deduplication mark bit sent by the Fit AP through any one of the two radio frequency units on itself, if the second message sequence number carried in the second wireless message is not recorded locally, then recording the second message sequence number, converting the second wireless message into a second Profinet message and sending it to the vehicle-mounted control module for processing; if the second message sequence number is recorded locally, discarding the second wireless message, wherein the second wireless message is the second Profinet message sent by the Fit AP when it receives the second Profinet message sent by the AC from the AGV ground controller and needs to be sent to the AGV car, and two radio frequency units are deployed on the transceiver module, according to a preset second determination rule, determining the second message sequence number of the second Profinet message, converting the second Profinet message into the second wireless message carrying the second deduplication mark bit and the second message sequence number, and sending it to the AGV car through the radio frequency unit on itself with the same frequency band supported by the radio frequency unit. Preferably, the first transmission unit 51 is specifically configured to determine the first message sequence number of the first Profinet message in the following manner:

[0086] If the first Profinet message is a Profinet message received by the Fit AP for the first time, determining that a first message sequence number of the first Profinet message is an initial message sequence number;

[0087] If the first Profinet message is not the first Profinet message received by the Fit AP, the first message sequence number of the first Profinet message is determined to be a message sequence number obtained by adding a set value to the third message sequence number of the third Profinet message received last determined by the Fit AP itself.

[0088] Preferably, the first wireless message is an 802.11 data frame or an 802.11 management frame, and the second wireless message is an 802.11 data frame or an 802.11 management frame.

[0089] Preferably, the first deduplication mark and the first message sequence number are located in a newly added custom field between the protocol header of the first wireless message and the first Profinet message carried in the first wireless message; the second deduplication mark and the second message sequence number are located in a newly added custom field between the protocol header of the second wireless message and the second Profinet message carried in the second wireless message.

[0090] It can be seen from the above technical solution that in an embodiment of the present application, in a scenario where at least one AGV cart in the AGV system that is deployed with two RF units supporting different frequency bands is connected to a Fit AP in the AGV system that is deployed with two RF units supporting different frequency bands, by changing the conversion process of Profinet messages into wireless messages on the AGV cart side and the corresponding Fit AP side, and adding a message deduplication processing process on the AGV cart side and the corresponding Fit AP side, it is ensured that a copy of the Profinet message is transmitted between the AGV cart and the AGV ground controller, and these AGV carts and the corresponding Fit APs all use two RF units to send related wireless messages. In this way, the reliability of Profinet message transmission is further improved.

[0091] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A message transmission method, characterized in that: The method is applied to any Fit AP in an automatic guided vehicle AGV system, and the method comprises: When receiving a first Profinet message sent by the AC in the AGV system, which originates from the AGV ground controller in the AGV system and needs to be sent to a target AGV vehicle in the AGV system, if two radio frequency units are deployed on the Fit AP, the first message sequence number of the first Profinet message is determined according to a preset first determination rule, the first Profinet message is converted into a first wireless message carrying a first deduplication mark bit and the first message sequence number, and the first wireless message is sent to the target AGV vehicle through the two radio frequency units on the Fit AP respectively, so that when the transceiver module in the target AGV vehicle receives the first wireless message carrying the first deduplication mark bit through any of the two radio frequency units on the Fit AP, if the first message sequence number carried in the first wireless message is not recorded locally, the first message sequence number is recorded, and the first wireless message is converted into the first Profinet message and then sent to the vehicle control module in the target AGV vehicle for processing; if the first message sequence number is recorded locally, the first wireless message is discarded, wherein the two radio frequency units deployed on the Fit AP support different frequency bands; When a second wireless message that needs to be sent to the AGV ground controller and carries a second deduplication mark is received by any AGV vehicle connected to the Fit AP in the AGV system through any RF unit on itself, if the second message sequence number carried in the second wireless message is not recorded locally, the second message sequence number is recorded, and the second wireless message is converted into a second Profinet message and then forwarded to the AGV ground controller for processing through the AC; if the second message sequence number is recorded locally, the second wireless message is discarded, wherein the second wireless message is the second Profinet message sent by the on-board control module in the AGV vehicle when the transceiver module in the AGV vehicle receives the second Profinet message, and two RF units are deployed on the transceiver module in the AGV vehicle, according to a preset second determination rule, the second message sequence number of the second Profinet message is determined, the second Profinet message is converted into the second wireless message carrying the second deduplication mark and the second message sequence number, and it is sent to the Fit AP through the RF unit on itself with the same frequency band as that supported by the RF unit.

2. The method according to claim 1, characterized in that Determining a first message sequence number of the first Profinet message according to a preset first determination rule specifically includes: If the first Profinet message is a Profinet message received by the Fit AP for the first time, determining that a first message sequence number of the first Profinet message is an initial message sequence number; If the first Profinet message is not the first Profinet message received by the Fit AP, the first message sequence number of the first Profinet message is determined to be a message sequence number obtained by adding a set value to the third message sequence number of the third Profinet message received last determined by the Fit AP itself.

3. The method according to claim 1, characterized in that The first wireless message is an 802.11 data frame or an 802.11 management frame, and the second wireless message is an 802.11 data frame or an 802.11 management frame.

4. The method according to claim 3, characterized in that: The first deduplication flag and the first message sequence number are located in a newly added custom field between a protocol header of the first wireless message and a first Profinet message carried in the first wireless message; The second deduplication flag and the second message sequence number are located in a newly added custom field between the protocol header of the second wireless message and the second Profinet message carried in the second wireless message.

5. A message transmission method, characterized in that: The method is applied to a transceiver module in any AGV vehicle in an automatic guided vehicle AGV system, and the method comprises: When receiving the first Profinet message sent by the on-board control module in the AGV car and needing to be sent to the AGV ground controller in the AGV system, if two radio frequency units are deployed on the AGV car, the first message sequence number of the first Profinet message is determined according to a preset first determination rule, the first Profinet message is converted into a first wireless message carrying a first deduplication mark bit and the first message sequence number, and the first wireless message is sent to the Fit AP connected to the AGV car through the two radio frequency units on the AGV car, so that when the Fit AP receives the first wireless message carrying the first deduplication mark bit through any of the two radio frequency units on the AGV car, if the first message sequence number carried in the first wireless message is not recorded locally, the first message sequence number is recorded, and the first wireless message is converted into the first Profinet message and then forwarded to the AGV ground controller through the AC in the AGV system for processing; if the first message sequence number is recorded locally, the first wireless message is discarded, wherein the two radio frequency units deployed on the transceiver module support different frequency bands; When the Fit AP receives the second wireless message carrying the second deduplication mark sent by the Fit AP through any radio frequency unit on itself, if the second message sequence number carried in the second wireless message is not recorded locally, the second message sequence number is recorded, and the second wireless message is converted into a second Profinet message and then sent to the vehicle-mounted control module for processing; if the second message sequence number is recorded locally, the second wireless message is discarded, wherein the second wireless message is when the Fit AP receives the second Profinet message sent by the AC that originates from the AGV ground controller and needs to be sent to the AGV vehicle, and two radio frequency units are deployed on the transceiver module, according to a preset second determination rule, the second message sequence number of the second Profinet message is determined, the second Profinet message is converted into the second wireless message carrying the second deduplication mark and the second message sequence number, and the second wireless message is sent to the AGV vehicle through the radio frequency unit on itself with the same frequency band as that supported by the radio frequency unit.

6. The method according to claim 5, characterized in that Determining a first message sequence number of the first Profinet message according to a preset first determination rule specifically includes: If the first Profinet message is a Profinet message received by the transceiver module for the first time, determining that a first message sequence number of the first Profinet message is an initial message sequence number; If the first Profinet message is not the first Profinet message received by the transceiver module, the first message sequence number of the first Profinet message is determined to be the message sequence number obtained by adding a set value to the third message sequence number of the third Profinet message received last time determined by the transceiver module itself.

7. The method according to claim 5, characterized in that The first wireless message is an 802.11 data frame or an 802.11 management frame, and the second wireless message is an 802.11 data frame or an 802.11 management frame.

8. The method according to claim 7, characterized in that The first deduplication flag and the first message sequence number are located in a newly added custom field between a protocol header of the first wireless message and a first Profinet message carried in the first wireless message; The second deduplication flag and the second message sequence number are located in a newly added custom field between the protocol header of the second wireless message and the second Profinet message carried in the second wireless message.

9. A message transmission device, characterized in that: The device is applied to any Fit AP in an automatic guided vehicle AGV system, and the device comprises: A first transmission module is used for, when receiving a first Profinet message sent by the AC in the AGV system, which originates from the AGV ground controller in the AGV system and needs to be sent to a target AGV vehicle in the AGV system, if two radio frequency units are deployed on the module, determining the first message sequence number of the first Profinet message according to a preset first determination rule, converting the first Profinet message into a first wireless message carrying a first deduplication mark and the first message sequence number, and sending the first wireless message to the target AGV vehicle through the two radio frequency units on the module, respectively, so that when the transceiver module in the target AGV vehicle receives the first wireless message through any of the two radio frequency units on the module, if the first message sequence number is not recorded locally, the first message sequence number is recorded, and the first wireless message is converted into the first Profinet message and then sent to the vehicle control module in the target AGV vehicle for processing; if the first message sequence number is recorded locally, the first wireless message is discarded, wherein the two radio frequency units deployed on the Fit AP support different frequency bands; The second transmission module is used for, when receiving a second wireless message sent by any AGV vehicle connected to the Fit AP in the AGV system through any of its two radio frequency units and needing to be sent to the AGV ground controller and carrying a second deduplication mark, if the second message sequence number carried in the second wireless message is not recorded locally, then recording the second message sequence number, converting the second wireless message into a second Profinet message and forwarding it to the AGV ground controller through the AC for processing; if the second message sequence number is recorded locally, then discarding the second wireless message, wherein the second wireless message is the second Profinet message sent by the on-board control module in the AGV vehicle when the transceiver module in the AGV vehicle receives the second Profinet message, and two radio frequency units are deployed on the transceiver module in the AGV vehicle, according to a preset second determination rule, determining the second message sequence number of the second Profinet message, converting the second Profinet message into the second wireless message carrying the second deduplication mark and the second message sequence number, and sending it to the Fit through the radio frequency unit on itself with the same frequency band as that supported by the radio frequency unit. AP's.

10. A message transmission device, characterized in that: The device is applied to a transceiver module in any AGV vehicle in an automatic guided vehicle AGV system, and the device comprises: A first transmission unit is used for, when receiving a first Profinet message sent by the on-board control module in the AGV car and needing to be sent to the AGV ground controller in the AGV system, if two radio frequency units are deployed on the first transmission unit, determining the first message sequence number of the first Profinet message according to a preset first determination rule, converting the first Profinet message into a first wireless message carrying a first deduplication mark and the first message sequence number, and sending the first wireless message to the Fit AP connected to the AGV car through the two radio frequency units on the first transmission unit, so that when the Fit AP receives the first wireless message through any of the two radio frequency units on the first transmission unit, if the first message sequence number is not recorded locally, the first message sequence number is recorded, and the first wireless message is converted into the first Profinet message and then forwarded to the AGV ground controller through the AC in the AGV system for processing; if the first message sequence number is recorded locally, the first wireless message is discarded, wherein the two radio frequency units deployed on the transceiver module support different frequency bands; The second transmission unit is used for, when receiving the second wireless message carrying the second deduplication mark bit sent by the FitAP through any one of the two radio frequency units on itself, if the second message sequence number carried in the second wireless message is not recorded locally, then recording the second message sequence number, converting the second wireless message into a second Profinet message and sending it to the vehicle control module for processing; if the second message sequence number is recorded locally, discarding the second wireless message, wherein the second wireless message is the second Profinet message sent by the Fit AP when it receives the second Profinet message sent by the AC from the AGV ground controller and needs to be sent to the AGV car, and two radio frequency units are deployed on the transceiver module, according to a preset second determination rule, determining the second message sequence number of the second Profinet message, converting the second Profinet message into the second wireless message carrying the second deduplication mark bit and the second message sequence number, and sending it to the AGV car through the radio frequency unit on itself with the same frequency band as that supported by the radio frequency unit.

Images